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Commit 1d9aa4cb authored by lm's avatar lm
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Cleaned up minor things, small bugfixes

parent 6f445903
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Showing with 60 additions and 62 deletions
qgroundcontrol.pri
View file @ 1d9aa4cb
...@@ -65,7 +65,7 @@ macx { ...@@ -65,7 +65,7 @@ macx {
} }
} else { } else {
# x64 Mac OS X Snow Leopard 10.6 and later # x64 Mac OS X Snow Leopard 10.6 and later
CONFIG += x86_64 x86 cocoa CONFIG += x86_64 x86 cocoa phonon
#CONFIG -= x86 # phonon #CONFIG -= x86 # phonon
#message(Building for Mac OS X 64bit/Snow Leopard 10.6 and later) #message(Building for Mac OS X 64bit/Snow Leopard 10.6 and later)
debug { debug {
......
src/GAudioOutput.cc
View file @ 1d9aa4cb
...@@ -297,9 +297,10 @@ void GAudioOutput::beep() ...@@ -297,9 +297,10 @@ void GAudioOutput::beep()
{ {
// Use QFile to transform path for all OS // Use QFile to transform path for all OS
QFile f(QCoreApplication::applicationDirPath()+QString("/audio/alert.wav")); QFile f(QCoreApplication::applicationDirPath()+QString("/audio/alert.wav"));
qDebug() << "FILE:" << f.fileName();
m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str())); m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
m_media->play(); m_media->play();
} }
} }
void GAudioOutput::selectFemaleVoice() void GAudioOutput::selectFemaleVoice()
......
src/comm/MAVLinkSimulationWaypointPlanner.cc
View file @ 1d9aa4cb
...@@ -284,7 +284,7 @@ void MAVLinkSimulationWaypointPlanner::send_setpoint(uint16_t seq) ...@@ -284,7 +284,7 @@ void MAVLinkSimulationWaypointPlanner::send_setpoint(uint16_t seq)
PControlSetPoint.x = cur->x; PControlSetPoint.x = cur->x;
PControlSetPoint.y = cur->y; PControlSetPoint.y = cur->y;
PControlSetPoint.z = cur->z; PControlSetPoint.z = cur->z;
PControlSetPoint.yaw = cur->yaw; PControlSetPoint.yaw = cur->param4;
mavlink_msg_local_position_setpoint_set_encode(systemid, compid, &msg, &PControlSetPoint); mavlink_msg_local_position_setpoint_set_encode(systemid, compid, &msg, &PControlSetPoint);
link->sendMAVLinkMessage(&msg); link->sendMAVLinkMessage(&msg);
...@@ -299,7 +299,7 @@ void MAVLinkSimulationWaypointPlanner::send_setpoint(uint16_t seq) ...@@ -299,7 +299,7 @@ void MAVLinkSimulationWaypointPlanner::send_setpoint(uint16_t seq)
PControlSetPoint.x = cur->x; PControlSetPoint.x = cur->x;
PControlSetPoint.y = cur->y; PControlSetPoint.y = cur->y;
PControlSetPoint.z = cur->z; PControlSetPoint.z = cur->z;
PControlSetPoint.yaw = cur->yaw; PControlSetPoint.yaw = cur->param4;
mavlink_msg_local_position_setpoint_set_encode(systemid, compid, &msg, &PControlSetPoint); mavlink_msg_local_position_setpoint_set_encode(systemid, compid, &msg, &PControlSetPoint);
link->sendMAVLinkMessage(&msg); link->sendMAVLinkMessage(&msg);
...@@ -337,7 +337,7 @@ void MAVLinkSimulationWaypointPlanner::send_waypoint(uint8_t target_systemid, ui ...@@ -337,7 +337,7 @@ void MAVLinkSimulationWaypointPlanner::send_waypoint(uint8_t target_systemid, ui
wp->target_system = target_systemid; wp->target_system = target_systemid;
wp->target_component = target_compid; wp->target_component = target_compid;
if (verbose) qDebug("Sent waypoint %u (%u / %u / %u / %u / %u / %f / %u / %f / %f / %u / %f / %f / %f / %f / %u)\n", wp->seq, wp->target_system, wp->target_component, wp->seq, wp->frame, wp->action, wp->orbit, wp->orbit_direction, wp->param1, wp->param2, wp->current, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue); if (verbose) qDebug("Sent waypoint %u (%u / %u / %u / %u / %u / %f / %f / %f / %u / %f / %f / %f / %f / %u)\n", wp->seq, wp->target_system, wp->target_component, wp->seq, wp->frame, wp->action, wp->param3, wp->param1, wp->param2, wp->current, wp->x, wp->y, wp->z, wp->param4, wp->autocontinue);
mavlink_msg_waypoint_encode(systemid, compid, &msg, wp); mavlink_msg_waypoint_encode(systemid, compid, &msg, wp);
link->sendMAVLinkMessage(&msg); link->sendMAVLinkMessage(&msg);
...@@ -502,19 +502,19 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t* ...@@ -502,19 +502,19 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
//compare current yaw //compare current yaw
if (att.yaw - yaw_tolerance >= 0.0f && att.yaw + yaw_tolerance < 2.f*M_PI) if (att.yaw - yaw_tolerance >= 0.0f && att.yaw + yaw_tolerance < 2.f*M_PI)
{ {
if (att.yaw - yaw_tolerance <= wp->yaw && att.yaw + yaw_tolerance >= wp->yaw) if (att.yaw - yaw_tolerance <= wp->param4 && att.yaw + yaw_tolerance >= wp->param4)
yawReached = true; yawReached = true;
} }
else if(att.yaw - yaw_tolerance < 0.0f) else if(att.yaw - yaw_tolerance < 0.0f)
{ {
float lowerBound = 360.0f + att.yaw - yaw_tolerance; float lowerBound = 360.0f + att.yaw - yaw_tolerance;
if (lowerBound < wp->yaw || wp->yaw < att.yaw + yaw_tolerance) if (lowerBound < wp->param4 || wp->param4 < att.yaw + yaw_tolerance)
yawReached = true; yawReached = true;
} }
else else
{ {
float upperBound = att.yaw + yaw_tolerance - 2.f*M_PI; float upperBound = att.yaw + yaw_tolerance - 2.f*M_PI;
if (att.yaw - yaw_tolerance < wp->yaw || wp->yaw < upperBound) if (att.yaw - yaw_tolerance < wp->param4 || wp->param4 < upperBound)
yawReached = true; yawReached = true;
} }
......
src/uas/PxQuadMAV.cc
View file @ 1d9aa4cb
/*===================================================================== /*=====================================================================
QGroundControl Open Source Ground Control Station QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> (c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
...@@ -39,20 +38,12 @@ PxQuadMAV::PxQuadMAV(MAVLinkProtocol* mavlink, int id) : ...@@ -39,20 +38,12 @@ PxQuadMAV::PxQuadMAV(MAVLinkProtocol* mavlink, int id) :
*/ */
void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message) void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
{ {
// Let UAS handle the default message set // Only compile this portion if matching MAVLink packets have been compiled
UAS::receiveMessage(link, message);
//qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid;
// Only compile this portion if matching MAVLink packets have been compiled
#ifdef MAVLINK_ENABLED_PIXHAWK #ifdef MAVLINK_ENABLED_PIXHAWK
mavlink_message_t* msg = &message; mavlink_message_t* msg = &message;
if (message.sysid == uasId) if (message.sysid == uasId)
{ {
// QString uasState;
// QString stateDescription;
// QString patternPath;
switch (message.msgid) switch (message.msgid)
{ {
case MAVLINK_MSG_ID_RAW_AUX: case MAVLINK_MSG_ID_RAW_AUX:
...@@ -156,7 +147,8 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message) ...@@ -156,7 +147,8 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
} }
break; break;
default: default:
// Do nothing // Let UAS handle the default message set
UAS::receiveMessage(link, message);
break; break;
} }
} }
......
src/uas/UAS.cc
View file @ 1d9aa4cb
...@@ -192,9 +192,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) ...@@ -192,9 +192,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
QString uasState; QString uasState;
QString stateDescription; QString stateDescription;
// Receive named value message
receiveMessageNamedValue(message);
switch (message.msgid) switch (message.msgid)
{ {
case MAVLINK_MSG_ID_HEARTBEAT: case MAVLINK_MSG_ID_HEARTBEAT:
...@@ -223,6 +220,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) ...@@ -223,6 +220,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit systemTypeSet(this, type); emit systemTypeSet(this, type);
} }
break;
case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
case MAVLINK_MSG_ID_NAMED_VALUE_INT:
// Receive named value message
receiveMessageNamedValue(message);
break; break;
case MAVLINK_MSG_ID_BOOT: case MAVLINK_MSG_ID_BOOT:
getStatusForCode((int)MAV_STATE_BOOT, uasState, stateDescription); getStatusForCode((int)MAV_STATE_BOOT, uasState, stateDescription);
...@@ -237,7 +239,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) ...@@ -237,7 +239,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
// FIXME // FIXME
//qDebug() << "SYSTEM NAV MODE:" << state.nav_mode; //qDebug() << "SYSTEM NAV MODE:" << state.nav_mode;
QString audiostring = "System " + QString::number(this->getUASID()); QString audiostring = "System " + getUASName();
QString stateAudio = ""; QString stateAudio = "";
QString modeAudio = ""; QString modeAudio = "";
bool statechanged = false; bool statechanged = false;
...@@ -277,7 +279,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) ...@@ -277,7 +279,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
mode = "GUIDED MODE"; mode = "GUIDED MODE";
break; break;
case (uint8_t)MAV_MODE_READY: case (uint8_t)MAV_MODE_READY:
mode = "READY"; mode = "READY MODE";
break; break;
case (uint8_t)MAV_MODE_TEST1: case (uint8_t)MAV_MODE_TEST1:
mode = "TEST1 MODE"; mode = "TEST1 MODE";
...@@ -748,6 +750,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) ...@@ -748,6 +750,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
mavlink_waypoint_reached_t wpr; mavlink_waypoint_reached_t wpr;
mavlink_msg_waypoint_reached_decode(&message, &wpr); mavlink_msg_waypoint_reached_decode(&message, &wpr);
waypointManager.handleWaypointReached(message.sysid, message.compid, &wpr); waypointManager.handleWaypointReached(message.sysid, message.compid, &wpr);
GAudioOutput::instance()->say(QString("System %1 reached waypoint %2").arg(getUASName()).arg(wpr.seq));
} }
break; break;
...@@ -866,12 +869,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) ...@@ -866,12 +869,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
break; break;
#endif #endif
// Messages to ignore
case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET:
break;
default: default:
{ {
if (!unknownPackets.contains(message.msgid)) if (!unknownPackets.contains(message.msgid))
{ {
unknownPackets.append(message.msgid); unknownPackets.append(message.msgid);
QString errString = tr("UNABLE TO DECODE MESSAGE WITH ID %1").arg(message.msgid); QString errString = tr("UNABLE TO DECODE MESSAGE NUMBER %1").arg(message.msgid);
GAudioOutput::instance()->say(errString+tr(", please check the communication console for details.")); GAudioOutput::instance()->say(errString+tr(", please check the communication console for details."));
emit textMessageReceived(uasId, message.compid, 255, errString); emit textMessageReceived(uasId, message.compid, 255, errString);
std::cout << "Unable to decode message from system " << std::dec << static_cast<int>(message.sysid) << " with message id:" << static_cast<int>(message.msgid) << std::endl; std::cout << "Unable to decode message from system " << std::dec << static_cast<int>(message.sysid) << " with message id:" << static_cast<int>(message.msgid) << std::endl;
...@@ -1928,7 +1934,7 @@ void UAS::startLowBattAlarm() ...@@ -1928,7 +1934,7 @@ void UAS::startLowBattAlarm()
{ {
if (!lowBattAlarm) if (!lowBattAlarm)
{ {
GAudioOutput::instance()->alert("LOW BATTERY"); GAudioOutput::instance()->alert(tr("SYSTEM %1 HAS LOW BATTERY").arg(getUASName()));
QTimer::singleShot(2000, GAudioOutput::instance(), SLOT(startEmergency())); QTimer::singleShot(2000, GAudioOutput::instance(), SLOT(startEmergency()));
lowBattAlarm = true; lowBattAlarm = true;
} }
......
src/uas/UASWaypointManager.cc
View file @ 1d9aa4cb
...@@ -138,8 +138,8 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_ ...@@ -138,8 +138,8 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
if(wp->seq == current_wp_id) if(wp->seq == current_wp_id)
{ {
qDebug() << "Got WP: " << wp->seq << wp->x << wp->y << wp->z << wp->yaw << "auto:" << wp->autocontinue << "curr:" << wp->current << wp->param1 << wp->param2 << (MAV_FRAME) wp->frame << (MAV_ACTION) wp->action; qDebug() << "Got WP: " << wp->seq << wp->x << wp->y << wp->z << wp->param4 << "auto:" << wp->autocontinue << "curr:" << wp->current << wp->param1 << wp->param2 << (MAV_FRAME) wp->frame << (MAV_ACTION) wp->action;
Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->param1, wp->param2, (MAV_FRAME) wp->frame, (MAV_ACTION) wp->action); Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->param4, wp->autocontinue, wp->current, wp->param1, wp->param2, (MAV_FRAME) wp->frame, (MAV_ACTION) wp->action);
addWaypoint(lwp, false); addWaypoint(lwp, false);
//get next waypoint //get next waypoint
...@@ -663,8 +663,7 @@ void UASWaypointManager::writeWaypoints() ...@@ -663,8 +663,7 @@ void UASWaypointManager::writeWaypoints()
cur_d->autocontinue = cur_s->getAutoContinue(); cur_d->autocontinue = cur_s->getAutoContinue();
cur_d->current = cur_s->getCurrent() & noCurrent; //make sure only one current waypoint is selected, the first selected will be chosen cur_d->current = cur_s->getCurrent() & noCurrent; //make sure only one current waypoint is selected, the first selected will be chosen
cur_d->orbit = cur_s->getLoiterOrbit(); cur_d->param3 = cur_s->getLoiterOrbit();
cur_d->orbit_direction = 0;
cur_d->param1 = cur_s->getParam1(); cur_d->param1 = cur_s->getParam1();
cur_d->param2 = cur_s->getParam2(); cur_d->param2 = cur_s->getParam2();
cur_d->frame = cur_s->getFrame(); cur_d->frame = cur_s->getFrame();
...@@ -673,7 +672,7 @@ void UASWaypointManager::writeWaypoints() ...@@ -673,7 +672,7 @@ void UASWaypointManager::writeWaypoints()
cur_d->x = cur_s->getX(); cur_d->x = cur_s->getX();
cur_d->y = cur_s->getY(); cur_d->y = cur_s->getY();
cur_d->z = cur_s->getZ(); cur_d->z = cur_s->getZ();
cur_d->yaw = cur_s->getYaw(); cur_d->param4 = cur_s->getYaw();
if (cur_s->getCurrent() && noCurrent) if (cur_s->getCurrent() && noCurrent)
noCurrent = false; noCurrent = false;
......
src/ui/QGCSensorSettingsWidget.ui
View file @ 1d9aa4cb
...@@ -6,7 +6,7 @@ ...@@ -6,7 +6,7 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>237</width> <width>307</width>
<height>221</height> <height>221</height>
</rect> </rect>
</property> </property>
...@@ -134,7 +134,7 @@ ...@@ -134,7 +134,7 @@
<item row="1" column="1"> <item row="1" column="1">
<widget class="QLabel" name="label_2"> <widget class="QLabel" name="label_2">
<property name="text"> <property name="text">
<string>Extended</string> <string>Ext. Status</string>
</property> </property>
</widget> </widget>
</item> </item>
...@@ -148,7 +148,7 @@ ...@@ -148,7 +148,7 @@
<item row="5" column="1"> <item row="5" column="1">
<widget class="QLabel" name="label_4"> <widget class="QLabel" name="label_4">
<property name="text"> <property name="text">
<string>Controller</string> <string>Raw Contr.</string>
</property> </property>
</widget> </widget>
</item> </item>
...@@ -183,7 +183,7 @@ ...@@ -183,7 +183,7 @@
<item row="0" column="3"> <item row="0" column="3">
<widget class="QLabel" name="label_5"> <widget class="QLabel" name="label_5">
<property name="text"> <property name="text">
<string>RC Values</string> <string>RC Chan.</string>
</property> </property>
</widget> </widget>
</item> </item>
......
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