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qgroundcontrol
Commit 1f54d9a3 authored by Mariano Lizarraga's avatar Mariano Lizarraga
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Merge branch 'master' of git://github.com/tecnosapiens/qgroundcontrol into mergeRemote

parents 2226a433 6d43e99e
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Showing with 86 additions and 45 deletions
src/Waypoint.cc
View file @ 1f54d9a3
......@@ -75,6 +75,7 @@ bool Waypoint::load(QTextStream &loadStream)
return false;
}
void Waypoint::setId(quint16 id)
{
this->id = id;
......
src/Waypoint.h
View file @ 1f54d9a3
......@@ -59,6 +59,7 @@ public:
bool load(QTextStream &loadStream);
protected:
quint16 id;
float x;
......
src/uas/SlugsMAV.cc
View file @ 1f54d9a3
......@@ -80,7 +80,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
case MAVLINK_MSG_ID_RAW_IMU:
mavlink_msg_raw_imu_decode(&message, &mlRawImuData);
break;
break;
#ifdef MAVLINK_ENABLED_SLUGS
......@@ -97,21 +97,21 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
case MAVLINK_MSG_ID_GPS_RAW:
mavlink_msg_gps_raw_decode(&message, &mlGpsData);
break;
break;
case MAVLINK_MSG_ID_ACTION_ACK: // 62
mavlink_msg_action_ack_decode(&message,&mlActionAck);
break;
break;
case MAVLINK_MSG_ID_CPU_LOAD: //170
mavlink_msg_cpu_load_decode(&message,&mlCpuLoadData);
break;
break;
case MAVLINK_MSG_ID_AIR_DATA: //171
mavlink_msg_air_data_decode(&message,&mlAirData);
break;
break;
case MAVLINK_MSG_ID_SENSOR_BIAS: //172
mavlink_msg_sensor_bias_decode(&message,&mlSensorBiasData);
......@@ -123,7 +123,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
case MAVLINK_MSG_ID_PILOT_CONSOLE: //174
mavlink_msg_pilot_console_decode(&message,&mlPilotConsoleData);
break;
break;
case MAVLINK_MSG_ID_PWM_COMMANDS: //175
mavlink_msg_pwm_commands_decode(&message,&mlPwmCommands);
......@@ -131,7 +131,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
case MAVLINK_MSG_ID_SLUGS_NAVIGATION://176
mavlink_msg_slugs_navigation_decode(&message,&mlNavigation);
break;
break;
case MAVLINK_MSG_ID_DATA_LOG: //177
mavlink_msg_data_log_decode(&message,&mlDataLog);
......@@ -143,7 +143,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
case MAVLINK_MSG_ID_GPS_DATE_TIME: //179
mavlink_msg_gps_date_time_decode(&message,&mlGpsDateTime);
break;
break;
case MAVLINK_MSG_ID_MID_LVL_CMDS: //180
......@@ -151,7 +151,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
case MAVLINK_MSG_ID_CTRL_SRFC_PT: //181
break;
break;
case MAVLINK_MSG_ID_PID: //182
......@@ -165,8 +165,8 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
default:
// qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
break;
}
break;
}
}
......@@ -197,13 +197,13 @@ void SlugsMAV::emitSignals (void){
case 5:
emit slugsFilteredData(uasId,mlFilteredData);
emit slugsGPSDateTime(uasId, mlGpsDateTime);
break;
break;
case 6:
emit slugsActionAck(uasId,mlActionAck);
emit emitGpsSignals();
break;
}
}
emit slugsAttitude(uasId, mlAttitude);
emit attitudeChanged(this,
......@@ -238,7 +238,7 @@ void SlugsMAV::emitGpsSignals (void){
} else {
emit textMessageReceived(uasId, uasId, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(mlGpsData.v));
}
}
}
}
#endif // MAVLINK_ENABLED_SLUGS
src/uas/SlugsMAV.h
View file @ 1f54d9a3
......@@ -105,6 +105,8 @@ protected:
mavlink_slugs_action_t mlAction;
// Standart messages MAVLINK used by SLUGS
private:
......
src/uas/UASWaypointManager.cc
View file @ 1f54d9a3
......@@ -383,9 +383,12 @@ void UASWaypointManager::localLoadWaypoints(const QString &loadFile)
}
file.close();
emit loadWPFile();
emit waypointListChanged();
}
void UASWaypointManager::globalAddWaypoint(Waypoint *wp)
{
......
src/uas/UASWaypointManager.h
View file @ 1f54d9a3
......@@ -91,6 +91,7 @@ public:
void localMoveWaypoint(quint16 cur_seq, quint16 new_seq); ///< locally move a waypoint from its current position cur_seq to a new position new_seq
void localSaveWaypoints(const QString &saveFile); ///< saves the local waypoint list to saveFile
void localLoadWaypoints(const QString &loadFile); ///< loads a waypoint list from loadFile
/*@}*/
/** @name Global waypoint list operations */
......@@ -120,6 +121,8 @@ signals:
void currentWaypointChanged(quint16); ///< emits the new current waypoint sequence number
void updateStatusString(const QString &); ///< emits the current status string
void loadWPFile(); ///< emits signal that a file wp has been load
private:
UAS &uas; ///< Reference to the corresponding UAS
quint32 current_retries; ///< The current number of retries left
......
src/ui/MainWindow.cc
View file @ 1f54d9a3
......@@ -401,6 +401,9 @@ void MainWindow::connectActions()
// Slugs View
connect(ui.actionShow_Slugs_View, SIGNAL(triggered()), this, SLOT(loadSlugsView()));
//GlobalOperatorView
// connect(ui.actionGlobalOperatorView,SIGNAL(triggered()),waypointsDockWidget->widget(),SLOT())
}
void MainWindow::showHelp()
......@@ -918,6 +921,7 @@ void MainWindow::loadGlobalOperatorView()
{
addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
waypointsDockWidget->show();
}
// Slugs Data View
......
src/ui/MapWidget.cc
View file @ 1f54d9a3
......@@ -396,7 +396,17 @@ void MapWidget::createWaypointGraphAtMap(const QPointF coordinate)
str = QString("%1").arg(path->numberOfPoints());
// create the WP and set everything in the LineString to display the path
CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
//CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
Waypoint2DIcon* tempCirclePoint;
if (mav)
{
tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor()));
}
else
{
tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
}
mc->layer("Waypoints")->addGeometry(tempCirclePoint);
Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str);
......
src/ui/SlugsDataSensorView.cc
View file @ 1f54d9a3
......@@ -10,21 +10,21 @@ SlugsDataSensorView::SlugsDataSensorView(QWidget *parent) :
QWidget(parent),
ui(new Ui::SlugsDataSensorView)
{
ui->setupUi(this);
ui->setupUi(this);
activeUAS = NULL;
activeUAS = NULL;
this->setVisible(false);
this->setVisible(false);
}
SlugsDataSensorView::~SlugsDataSensorView()
{
delete ui;
delete ui;
}
void SlugsDataSensorView::addUAS(UASInterface* uas)
{
SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(uas);
SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(uas);
if (slugsMav != NULL) {
......@@ -32,15 +32,15 @@ void SlugsDataSensorView::addUAS(UASInterface* uas)
#ifdef MAVLINK_ENABLED_SLUGS
//connect standar messages
//connect standar messages
connect(slugsMav, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugLocalPositionChanged(UASInterface*,double,double,double,quint64)));
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(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 slugs especial messages
//connect slugs especial messages
connect(slugsMav, SIGNAL(slugsSensorBias(int,const mavlink_sensor_bias_t&)), this, SLOT(slugsSensorBiasChanged(int,const mavlink_sensor_bias_t&)));
connect(slugsMav, SIGNAL(slugsDiagnostic(int,const mavlink_diagnostic_t&)), this, SLOT(slugsDiagnosticMessageChanged(int,const mavlink_diagnostic_t&)));
connect(slugsMav, SIGNAL(slugsCPULoad(int,const mavlink_cpu_load_t&)), this, SLOT(slugsCpuLoadChanged(int,const mavlink_cpu_load_t&)));
......@@ -51,13 +51,12 @@ void SlugsDataSensorView::addUAS(UASInterface* uas)
connect(slugsMav, SIGNAL(slugsGPSDateTime(int,const mavlink_gps_date_time_t&)),this,SLOT(slugsGPSDateTimeChanged(int,const mavlink_gps_date_time_t&)));
#endif // MAVLINK_ENABLED_SLUGS
// Set this UAS as active if it is the first one
// Set this UAS as active if it is the first one
if(activeUAS == 0) {
activeUAS = uas;
}
activeUAS = uas;
}
}
}
}
void SlugsDataSensorView::slugRawDataChanged(int uasId, const mavlink_raw_imu_t &rawData){
......@@ -107,7 +106,7 @@ void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface* uas,
double vy,
double vz,
quint64 time) {
Q_UNUSED( uas);
Q_UNUSED( uas);
Q_UNUSED(time);
ui->ed_vx->setPlainText(QString::number(vx));
......@@ -134,7 +133,7 @@ void SlugsDataSensorView::slugAttitudeChanged(UASInterface* uas,
void SlugsDataSensorView::slugsSensorBiasChanged(int systemId,
const mavlink_sensor_bias_t& sensorBias){
Q_UNUSED( systemId);
Q_UNUSED( systemId);
ui->m_AxBiases->setText(QString::number(sensorBias.axBias));
ui->m_AyBiases->setText(QString::number(sensorBias.ayBias));
......@@ -147,12 +146,12 @@ void SlugsDataSensorView::slugsSensorBiasChanged(int systemId,
void SlugsDataSensorView::slugsDiagnosticMessageChanged(int systemId,
const mavlink_diagnostic_t& diagnostic){
Q_UNUSED(systemId);
Q_UNUSED(systemId);
ui->m_Fl1->setText(QString::number(diagnostic.diagFl1));
ui->m_Fl2->setText(QString::number(diagnostic.diagFl2));
ui->m_Fl3->setText(QString::number(diagnostic.diagFl2));
ui->m_Sh1->setText(QString::number(diagnostic.diagSh1));
ui->m_Sh2->setText(QString::number(diagnostic.diagSh2));
ui->m_Sh3->setText(QString::number(diagnostic.diagSh3));
......@@ -161,7 +160,7 @@ void SlugsDataSensorView::slugsDiagnosticMessageChanged(int systemId,
void SlugsDataSensorView::slugsCpuLoadChanged(int systemId,
const mavlink_cpu_load_t& cpuLoad){
Q_UNUSED(systemId);
Q_UNUSED(systemId);
ui->ed_sens->setText(QString::number(cpuLoad.sensLoad));
ui->ed_control->setText(QString::number(cpuLoad.ctrlLoad));
ui->ed_batvolt->setText(QString::number(cpuLoad.batVolt));
......@@ -169,7 +168,7 @@ void SlugsDataSensorView::slugsCpuLoadChanged(int systemId,
void SlugsDataSensorView::slugsNavegationChanged(int systemId,
const mavlink_slugs_navigation_t& slugsNavigation){
Q_UNUSED(systemId);
Q_UNUSED(systemId);
ui->m_Um->setText(QString::number(slugsNavigation.u_m));
ui->m_PhiC->setText(QString::number(slugsNavigation.phi_c));
ui->m_PitchC->setText(QString::number(slugsNavigation.theta_c));
......@@ -185,7 +184,7 @@ void SlugsDataSensorView::slugsNavegationChanged(int systemId,
void SlugsDataSensorView::slugsDataLogChanged(int systemId,
const mavlink_data_log_t& dataLog){
Q_UNUSED(systemId);
Q_UNUSED(systemId);
ui->m_logFl1->setText(QString::number(dataLog.fl_1));
ui->m_logFl2->setText(QString::number(dataLog.fl_2));
ui->m_logFl3->setText(QString::number(dataLog.fl_3));
......@@ -196,7 +195,7 @@ void SlugsDataSensorView::slugsDataLogChanged(int systemId,
void SlugsDataSensorView::slugsPWMChanged(int systemId,
const mavlink_pwm_commands_t& pwmCommands){
Q_UNUSED(systemId);
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));
......@@ -211,7 +210,7 @@ void SlugsDataSensorView::slugsPWMChanged(int systemId,
void SlugsDataSensorView::slugsFilteredDataChanged(int systemId,
const mavlink_filtered_data_t& filteredData){
Q_UNUSED(systemId);
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));
......@@ -225,7 +224,7 @@ void SlugsDataSensorView::slugsFilteredDataChanged(int systemId,
void SlugsDataSensorView::slugsGPSDateTimeChanged(int systemId,
const mavlink_gps_date_time_t& gpsDateTime){
Q_UNUSED(systemId);
Q_UNUSED(systemId);
ui->m_GpsDate->setText(QString::number(gpsDateTime.month) + "/" +
QString::number(gpsDateTime.day) + "/" +
QString::number(gpsDateTime.year));
......
src/ui/SlugsPIDControl.cpp
View file @ 1f54d9a3
......@@ -162,7 +162,7 @@ void SlugsPIDControl::changeColor_GREEN_AirSpeed_groupBox()
if (slugsMav != NULL)
{
//create the packet
//create the packet
pidMessage.target = activeUAS->getUASID();
pidMessage.idx = 0;
pidMessage.pVal = ui->dT_P_set->text().toFloat();
......@@ -174,7 +174,7 @@ void SlugsPIDControl::changeColor_GREEN_AirSpeed_groupBox()
mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
slugsMav->sendMessage(msg);
ui->AirSpeedHold_groupBox->setStyleSheet(GREENcolorStyle);
ui->AirSpeedHold_groupBox->setStyleSheet(GREENcolorStyle);
}
}
......
src/ui/WaypointList.cc
View file @ 1f54d9a3
......@@ -91,6 +91,7 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
this->setVisible(false);
isGlobalWP = false;
isLocalWP = false;
loadFileGlobalWP = false;
centerMapCoordinate.setX(0.0);
centerMapCoordinate.setY(0.0);
......@@ -131,6 +132,7 @@ void WaypointList::setUAS(UASInterface* uas)
connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &)));
connect(&uas->getWaypointManager(), SIGNAL(waypointListChanged(void)), this, SLOT(waypointListChanged(void)));
connect(&uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
connect(&uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
}
}
......@@ -147,9 +149,12 @@ void WaypointList::loadWaypoints()
{
if (uas)
{
QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
uas->getWaypointManager().localLoadWaypoints(fileName);
}
}
}
void WaypointList::transmit()
......@@ -336,6 +341,11 @@ void WaypointList::waypointListChanged()
WaypointGlobalView *wpgv = wpGlobalViews.value(wp);
wpgv->updateValues();
listLayout->addWidget(wpgv);
if(loadFileGlobalWP)
{
emit createWaypointAtMap(QPointF(wp->getX(),wp->getY()));
qDebug()<<"Emitiendo Pos: "<<wp->getX()<<" - "<<wp->getY();
}
}
}
......@@ -391,7 +401,7 @@ void WaypointList::waypointListChanged()
}
loadFileGlobalWP = false;
}
......@@ -622,3 +632,8 @@ void WaypointList::changeWPPositionBySpinBox(Waypoint *wp)
emit changePositionWPGlobalBySpinBox(wp->getId(), wp->getY(), wp->getX());
}
void WaypointList::setIsLoadFileWP()
{
loadFileGlobalWP = true;
}
src/ui/WaypointList.h
View file @ 1f54d9a3
......@@ -65,7 +65,7 @@ public slots:
/** @brief Save the local waypoint list to a file */
void saveWaypoints();
/** @brief Load a waypoint list from a file */
void loadWaypoints();
void loadWaypoints();
/** @brief Transmit the local waypoint list to the UAS */
void transmit();
/** @brief Read the remote waypoint list */
......@@ -102,6 +102,8 @@ public slots:
void moveDown(Waypoint* wp);
void removeWaypoint(Waypoint* wp);
void setIsLoadFileWP();
......@@ -128,6 +130,7 @@ protected:
bool isGlobalWP;
bool isLocalWP;
QPointF centerMapCoordinate;
bool loadFileGlobalWP;
private:
Ui::WaypointList *m_ui;
......
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