Working on new messages and gui updates which are time based instead of reception based

qgroundcontrol.pro

@@ -139,7 +139,6 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/WaypointGlobalView.ui \
     src/ui/SlugsDataSensorView.ui \
     src/ui/SlugsHilSim.ui \
-    src/ui/SlugsDataSensorView.ui \
     src/ui/SlugsPIDControl.ui
 INCLUDEPATH += src \
     src/ui \

src/configuration.h

 #ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
+#include "mavlink.h"
+
 /** @brief Polling interval in ms */
-#ifdef MAVLINK_ENABLED_SLUGS_MESSAGES_QGC
+#ifdef MAVLINK_ENABLED_SLUGS
   #define SERIAL_POLL_INTERVAL 7
 #else
   #define SERIAL_POLL_INTERVAL 2

src/uas/SlugsMAV.h

@@ -26,7 +26,9 @@ This file is part of the QGROUNDCONTROL project
 
 #include "UAS.h"
 #include "mavlink.h"
+#include <QTimer>
 
+#define SLUGS_UPDATE_RATE   100   // in ms
 class SlugsMAV : public UAS
 {
     Q_OBJECT
@@ -38,109 +40,79 @@ public slots:
     /** @brief Receive a MAVLink message from this MAV */
     void receiveMessage(LinkInterface* link, mavlink_message_t message);
 
+    void emitSignals (void);
+
+
+
 signals:
-    // ESPECIAL SLUGS MESSAGE
-    void slugsCPULoad(int systemId,
-                      uint8_t sensLoad,
-                      uint8_t ctrlLoad,
-                      uint8_t batVolt,
-                      quint64 time);
-
-    void slugsAirData(int systemId,
-                      float dinamicPressure,
-                      float staticPresure,
-                      uint16_t temperature,
-                      quint64 time);
-
-    void slugsSensorBias(int systemId,
-                         double axBias,
-                         double ayBias,
-                         double azBias,
-                         double gxBias,
-                         double gyBias,
-                         double gzBias,
-                         quint64 time);
-
-    void slugsDiagnostic(int systemId,
-                         double diagFl1,
-                         double diagFl2,
-                         double diagFl3,
-                         int16_t diagSh1,
-                         int16_t diagSh2,
-                         int16_t diagSh3,
-                         quint64 time);
-
-    void slugsPilotConsolePWM(int systemId,
-                              uint16_t dt,
-                              uint16_t dla,
-                              uint16_t dra,
-                              uint16_t dr,
-                              uint16_t de,
-                              quint64 time);
-
-    void slugsPWM(int systemId,
-                  uint16_t dt_c,
-                  uint16_t dla_c,
-                  uint16_t dra_c,
-                  uint16_t dr_c,
-                  uint16_t dle_c,
-                  uint16_t dre_c,
-                  uint16_t dlf_c,
-                  uint16_t drf_c,
-                  uint16_t da1_c,
-                  uint16_t da2_c,
-                  quint64 time);
-
-    void slugsNavegation(int systemId,
-                          double u_m,
-                          double phi_c,
-                          double theta_c,
-                          double psiDot_c,
-                          double ay_body,
-                          double totalDist,
-                          double dist2Go,
-                          uint8_t fromWP,
-                          uint8_t toWP,
-                          quint64 time);
-
-   void slugsDataLog(int systemId,
-                 double logfl_1,
-                 double logfl_2,
-                 double logfl_3,
-                 double logfl_4,
-                 double logfl_5,
-                 double logfl_6,
-                 quint64 time);
-
-
-   void slugsFilteredData(int systemId,
-                          double filaX,
-                          double filaY,
-                          double filaZ,
-                          double filgX,
-                          double filgY,
-                          double filgZ,
-                          double filmX,
-                          double filmY,
-                          double filmZ,
-                          quint64 time);
-
-   void slugsGPSDateTime(int systemId,
-                         uint8_t gpsyear,
-                         uint8_t gpsmonth,
-                         uint8_t gpsday,
-                         uint8_t gpshour,
-                         uint8_t gpsmin,
-                         uint8_t gpssec,
-                         uint8_t gpsvisSat,
-                         quint64 time);
-
-   void slugsActionAck(int systemId,
-                       uint8_t action,
-                       uint8_t result);
 
+    void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData);
+
+#ifdef MAVLINK_ENABLED_SLUGS
+
+    void slugsCPULoad(int systemId, const mavlink_cpu_load_t& cpuLoad);
+    void slugsAirData(int systemId, const mavlink_air_data_t& airData);
+    void slugsSensorBias(int systemId, const mavlink_sensor_bias_t& sensorBias);
+    void slugsDiagnostic(int systemId, const mavlink_diagnostic_t& diagnostic);
+    void slugsPilotConsolePWM(int systemId, const mavlink_pilot_console_t& pilotConsole);
+    void slugsPWM(int systemId, const mavlink_pwm_commands_t& pwmCommands);
+    void slugsNavegation(int systemId, const mavlink_slugs_navigation_t& slugsNavigation);
+    void slugsDataLog(int systemId, const mavlink_data_log_t& dataLog);
+    void slugsFilteredData(int systemId, const mavlink_filtered_data_t& filteredData);
+    void slugsGPSDateTime(int systemId, const mavlink_gps_date_time_t& gpsDateTime);
+    void slugsActionAck(int systemId, const mavlink_action_ack_t& actionAck);
+
+    void slugsBootMsg(int uasId, mavlink_boot_t& boot);
+    void slugsAttitude(int uasId, mavlink_attitude_t& attitude);
+
+#endif
+
+protected:
+
+   typedef struct _mavlink_pid_values_t {
+         float P[11];
+         float I[11];
+         float D[11];
+     }mavlink_pid_values_t;
+
+   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_pilot_console_t 		mlPilotConsoleData;
+   mavlink_filtered_data_t 		mlFilteredData;
+   mavlink_boot_t 				mlBoot;
+   mavlink_gps_date_time_t 		mlGpsDateTime;
+   mavlink_mid_lvl_cmds_t 		mlMidLevelCommands;
+   mavlink_set_mode_t 			mlApMode;
+   mavlink_pwm_commands_t		mlPwmCommands;
+   mavlink_pid_values_t			mlPidValues;
+   mavlink_pid_t				mlSinglePid;
+
+   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;
+
+private:
+
+
+   void emitGpsSignals (void);
 
+   int uasId;
 
+#endif // if SLUGS
 
 };
 

src/ui/MainWindow.cc

@@ -224,8 +224,14 @@ void MainWindow::connectWidgets()
         connect(waypointsDockWidget->widget(), SIGNAL(changePositionWPGlobalBySpinBox(int,float,float)), mapWidget, SLOT(changeGlobalWaypointPositionBySpinBox(int,float,float)));
     }
 
-    if (slugsHilSimWidget->widget()){
-      connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), dynamic_cast<SlugsHilSim*>(slugsHilSimWidget->widget()), SLOT(activeUasSet(UASInterface*)) );
+    if (slugsHilSimWidget && slugsHilSimWidget->widget()){
+      connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
+              slugsHilSimWidget->widget(), SLOT(activeUasSet(UASInterface*)));
+    }
+
+    if (slugsDataWidget && slugsDataWidget->widget()){
+      connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
+              slugsDataWidget->widget(), SLOT(setActiveUAS(UASInterface*)));
     }
 
 
@@ -552,16 +558,16 @@ void MainWindow::UASCreated(UASInterface* uas)
         PxQuadMAV* mav = dynamic_cast<PxQuadMAV*>(uas);
         if (mav) loadPixhawkView();
 
-        SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
-        if (mav2)
-        {
-          dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget())->addUAS(uas);
-          loadSlugsView();
-
+        if (slugsDataWidget) {
+          SlugsDataSensorView* dataWidget = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
+          if (dataWidget) {
+            SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
+            if (mav2) {
+              dataWidget->addUAS(uas);
+              loadSlugsView();
+            }
+          }
         }
-
-
-
     }
 }
 

src/ui/SlugsDataSensorView.h

@@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "UASInterface.h"
 #include "SlugsMAV.h"
+#include "mavlink.h"
 
 namespace Ui {
     class SlugsDataSensorView;
@@ -67,17 +68,10 @@ public slots:
     */
     void setActiveUAS(UASInterface* uas);
 
-    /**
-         * @brief Adds the UAS for data display
-         *
-         * Adds the UAS and makes all the correct connections for data display on the Widgets
-    */
-
-    void refresh();
-
-
 
+    void slugRawDataChanged (int uasId, const mavlink_raw_imu_t& rawData);
 
+#ifdef MAVLINK_ENABLED_SLUGS
     /**
          * @brief Adds the UAS for data display
          *
@@ -120,240 +114,62 @@ public slots:
                                     double alt,
                                     quint64 time);
     /**
-         * @brief Adds the UAS for data display
-         *
-         * Adds the UAS and makes all the correct connections for data display on the Widgets
+         * @brief Updates the sensor bias widget
     */
     void slugsSensorBiasChanged(int systemId,
-                                double axb,
-                                double ayb,
-                                double azb,
-                                double gxb,
-                                double gyb,
-                                double gzb,
-                                quint64 time);
+                                const mavlink_sensor_bias_t& sensorBias);
+
     /**
-         * @brief Adds the UAS for data display
-         *
-         * Adds the UAS and makes all the correct connections for data display on the Widgets
+         * @brief Updates the diagnostic widget
     */
     void slugsDiagnosticMessageChanged(int systemId,
-                                       double diagfl1,
-                                       double diagfl2,
-                                       double diagfl3,
-                                       int16_t diagsh1,
-                                       int16_t diagsh2,
-                                       int16_t diagsh3,
-                                       quint64 time);
+                                       const mavlink_diagnostic_t& diagnostic);
 
     /**
-         * @brief Adds the UAS for data display
-         *
-         * Adds the UAS and makes all the correct connections for data display on the Widgets
+         * @brief Updates the CPU load widget
     */
     void slugsCpuLoadChanged(int systemId,
-                             uint8_t sensload,
-                             uint8_t ctrlload,
-                             uint8_t batvolt,
-                             quint64 time);
+                             const mavlink_cpu_load_t& cpuLoad);
 
 
     /**
-         * @brief Adds the UAS for data display
-         *
-         * Adds the UAS and makes all the correct connections for data display on the Widgets
+         * @brief Updates the Navigation widget
     */
     void slugsNavegationChanged(int systemId,
-                                double navu_m,
-                                double navphi_c,
-                                double navtheta_c,
-                                double navpsiDot_c,
-                                double navay_body,
-                                double navtotalDist,
-                                double navdist2Go,
-                                uint8_t navfromWP,
-                                uint8_t navtoWP,
-                                quint64 time);
+                                const mavlink_slugs_navigation_t& slugsNavigation);
 
     /**
-         * @brief Adds the UAS for data display
-         *
-         * Adds the UAS and makes all the correct connections for data display on the Widgets
+         * @brief Updates the Data Log widget
     */
    void  slugsDataLogChanged(int systemId,
-                            double logfl_1,
-                            double logfl_2,
-                            double logfl_3,
-                            double logfl_4,
-                            double logfl_5,
-                            double logfl_6,
-                            quint64 time);
+                             const mavlink_data_log_t& dataLog);
 
    /**
-        * @brief Adds the UAS for data display
-        *
-        * Adds the UAS and makes all the correct connections for data display on the Widgets
+        * @brief Updates the PWM Commands widget
    */
-
    void slugsPWMChanged(int systemId,
-                        uint16_t vdt_c,
-                        uint16_t vdla_c,
-                        uint16_t vdra_c,
-                        uint16_t vdr_c,
-                        uint16_t vdle_c,
-                        uint16_t vdre_c,
-                        uint16_t vdlf_c,
-                        uint16_t vdrf_c,
-                        uint16_t vda1_c,
-                        uint16_t vda2_c,
-                        quint64 time);
+                        const mavlink_pwm_commands_t& pwmCommands);
 
    /**
-        * @brief Adds the UAS for data display
-        *
-        * Adds the UAS and makes all the correct connections for data display on the Widgets
+        * @brief Updates the filtered sensor measurements widget
    */
    void slugsFilteredDataChanged(int systemId,
-                                 double filaX,
-                                 double filaY,
-                                 double filaZ,
-                                 double filgX,
-                                 double filgY,
-                                 double filgZ,
-                                 double filmX,
-                                 double filmY,
-                                 double filmZ,
-                                 quint64 time);
-
-
-
+                                 const mavlink_filtered_data_t& filteredData);
 
 
+   /**
+        * @brief Updates the gps Date Time widget
+   */
     void slugsGPSDateTimeChanged(int systemId,
-                                    uint8_t gpsyear,
-                                     uint8_t gpsmonth,
-                                     uint8_t gpsday,
-                                     uint8_t gpshour,
-                                     uint8_t gpsmin,
-                                     uint8_t gpssec,
-                                    uint8_t gpsvisSat,
-                                    quint64 time);
+                                 const mavlink_gps_date_time_t& gpsDateTime);
 
+#endif // MAVLINK_ENABLED_SLUGS
 
 protected:
-    QTimer* updateTimer;
      UASInterface* activeUAS;
 
-     //Global Position
-     double Latitude;
-     double Longitude;
-     double Height;
-     quint64 timeGlobalPosition;
-
-     // Position and Attitude
-     //Position
-     double Xpos;
-     double Ypos;
-     double Zpos;
-     quint64 TimeActualPosition;
-     //Speed
-     double VXpos;
-     double VYpos;
-     double VZpos;
-     quint64 TimeActualSpeed;
-     //Attitude
-     double roll;
-     double pitch;
-     double yaw;
-     quint64 TimeActualAttitude;
-
-     //Sensor Biases
-     //Acelerometer
-     double Axb;
-     double Ayb;
-     double Azb;
-
-     //Gyro
-     double Gxb;
-     double Gyb;
-     double Gzb;
-     quint64 TimeActualBias;
-
-     //Diagnostic
-     double diagFl1;
-     double diagFl2;
-     double diagFl3;
-     int16_t diagSh1;
-     int16_t diagSh2;
-     int16_t diagSh3;
-     quint64 timeDiagnostic;
-
-     //CPU Load
-     uint8_t sensLoad;
-     uint8_t ctrlLoad;
-     uint8_t batVolt;
-     quint64 timeCpuLoad;
-
-     //navigation data
-     double u_m;
-     double phi_c;
-     double theta_c;
-     double psiDot_c;
-     double ay_body;
-     double totalDist;
-     double dist2Go;
-     uint8_t fromWP;
-     uint8_t toWP;
-     quint64 timeNavigation;
-
-     // Data Log
-     double Logfl_1;
-     double Logfl_2;
-     double Logfl_3;
-     double Logfl_4;
-     double Logfl_5;
-     double Logfl_6;
-     quint64 timeDataLog;
-
-     //pwm commands
-     uint16_t dt_c; ///< AutoPilot's throttle command
-     uint16_t dla_c; ///< AutoPilot's left aileron command
-     uint16_t dra_c; ///< AutoPilot's right aileron command
-     uint16_t dr_c; ///< AutoPilot's rudder command
-     uint16_t dle_c; ///< AutoPilot's left elevator command
-     uint16_t dre_c; ///< AutoPilot's right elevator command
-     uint16_t dlf_c; ///< AutoPilot's left  flap command
-     uint16_t drf_c; ///< AutoPilot's right flap command
-     uint16_t aux1; ///< AutoPilot's aux1 command
-     uint16_t aux2; ///< AutoPilot's aux2 command
-     quint64 timePWMCommand;
-
-     //filtered data
-     double aX; ///< Accelerometer X value (m/s^2)
-     double aY; ///< Accelerometer Y value (m/s^2)
-     double aZ; ///< Accelerometer Z value (m/s^2)
-     double gX; ///< Gyro X value (rad/s)
-     double gY; ///< Gyro Y value (rad/s)
-     double gZ; ///< Gyro Z value (rad/s)
-     double mX; ///< Magnetometer X (normalized to 1)
-     double mY; ///< Magnetometer Y (normalized to 1)
-     double mZ; ///< Magnetometer Z (normalized to 1)
-     quint64 timeFiltered;
-
-     //gps date and time
-     uint8_t year; ///< Year reported by Gps
-     uint8_t month; ///< Month reported by Gps
-     uint8_t day; ///< Day reported by Gps
-     uint8_t hour; ///< Hour reported by Gps
-     uint8_t min; ///< Min reported by Gps
-     uint8_t sec; ///< Sec reported by Gps
-     uint8_t visSat; ///< Visible sattelites reported by Gps
-     quint64 timeGPSDateTime;
-
-
 private:
     Ui::SlugsDataSensorView *ui;
-    void loadParameters();
 
 
 };

src/ui/SlugsPIDControl.cpp

@@ -44,12 +44,13 @@ void SlugsPIDControl::activeUasSet(UASInterface* uas)
 {
     SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(uas);
 
-
+#ifdef MAVLINK_ENABLED_SLUGS
     if (slugsMav != NULL)
     {
-        connect(slugsMav,SIGNAL(slugsActionAck(int,uint8_t,uint8_t)),this,SLOT(recibeMensaje(int,uint8_t,uint8_t)));
+        connect(slugsMav,SIGNAL(slugsActionAck(int,const mavlink_action_ack_t&)),this,SLOT(recibeMensaje(int,mavlink_action_ack_t)));
     }
 
+#endif // MAVLINK_ENABLED_SLUG
     // Set this UAS as active if it is the first one
         if(activeUAS == 0)
         {
@@ -339,7 +340,11 @@ void SlugsPIDControl::connect_Pitch2dT_LineEdit()
     connect(ui->P2dT_FF_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_Pitch2dT_groupBox(QString)));
 }
 
-void SlugsPIDControl::recibeMensaje(int systemId, uint8_t action, uint8_t result)
+#ifdef MAVLINK_ENABLED_SLUGS
+
+void SlugsPIDControl::recibeMensaje(int systemId, const mavlink_action_ack_t& action)
 {
-    ui->recepcion_label->setText(QString::number(action));
+    ui->recepcion_label->setText(QString::number(action.action));
 }
+
+#endif // MAVLINK_ENABLED_SLUGS

src/ui/SlugsPIDControl.h

@@ -6,7 +6,7 @@
 #include "UASInterface.h"
 #include "QGCMAVLink.h"
 #include "SlugsMAV.h"
-
+#include "mavlink.h"
 
 namespace Ui {
     class SlugsPIDControl;
@@ -184,9 +184,11 @@ public slots:
 
      //Create, send and get Messages PID
     // void createMessagePID();
+#ifdef MAVLINK_ENABLED_SLUGS
 
-     void recibeMensaje(int systemId, uint8_t action, uint8_t result);
+     void recibeMensaje(int systemId, const mavlink_action_ack_t& action);
 
+#endif // MAVLINK_ENABLED_SLUG
 
 private:
     Ui::SlugsPIDControl *ui;