diff --git a/src/uas/PxQuadMAV.cc b/src/uas/PxQuadMAV.cc index f85bdb25f5ae7b5e53bf6feae650bef72dc5f8bf..a4eba53577bbed28d03a1744bd5b356fdb6038f2 100644 --- a/src/uas/PxQuadMAV.cc +++ b/src/uas/PxQuadMAV.cc @@ -131,51 +131,48 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message) emit valueChanged(uasId, "vis. speed z", "m/s", speed.z, time); } break; -<<<<<<< HEAD -======= - case MAVLINK_MSG_ID_CONTROL_STATUS: - { - mavlink_control_status_t status; - mavlink_msg_control_status_decode(&message, &status); - // Emit control status vector - emit attitudeControlEnabled(static_cast(status.control_att)); - emit positionXYControlEnabled(static_cast(status.control_pos_xy)); - emit positionZControlEnabled(static_cast(status.control_pos_z)); - emit positionYawControlEnabled(static_cast(status.control_pos_yaw)); - - // Emit localization status vector - emit localizationChanged(this, status.position_fix); - emit visionLocalizationChanged(this, status.vision_fix); - emit gpsLocalizationChanged(this, status.gps_fix); - } - break; - case MAVLINK_MSG_ID_VISUAL_ODOMETRY: - { - mavlink_visual_odometry_t pos; - mavlink_msg_visual_odometry_decode(&message, &pos); - quint64 time = getUnixTime(pos.frame1_time_us); - //emit valueChanged(uasId, "vis. time", pos.usec, time); - emit valueChanged(uasId, "vis-o. roll", "rad", pos.roll, time); - emit valueChanged(uasId, "vis-o. pitch", "rad", pos.pitch, time); - emit valueChanged(uasId, "vis-o. yaw", "rad", pos.yaw, time); - emit valueChanged(uasId, "vis-o. x", "m", pos.x, time); - emit valueChanged(uasId, "vis-o. y", "m", pos.y, time); - emit valueChanged(uasId, "vis-o. z", "m", pos.z, time); - } - break; - case MAVLINK_MSG_ID_AUX_STATUS: { - mavlink_aux_status_t status; - mavlink_msg_aux_status_decode(&message, &status); - emit loadChanged(this, status.load/10.0f); - emit errCountChanged(uasId, "IMU", "I2C0", status.i2c0_err_count); - emit errCountChanged(uasId, "IMU", "I2C1", status.i2c1_err_count); - emit errCountChanged(uasId, "IMU", "SPI0", status.spi0_err_count); - emit errCountChanged(uasId, "IMU", "SPI1", status.spi1_err_count); - emit errCountChanged(uasId, "IMU", "UART", status.uart_total_err_count); - emit valueChanged(uasId, "Load", "%", ((float)status.load)/10.0f, getUnixTime()); - } - break; ->>>>>>> master +// case MAVLINK_MSG_ID_CONTROL_STATUS: +// { +// mavlink_control_status_t status; +// mavlink_msg_control_status_decode(&message, &status); +// // Emit control status vector +// emit attitudeControlEnabled(static_cast(status.control_att)); +// emit positionXYControlEnabled(static_cast(status.control_pos_xy)); +// emit positionZControlEnabled(static_cast(status.control_pos_z)); +// emit positionYawControlEnabled(static_cast(status.control_pos_yaw)); + +// // Emit localization status vector +// emit localizationChanged(this, status.position_fix); +// emit visionLocalizationChanged(this, status.vision_fix); +// emit gpsLocalizationChanged(this, status.gps_fix); +// } +// break; +// case MAVLINK_MSG_ID_VISUAL_ODOMETRY: +// { +// mavlink_visual_odometry_t pos; +// mavlink_msg_visual_odometry_decode(&message, &pos); +// quint64 time = getUnixTime(pos.frame1_time_us); +// //emit valueChanged(uasId, "vis. time", pos.usec, time); +// emit valueChanged(uasId, "vis-o. roll", "rad", pos.roll, time); +// emit valueChanged(uasId, "vis-o. pitch", "rad", pos.pitch, time); +// emit valueChanged(uasId, "vis-o. yaw", "rad", pos.yaw, time); +// emit valueChanged(uasId, "vis-o. x", "m", pos.x, time); +// emit valueChanged(uasId, "vis-o. y", "m", pos.y, time); +// emit valueChanged(uasId, "vis-o. z", "m", pos.z, time); +// } +// break; +// case MAVLINK_MSG_ID_AUX_STATUS: { +// mavlink_aux_status_t status; +// mavlink_msg_aux_status_decode(&message, &status); +// emit loadChanged(this, status.load/10.0f); +// emit errCountChanged(uasId, "IMU", "I2C0", status.i2c0_err_count); +// emit errCountChanged(uasId, "IMU", "I2C1", status.i2c1_err_count); +// emit errCountChanged(uasId, "IMU", "SPI0", status.spi0_err_count); +// emit errCountChanged(uasId, "IMU", "SPI1", status.spi1_err_count); +// emit errCountChanged(uasId, "IMU", "UART", status.uart_total_err_count); +// emit valueChanged(uasId, "Load", "%", ((float)status.load)/10.0f, getUnixTime()); +// } +// break; default: // Let UAS handle the default message set UAS::receiveMessage(link, message); diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc index 2166f1e5fc46d575b9601c27211625ea5e6e6876..8cfb5a6beaab646562c11020b3cde4585530d3b3 100644 --- a/src/ui/MainWindow.cc +++ b/src/ui/MainWindow.cc @@ -49,6 +49,7 @@ This file is part of the QGROUNDCONTROL project #include "QGCMAVLinkLogPlayer.h" #include "QGCSettingsWidget.h" #include "QGCMapTool.h" +#include "MAVLinkDecoder.h" #ifdef QGC_OSG_ENABLED #include "Q3DWidgetFactory.h" @@ -165,9 +166,6 @@ MainWindow::MainWindow(QWidget *parent): connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*))); - // Add generic MAVLink decoder - mavlinkDecoder = new MAVLinkDecoder(mavlink, this); - // Connect user interface devices joystickWidget = 0; joystick = new JoystickInput(); @@ -299,6 +297,8 @@ void MainWindow::buildCommonWidgets() //TODO: move protocol outside UI mavlink = new MAVLinkProtocol(); connect(mavlink, SIGNAL(protocolStatusMessage(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection); + // Add generic MAVLink decoder + mavlinkDecoder = new MAVLinkDecoder(mavlink, this); // Dock widgets if (!controlDockWidget) @@ -338,6 +338,10 @@ void MainWindow::buildCommonWidgets() debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this); debugConsoleDockWidget->setWidget( new DebugConsole(this) ); debugConsoleDockWidget->setObjectName("COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET"); + + DebugConsole *debugConsole = dynamic_cast(debugConsoleDockWidget->widget()); + connect(mavlinkDecoder, SIGNAL(textMessageReceived(int, int, int, const QString)), debugConsole, SLOT(receiveTextMessage(int, int, int, const QString))); + addTool(debugConsoleDockWidget, tr("Communication Console"), Qt::BottomDockWidgetArea); } @@ -1103,7 +1107,8 @@ void MainWindow::UASCreated(UASInterface* uas) if (!linechartWidget) { // Center widgets - linechartWidget = new Linecharts(this); + linechartWidget = new Linecharts(this); + //linechartWidget FIXME addCentralWidget(linechartWidget, tr("Realtime Plot")); }