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Commit 24201265 authored by James Goppert's avatar James Goppert
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Split scaled and raw rc packets to match mavlink

parent d99fa330
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Showing with 133 additions and 73 deletions
src/comm/MAVLinkSimulationLink.cc
View file @ 24201265
...@@ -424,7 +424,7 @@ void MAVLinkSimulationLink::mainloop() ...@@ -424,7 +424,7 @@ void MAVLinkSimulationLink::mainloop()
static int rcCounter = 0; static int rcCounter = 0;
if (rcCounter == 2) if (rcCounter == 2)
{ {
mavlink_rc_channels_t chan; mavlink_rc_channels_raw_t chan;
chan.chan1_raw = 1000 + ((int)(fabs(x) * 1000) % 2000); chan.chan1_raw = 1000 + ((int)(fabs(x) * 1000) % 2000);
chan.chan2_raw = 1000 + ((int)(fabs(y) * 1000) % 2000); chan.chan2_raw = 1000 + ((int)(fabs(y) * 1000) % 2000);
chan.chan3_raw = 1000 + ((int)(fabs(z) * 1000) % 2000); chan.chan3_raw = 1000 + ((int)(fabs(z) * 1000) % 2000);
...@@ -433,15 +433,7 @@ void MAVLinkSimulationLink::mainloop() ...@@ -433,15 +433,7 @@ void MAVLinkSimulationLink::mainloop()
chan.chan6_raw = (chan.chan3_raw + chan.chan2_raw) / 2.0f; chan.chan6_raw = (chan.chan3_raw + chan.chan2_raw) / 2.0f;
chan.chan7_raw = (chan.chan4_raw + chan.chan2_raw) / 2.0f; chan.chan7_raw = (chan.chan4_raw + chan.chan2_raw) / 2.0f;
chan.chan8_raw = (chan.chan6_raw + chan.chan2_raw) / 2.0f; chan.chan8_raw = (chan.chan6_raw + chan.chan2_raw) / 2.0f;
chan.chan1_255 = ((chan.chan1_raw - 1000)/1000.0f) * 255.0f; messageSize = mavlink_msg_rc_channels_raw_encode(systemId, componentId, &msg, &chan);
chan.chan2_255 = ((chan.chan2_raw - 1000)/1000.0f) * 255.0f;
chan.chan3_255 = ((chan.chan3_raw - 1000)/1000.0f) * 255.0f;
chan.chan4_255 = ((chan.chan4_raw - 1000)/1000.0f) * 255.0f;
chan.chan5_255 = ((chan.chan5_raw - 1000)/1000.0f) * 255.0f;
chan.chan6_255 = ((chan.chan6_raw - 1000)/1000.0f) * 255.0f;
chan.chan7_255 = ((chan.chan7_raw - 1000)/1000.0f) * 255.0f;
chan.chan8_255 = ((chan.chan8_raw - 1000)/1000.0f) * 255.0f;
messageSize = mavlink_msg_rc_channels_encode(systemId, componentId, &msg, &chan);
// Allocate buffer with packet data // Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg); bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream //add data into datastream
......
src/comm/OpalLink.cc
View file @ 24201265
...@@ -323,7 +323,7 @@ void OpalLink::getSignals() ...@@ -323,7 +323,7 @@ void OpalLink::getSignals()
if (sendRCValues) if (sendRCValues)
{ {
mavlink_message_t rc; mavlink_message_t rc;
mavlink_msg_rc_channels_pack(systemID, componentID, &rc, mavlink_msg_rc_channels_raw_pack(systemID, componentID, &rc,
duty2PulseMicros(values[OpalRT::RAW_CHANNEL_1]), duty2PulseMicros(values[OpalRT::RAW_CHANNEL_1]),
duty2PulseMicros(values[OpalRT::RAW_CHANNEL_2]), duty2PulseMicros(values[OpalRT::RAW_CHANNEL_2]),
duty2PulseMicros(values[OpalRT::RAW_CHANNEL_3]), duty2PulseMicros(values[OpalRT::RAW_CHANNEL_3]),
...@@ -332,14 +332,6 @@ void OpalLink::getSignals() ...@@ -332,14 +332,6 @@ void OpalLink::getSignals()
duty2PulseMicros(values[OpalRT::RAW_CHANNEL_6]), duty2PulseMicros(values[OpalRT::RAW_CHANNEL_6]),
duty2PulseMicros(values[OpalRT::RAW_CHANNEL_7]), duty2PulseMicros(values[OpalRT::RAW_CHANNEL_7]),
duty2PulseMicros(values[OpalRT::RAW_CHANNEL_8]), duty2PulseMicros(values[OpalRT::RAW_CHANNEL_8]),
rescaleNorm(values[OpalRT::NORM_CHANNEL_1], OpalRT::NORM_CHANNEL_1),
rescaleNorm(values[OpalRT::NORM_CHANNEL_2], OpalRT::NORM_CHANNEL_2),
rescaleNorm(values[OpalRT::NORM_CHANNEL_3], OpalRT::NORM_CHANNEL_3),
rescaleNorm(values[OpalRT::NORM_CHANNEL_4], OpalRT::NORM_CHANNEL_4),
rescaleNorm(values[OpalRT::NORM_CHANNEL_5], OpalRT::NORM_CHANNEL_5),
rescaleNorm(values[OpalRT::NORM_CHANNEL_6], OpalRT::NORM_CHANNEL_6),
rescaleNorm(values[OpalRT::NORM_CHANNEL_7], OpalRT::NORM_CHANNEL_7),
rescaleNorm(values[OpalRT::NORM_CHANNEL_8], OpalRT::NORM_CHANNEL_8),
0 //rssi unused 0 //rssi unused
); );
receiveMessage(rc); receiveMessage(rc);
......
src/uas/UAS.cc
View file @ 24201265
...@@ -407,41 +407,34 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) ...@@ -407,41 +407,34 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
} }
} }
break; break;
case MAVLINK_MSG_ID_RC_CHANNELS: case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
{ {
mavlink_rc_channels_t channels; mavlink_rc_channels_raw_t channels;
mavlink_msg_rc_channels_decode(&message, &channels); mavlink_msg_rc_channels_raw_decode(&message, &channels);
emit remoteControlRSSIChanged(channels.rssi/255.0f); emit remoteControlRSSIChanged(channels.rssi/255.0f);
for (int i = 0; i < 8; i++) emit remoteControlChannelRawChanged(0, channels.chan1_raw);
{ emit remoteControlChannelRawChanged(1, channels.chan2_raw);
switch (i) emit remoteControlChannelRawChanged(2, channels.chan3_raw);
{ emit remoteControlChannelRawChanged(3, channels.chan4_raw);
case 0: emit remoteControlChannelRawChanged(4, channels.chan5_raw);
emit remoteControlChannelChanged(i, channels.chan1_raw, channels.chan1_255/255.0f); emit remoteControlChannelRawChanged(5, channels.chan6_raw);
break; emit remoteControlChannelRawChanged(6, channels.chan7_raw);
case 1: emit remoteControlChannelRawChanged(7, channels.chan8_raw);
emit remoteControlChannelChanged(i, channels.chan2_raw, channels.chan2_255/255.0f);
break;
case 2:
emit remoteControlChannelChanged(i, channels.chan3_raw, channels.chan3_255/255.0f);
break;
case 3:
emit remoteControlChannelChanged(i, channels.chan4_raw, channels.chan4_255/255.0f);
break;
case 4:
emit remoteControlChannelChanged(i, channels.chan5_raw, channels.chan5_255/255.0f);
break;
case 5:
emit remoteControlChannelChanged(i, channels.chan6_raw, channels.chan6_255/255.0f);
break;
case 6:
emit remoteControlChannelChanged(i, channels.chan7_raw, channels.chan7_255/255.0f);
break;
case 7:
emit remoteControlChannelChanged(i, channels.chan8_raw, channels.chan8_255/255.0f);
break;
}
} }
break;
case MAVLINK_MSG_ID_RC_CHANNELS_SCALED:
{
mavlink_rc_channels_scaled_t channels;
mavlink_msg_rc_channels_scaled_decode(&message, &channels);
emit remoteControlRSSIChanged(channels.rssi/255.0f);
emit remoteControlChannelScaledChanged(0, channels.chan1_scaled/10000.0f);
emit remoteControlChannelScaledChanged(1, channels.chan2_scaled/10000.0f);
emit remoteControlChannelScaledChanged(2, channels.chan3_scaled/10000.0f);
emit remoteControlChannelScaledChanged(3, channels.chan4_scaled/10000.0f);
emit remoteControlChannelScaledChanged(4, channels.chan5_scaled/10000.0f);
emit remoteControlChannelScaledChanged(5, channels.chan6_scaled/10000.0f);
emit remoteControlChannelScaledChanged(6, channels.chan7_scaled/10000.0f);
emit remoteControlChannelScaledChanged(7, channels.chan8_scaled/10000.0f);
} }
break; break;
case MAVLINK_MSG_ID_PARAM_VALUE: case MAVLINK_MSG_ID_PARAM_VALUE:
......
src/uas/UASInterface.h
View file @ 24201265
...@@ -356,8 +356,10 @@ signals: ...@@ -356,8 +356,10 @@ signals:
void positionZControlEnabled(bool enabled); void positionZControlEnabled(bool enabled);
/** @brief Heading control enabled/disabled */ /** @brief Heading control enabled/disabled */
void positionYawControlEnabled(bool enabled); void positionYawControlEnabled(bool enabled);
/** @brief Value of a remote control channel */ /** @brief Value of a remote control channel (raw) */
void remoteControlChannelChanged(int channelId, float raw, float normalized); void remoteControlChannelRawChanged(int channelId, float raw);
/** @brief Value of a remote control channel (scaled)*/
void remoteControlChannelScaledChanged(int channelId, float normalized);
/** @brief Remote control RSSI changed */ /** @brief Remote control RSSI changed */
void remoteControlRSSIChanged(float rssi); void remoteControlRSSIChanged(float rssi);
/** @brief Radio Calibration Data has been received from the MAV*/ /** @brief Radio Calibration Data has been received from the MAV*/
......
src/ui/QGCRemoteControlView.cc
View file @ 24201265
...@@ -96,10 +96,11 @@ void QGCRemoteControlView::setUASId(int id) ...@@ -96,10 +96,11 @@ void QGCRemoteControlView::setUASId(int id)
if (uas) if (uas)
{ {
// The UAS exists, disconnect any existing connections // The UAS exists, disconnect any existing connections
disconnect(uas, SIGNAL(remoteControlChannelChanged(int,float,float)), this, SLOT(setChannel(int,float,float))); disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float,float)), this, SLOT(setChannel(int,float,float)));
disconnect(uas, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float))); disconnect(uas, SIGNAL(remoteControlRSSIRawChanged(float)), this, SLOT(setRemoteRSSI(float)));
disconnect(uas, SIGNAL(radioCalibrationReceived(const QPointer<RadioCalibrationData>)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&))); disconnect(uas, SIGNAL(radioCalibrationRawReceived(const QPointer<RadioCalibrationData>)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
disconnect(uas, SIGNAL(remoteControlChannelChanged(int,float,float)), calibrationWindow, SLOT(setChannel(int,float,float))); disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannelRaw(int,float)));
disconnect(uas, SIGNAL(remoteControlChannelScaledChanged(int,float,float)), calibrationWindow, SLOT(setChannelScaled(int,float)));
} }
} }
...@@ -111,25 +112,49 @@ void QGCRemoteControlView::setUASId(int id) ...@@ -111,25 +112,49 @@ void QGCRemoteControlView::setUASId(int id)
nameLabel->setText(QString("RC Input of %1").arg(newUAS->getUASName())); nameLabel->setText(QString("RC Input of %1").arg(newUAS->getUASName()));
calibrationWindow->setUASId(id); calibrationWindow->setUASId(id);
connect(newUAS, SIGNAL(radioCalibrationReceived(const QPointer<RadioCalibrationData>&)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&))); connect(newUAS, SIGNAL(radioCalibrationReceived(const QPointer<RadioCalibrationData>&)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
connect(newUAS, SIGNAL(remoteControlChannelChanged(int,float,float)), this, SLOT(setChannel(int,float,float)));
connect(newUAS, SIGNAL(remoteControlChannelChanged(int,float,float)), calibrationWindow, SLOT(setChannel(int,float,float)));
connect(newUAS, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float))); connect(newUAS, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float)));
connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(setChannelRaw(int,float)));
connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannelRaw(int,float)));
connect(newUAS, SIGNAL(remoteControlChannelScaledChanged(int,float)), this, SLOT(setChannelScaled(int,float)));
connect(newUAS, SIGNAL(remoteControlChannelScaledChanged(int,float)), calibrationWindow, SLOT(setChannelScaled(int,float)));
} }
} }
void QGCRemoteControlView::setChannel(int channelId, float raw, float normalized) void QGCRemoteControlView::setChannelRaw(int channelId, float raw)
{ {
if (this->raw.size() <= channelId) if (this->raw.size() <= channelId)
{ {
// This is a new channel, append it // This is a new channel, append it
this->raw.append(raw); this->raw.append(raw);
this->normalized.append(0);
appendChannelWidget(channelId);
}
else
{
// This is an existing channel, aupdate it
this->raw[channelId] = raw;
}
updated = true;
// FIXME Will be timer based in the future
redraw();
}
void QGCRemoteControlView::setChannelScaled(int channelId, float normalized)
{
if (this->raw.size() <= channelId) // using raw vector as size indicator
{
// This is a new channel, append it
this->normalized.append(normalized); this->normalized.append(normalized);
this->raw.append(0);
appendChannelWidget(channelId); appendChannelWidget(channelId);
} }
else else
{ {
// This is an existing channel, update it // This is an existing channel, update it
this->raw[channelId] = raw;
this->normalized[channelId] = normalized; this->normalized[channelId] = normalized;
} }
updated = true; updated = true;
...@@ -156,8 +181,9 @@ void QGCRemoteControlView::appendChannelWidget(int channelId) ...@@ -156,8 +181,9 @@ void QGCRemoteControlView::appendChannelWidget(int channelId)
layout->addWidget(raw); layout->addWidget(raw);
// Append progress bar // Append progress bar
QProgressBar* normalized = new QProgressBar(this); QProgressBar* normalized = new QProgressBar(this);
normalized->setMinimum(0); normalized->setMinimum(-100);
normalized->setMaximum(100); normalized->setMaximum(100);
normalized->setFormat("%v%");
progressBars.append(normalized); progressBars.append(normalized);
layout->addWidget(normalized); layout->addWidget(normalized);
channelLayout->addLayout(layout); channelLayout->addLayout(layout);
......
src/ui/QGCRemoteControlView.h
View file @ 24201265
...@@ -52,7 +52,8 @@ public: ...@@ -52,7 +52,8 @@ public:
public slots: public slots:
void setUASId(int id); void setUASId(int id);
void setChannel(int channelId, float raw, float normalized); void setChannelRaw(int channelId, float raw);
void setChannelScaled(int channelId, float normalized);
void setRemoteRSSI(float rssiNormalized); void setRemoteRSSI(float rssiNormalized);
void redraw(); void redraw();
......
src/ui/QGCRemoteControlView.ui
View file @ 24201265
...@@ -165,8 +165,20 @@ ...@@ -165,8 +165,20 @@
<height>16</height> <height>16</height>
</rect> </rect>
</property> </property>
<property name="minimum">
<number>-100</number>
</property>
<property name="value"> <property name="value">
<number>24</number> <number>0</number>
</property>
<property name="textVisible">
<bool>true</bool>
</property>
<property name="invertedAppearance">
<bool>false</bool>
</property>
<property name="format">
<string>%v%</string>
</property> </property>
</widget> </widget>
<widget class="QProgressBar" name="chan2ProgressBar"> <widget class="QProgressBar" name="chan2ProgressBar">
...@@ -178,8 +190,14 @@ ...@@ -178,8 +190,14 @@
<height>16</height> <height>16</height>
</rect> </rect>
</property> </property>
<property name="minimum">
<number>-100</number>
</property>
<property name="value"> <property name="value">
<number>24</number> <number>0</number>
</property>
<property name="format">
<string>%v%</string>
</property> </property>
</widget> </widget>
<widget class="QProgressBar" name="chan3ProgressBar"> <widget class="QProgressBar" name="chan3ProgressBar">
...@@ -191,8 +209,14 @@ ...@@ -191,8 +209,14 @@
<height>16</height> <height>16</height>
</rect> </rect>
</property> </property>
<property name="minimum">
<number>-100</number>
</property>
<property name="value"> <property name="value">
<number>24</number> <number>0</number>
</property>
<property name="format">
<string>%v%</string>
</property> </property>
</widget> </widget>
<widget class="QProgressBar" name="chan4ProgressBar"> <widget class="QProgressBar" name="chan4ProgressBar">
...@@ -204,8 +228,14 @@ ...@@ -204,8 +228,14 @@
<height>16</height> <height>16</height>
</rect> </rect>
</property> </property>
<property name="minimum">
<number>-100</number>
</property>
<property name="value"> <property name="value">
<number>24</number> <number>0</number>
</property>
<property name="format">
<string>%v%</string>
</property> </property>
</widget> </widget>
<widget class="QProgressBar" name="chan5ProgressBar"> <widget class="QProgressBar" name="chan5ProgressBar">
...@@ -217,8 +247,14 @@ ...@@ -217,8 +247,14 @@
<height>16</height> <height>16</height>
</rect> </rect>
</property> </property>
<property name="minimum">
<number>-100</number>
</property>
<property name="value"> <property name="value">
<number>24</number> <number>0</number>
</property>
<property name="format">
<string>%v%</string>
</property> </property>
</widget> </widget>
<widget class="QProgressBar" name="chan6ProgressBar"> <widget class="QProgressBar" name="chan6ProgressBar">
...@@ -230,8 +266,14 @@ ...@@ -230,8 +266,14 @@
<height>16</height> <height>16</height>
</rect> </rect>
</property> </property>
<property name="minimum">
<number>-100</number>
</property>
<property name="value"> <property name="value">
<number>24</number> <number>0</number>
</property>
<property name="format">
<string>%v%</string>
</property> </property>
</widget> </widget>
<widget class="QProgressBar" name="chan7ProgressBar"> <widget class="QProgressBar" name="chan7ProgressBar">
...@@ -243,8 +285,14 @@ ...@@ -243,8 +285,14 @@
<height>16</height> <height>16</height>
</rect> </rect>
</property> </property>
<property name="minimum">
<number>-100</number>
</property>
<property name="value"> <property name="value">
<number>24</number> <number>0</number>
</property>
<property name="format">
<string>%v%</string>
</property> </property>
</widget> </widget>
<widget class="QProgressBar" name="chan8ProgressBar"> <widget class="QProgressBar" name="chan8ProgressBar">
...@@ -256,8 +304,14 @@ ...@@ -256,8 +304,14 @@
<height>16</height> <height>16</height>
</rect> </rect>
</property> </property>
<property name="minimum">
<number>-100</number>
</property>
<property name="value"> <property name="value">
<number>24</number> <number>0</number>
</property>
<property name="format">
<string>%v%</string>
</property> </property>
</widget> </widget>
<widget class="QLabel" name="label_11"> <widget class="QLabel" name="label_11">
......
src/ui/WaypointList.cc
View file @ 24201265
...@@ -122,7 +122,7 @@ void WaypointList::setUAS(UASInterface* uas) ...@@ -122,7 +122,7 @@ void WaypointList::setUAS(UASInterface* uas)
{ {
this->uas = uas; this->uas = uas;
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64))); connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updatePosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64))); connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &))); connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &)));
......
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