Substantial cleanup in joystick interface, operational now

qgroundcontrol.pro

@@ -557,7 +557,7 @@ contains(DEPENDENCIES_PRESENT, osg) {
         message("Including sources for osgEarth")
         
         # Enable only if OpenSceneGraph is available
-        SOURCES += src/ui/map3D/QMap3D.cc
+        SOURCES +=
     }
 }
 contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {

src/comm/QGCFlightGearLink.cc

@@ -142,6 +142,11 @@ void QGCFlightGearLink::setRemoteHost(const QString& host)
 
 }
 
+void QGCFlightGearLink::updateActuators(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8)
+{
+
+}
+
 void QGCFlightGearLink::updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode)
 {
     // magnetos,aileron,elevator,rudder,throttle\n

src/comm/QGCFlightGearLink.h

@@ -78,6 +78,7 @@ public slots:
     void setRemoteHost(const QString& host);
     /** @brief Send new control states to the simulation */
     void updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
+    void updateActuators(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
 //    /** @brief Remove a host from broadcasting messages to */
 //    void removeHost(const QString& host);
     //    void readPendingDatagrams();

src/comm/QGCHilLink.h

@@ -31,6 +31,7 @@ public slots:
     virtual void setRemoteHost(const QString& host) = 0;
     /** @brief Send new control states to the simulation */
     virtual void updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode) = 0;
+    virtual void updateActuators(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8) = 0;
     virtual void processError(QProcess::ProcessError err) = 0;
 
     virtual void readBytes() = 0;
@@ -68,6 +69,11 @@ signals:
                         float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt,
                         int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc);
     
+    /** @brief Remote host and port changed */
+    void remoteChanged(const QString& hostPort);
+
+    /** @brief Status text message from link */
+    void statusMessage(const QString& message);
 };
 
 #endif // QGCHILLINK_H

src/comm/QGCXPlaneLink.h

@@ -81,6 +81,16 @@ public:
      */
     QString getRemoteHost();
 
+    enum AIRFRAME
+    {
+        AIRFRAME_UNKNOWN = 0,
+        AIRFRAME_QUAD_DJI_F450_PWM,
+        AIRFRAME_QUAD_X_MK_10INCH_I2C,
+        AIRFRAME_QUAD_X_ARDRONE,
+        AIRFRAME_FIXED_WING_BIXLER_II,
+        AIRFRAME_FIXED_WING_BIXLER_II_AILERONS
+    };
+
 public slots:
 //    void setAddress(QString address);
     void setPort(int port);
@@ -88,9 +98,8 @@ public slots:
     void setRemoteHost(const QString& host);
     /** @brief Send new control states to the simulation */
     void updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
-//    /** @brief Remove a host from broadcasting messages to */
-//    void removeHost(const QString& host);
-    //    void readPendingDatagrams();
+    /** @brief Send new motor control states to the simulation */
+    void updateActuators(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
     void processError(QProcess::ProcessError err);
 
     void readBytes();
@@ -163,6 +172,9 @@ protected:
     float groundspeed;
 
     float man_roll, man_pitch, man_yaw;
+    QString airframeName;
+    enum AIRFRAME airframeID;
+    bool xPlaneConnected;
 
     void setName(QString name);
 

src/input/JoystickInput.cc

@@ -214,19 +214,20 @@ void JoystickInput::run()
             }
         }
 
-        // Display all axes
-        for(int i = 0; i < SDL_JoystickNumAxes(joystick); i++)
-        {
-            //qDebug() << "\rAXIS" << i << "is: " << SDL_JoystickGetAxis(joystick, i);
-        }
+//        // Display all axes
+//        for(int i = 0; i < SDL_JoystickNumAxes(joystick); i++)
+//        {
+//            qDebug() << "\rAXIS" << i << "is: " << SDL_JoystickGetAxis(joystick, i);
+//        }
 
         // THRUST
         double thrust = ((double)SDL_JoystickGetAxis(joystick, thrustAxis) - calibrationNegative[thrustAxis]) / (calibrationPositive[thrustAxis] - calibrationNegative[thrustAxis]);
         // Has to be inverted for Logitech Wingman
         thrust = 1.0f - thrust;
+        thrust = thrust * 2.0f - 1.0f;
         // Bound rounding errors
-        if (thrust > 1) thrust = 1;
-        if (thrust < 0) thrust = 0;
+        if (thrust > 1.0f) thrust = 1.0f;
+        if (thrust < -1.0f) thrust = -1.0f;
         emit thrustChanged((float)thrust);
 
         // X Axis

src/uas/UAS.cc

@@ -1045,6 +1045,20 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             }
         }
             break;
+        case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
+        {
+            mavlink_servo_output_raw_t raw;
+            mavlink_msg_servo_output_raw_decode(&message, &raw);
+
+            if (hilEnabled)
+            {
+                emit hilActuatorsChanged(static_cast<uint64_t>(getUnixTimeFromMs(raw.time_boot_ms)), static_cast<float>(raw.servo1_raw),
+                                     static_cast<float>(raw.servo2_raw), static_cast<float>(raw.servo3_raw),
+                                     static_cast<float>(raw.servo4_raw), static_cast<float>(raw.servo5_raw), static_cast<float>(raw.servo6_raw),
+                                     static_cast<float>(raw.servo7_raw), static_cast<float>(raw.servo8_raw));
+            }
+        }
+        break;
 #ifdef MAVLINK_ENABLED_PIXHAWK
         case MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE:
         {
@@ -1096,6 +1110,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             }
         }
             break;
+
+
+
 #endif
             //        case MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT:
             //        {
@@ -1205,7 +1222,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
         case MAVLINK_MSG_ID_RAW_PRESSURE:
         case MAVLINK_MSG_ID_SCALED_PRESSURE:
-        case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
         case MAVLINK_MSG_ID_OPTICAL_FLOW:
         case MAVLINK_MSG_ID_DEBUG_VECT:
         case MAVLINK_MSG_ID_DEBUG:
@@ -2394,8 +2410,8 @@ void UAS::disarmSystem()
 void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust)
 {
     // Scale values
-    double rollPitchScaling = 0.2f * 1000.0f;
-    double yawScaling = 0.5f * 1000.0f;
+    double rollPitchScaling = 1.0f * 1000.0f;
+    double yawScaling = 1.0f * 1000.0f;
     double thrustScaling = 1.0f * 1000.0f;
 
     manualRollAngle = roll * rollPitchScaling;

src/uas/UAS.h

@@ -665,6 +665,8 @@ signals:
     void imageReady(UASInterface* uas);
     /** @brief HIL controls have changed */
     void hilControlsChanged(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
+    /** @brief HIL actuator outputs have changed */
+    void hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
 
 protected:
     /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */

src/ui/JoystickWidget.cc

@@ -80,7 +80,7 @@ void JoystickWidget::setZ(float z)
 
 void JoystickWidget::setHat(float x, float y)
 {
-    updateStatus(tr("Hat position: x: %1, y: %2").arg(x, y));
+    updateStatus(tr("Hat position: x: %1, y: %2").arg(x).arg(y));
 }
 
 void JoystickWidget::clearKeys()

src/ui/QGCHilConfiguration.cc

@@ -11,6 +11,8 @@ QGCHilConfiguration::QGCHilConfiguration(QGCHilLink* link, QWidget *parent) :
 
     connect(ui->startButton, SIGNAL(clicked(bool)), this, SLOT(toggleSimulation(bool)));
     connect(ui->hostComboBox, SIGNAL(activated(QString)), link, SLOT(setRemoteHost(QString)));
+    connect(link, SIGNAL(remoteChanged(QString)), ui->hostComboBox, SLOT(setEditText(QString)));
+    connect(link, SIGNAL(statusMessage(QString)), this, SLOT(receiveStatusMessage(QString)));
 
     ui->startButton->setText(tr("Connect"));
 
@@ -22,9 +24,17 @@ QGCHilConfiguration::QGCHilConfiguration(QGCHilLink* link, QWidget *parent) :
         connect(ui->randomPositionButton, SIGNAL(clicked()), link, SLOT(setRandomPosition()));
         connect(ui->airframeComboBox, SIGNAL(activated(QString)), link, SLOT(setAirframe(QString)));
     }
+
+    ui->hostComboBox->clear();
+    ui->hostComboBox->addItem(link->getRemoteHost());
 //    connect(ui->)
 }
 
+void QGCHilConfiguration::receiveStatusMessage(const QString& message)
+{
+    ui->statusLabel->setText(message);
+}
+
 void QGCHilConfiguration::toggleSimulation(bool connect)
 {
     Q_UNUSED(connect);

src/ui/QGCHilConfiguration.h

@@ -18,8 +18,10 @@ public:
     ~QGCHilConfiguration();
 
 public slots:
-    /** Start / stop simulation */
+    /** @brief Start / stop simulation */
     void toggleSimulation(bool connect);
+    /** @brief Receive status message */
+    void receiveStatusMessage(const QString& message);
 
 protected:
     QGCHilLink* link;

src/ui/QGCHilConfiguration.ui

@@ -7,80 +7,83 @@
     <x>0</x>
     <y>0</y>
     <width>305</width>
-    <height>202</height>
+    <height>261</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
   <layout class="QGridLayout" name="gridLayout" columnstretch="40,60,50,50">
-   <item row="5" column="0" colspan="3">
-    <widget class="QLabel" name="statusLabel">
+   <item row="1" column="1" colspan="3">
+    <widget class="QComboBox" name="airframeComboBox">
+     <property name="editable">
+      <bool>true</bool>
+     </property>
+     <item>
       <property name="text">
-      <string>Status</string>
+       <string>QRO_X/MK</string>
       </property>
-    </widget>
      </item>
-   <item row="6" column="0" colspan="2">
-    <widget class="QPushButton" name="randomAttitudeButton">
+     <item>
       <property name="text">
-      <string>Random ATT</string>
+       <string>QRO_X/Ardrone</string>
       </property>
-    </widget>
      </item>
-   <item row="4" column="0" colspan="2">
-    <widget class="QPushButton" name="startButton">
+     <item>
       <property name="text">
-      <string>Start</string>
+       <string>QRO_X/PWM</string>
       </property>
-    </widget>
      </item>
-   <item row="0" column="0">
-    <widget class="QLabel" name="simLabel">
+     <item>
       <property name="text">
-      <string>Simulator</string>
+       <string>Unlimited</string>
       </property>
-    </widget>
      </item>
-   <item row="2" column="0">
-    <widget class="QLabel" name="hostLabel">
+     <item>
       <property name="text">
-      <string>Host</string>
+       <string>Twinjet</string>
       </property>
-    </widget>
      </item>
-   <item row="4" column="2" colspan="2">
-    <widget class="QPushButton" name="setHomeButton">
+     <item>
       <property name="text">
-      <string>Set HOME</string>
+       <string>Early Bird</string>
       </property>
-    </widget>
      </item>
-   <item row="2" column="1" colspan="3">
-    <widget class="QComboBox" name="hostComboBox">
-     <property name="editable">
-      <bool>true</bool>
+     <item>
+      <property name="text">
+       <string>Reno Racer</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Slowstick</string>
       </property>
+     </item>
      <item>
       <property name="text">
-       <string>127.0.0.1:49000</string>
+       <string>Tiny</string>
       </property>
      </item>
     </widget>
    </item>
-   <item row="0" column="1" colspan="3">
-    <widget class="QComboBox" name="simComboBox">
-     <item>
+   <item row="0" column="0">
+    <widget class="QLabel" name="simLabel">
      <property name="text">
-       <string>X-Plane</string>
+      <string>Simulator</string>
      </property>
+    </widget>
    </item>
+   <item row="4" column="2" colspan="2">
+    <widget class="QPushButton" name="setHomeButton">
+     <property name="text">
+      <string>Set HOME</string>
+     </property>
     </widget>
    </item>
-   <item row="6" column="2" colspan="2">
-    <widget class="QPushButton" name="randomPositionButton">
+   <item row="7" column="0">
+    <widget class="QLabel" name="statusLabel">
      <property name="text">
-      <string>Random POS</string>
+      <string>Status</string>
      </property>
     </widget>
    </item>
@@ -91,48 +94,68 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="1" colspan="3">
-    <widget class="QComboBox" name="airframeComboBox">
-     <property name="editable">
-      <bool>true</bool>
-     </property>
+   <item row="0" column="1" colspan="3">
+    <widget class="QComboBox" name="simComboBox">
      <item>
       <property name="text">
-       <string>QRO_X</string>
+       <string>X-Plane</string>
       </property>
      </item>
-     <item>
-      <property name="text">
-       <string>Unlimited</string>
-      </property>
+    </widget>
    </item>
+   <item row="2" column="1" colspan="3">
+    <widget class="QComboBox" name="hostComboBox">
+     <property name="editable">
+      <bool>true</bool>
+     </property>
      <item>
       <property name="text">
-       <string>Twinjet</string>
+       <string>127.0.0.1:49000</string>
       </property>
      </item>
-     <item>
+    </widget>
+   </item>
+   <item row="6" column="2" colspan="2">
+    <widget class="QPushButton" name="randomPositionButton">
      <property name="text">
-       <string>Early Bird</string>
+      <string>Random POS</string>
      </property>
+    </widget>
    </item>
-     <item>
+   <item row="6" column="0" colspan="2">
+    <widget class="QPushButton" name="randomAttitudeButton">
      <property name="text">
-       <string>Reno Racer</string>
+      <string>Random ATT</string>
      </property>
+    </widget>
    </item>
-     <item>
+   <item row="2" column="0">
+    <widget class="QLabel" name="hostLabel">
      <property name="text">
-       <string>Slowstick</string>
+      <string>Host</string>
      </property>
+    </widget>
    </item>
-     <item>
+   <item row="4" column="0" colspan="2">
+    <widget class="QPushButton" name="startButton">
      <property name="text">
-       <string>Tiny</string>
+      <string>Start</string>
      </property>
-     </item>
     </widget>
    </item>
+   <item row="8" column="0">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
   </layout>
  </widget>
  <resources/>

src/ui/map3D/Q3DWidgetFactory.cc

@@ -42,11 +42,6 @@ Q3DWidgetFactory::get(const std::string& type, QWidget* parent)
     if (type == "PIXHAWK") {
         return QPointer<QWidget>(new Pixhawk3DWidget(parent));
     }
-#ifdef QGC_OSGEARTH_ENABLED
-    else if (type == "MAP3D") {
-        return QPointer<QWidget>(new QMap3D());
-    }
-#endif
     else {
         return QPointer<QWidget>(new Q3DWidget(parent));
     }

src/ui/map3D/QMap3D.cc

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-    QGROUNDCONTROL is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    QGROUNDCONTROL is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-#ifdef QGC_OSGEARTH_ENABLED
-
-/**
- * @file
- *   @brief Definition of the class QMap3D.
- *
- *   @author James Goppert <james.goppert@gmail.com>
- *
- */
-
-#include "QMap3D.h"
-#include <osgEarthUtil/EarthManipulator>
-#include <QFileDialog>
-
-QMap3D::QMap3D(QWidget * parent, const char * name, WindowFlags f) :
-    QWidget(parent,f)
-{
-    Q_UNUSED(name);
-    setupUi(this);
-#if ((OPENSCENEGRAPH_MAJOR_VERSION == 2) & (OPENSCENEGRAPH_MINOR_VERSION > 8)) | (OPENSCENEGRAPH_MAJOR_VERSION > 2)
-    graphicsView->setCameraManipulator(new osgEarth::Util::EarthManipulator);
-#else
-    graphicsView->setCameraManipulator(new osgEarthUtil::EarthManipulator);
-#endif
-    graphicsView->setSceneData(new osg::Group);
-    graphicsView->updateCamera();
-    show();
-}
-
-QMap3D::~QMap3D()
-{
-}
-
-void QMap3D::on_pushButton_map_clicked()
-{
-    QString mapName = QFileDialog::getOpenFileName(this, tr("Select an OsgEarth map file"),
-                      QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("OsgEarth file (*.earth);;"));
-    graphicsView->getSceneData()->asGroup()->addChild(osgDB::readNodeFile(mapName.toStdString()));
-    graphicsView->updateCamera();
-}
-
-void QMap3D::on_pushButton_vehicle_clicked()
-{
-    QString vehicleName = QFileDialog::getOpenFileName(this, tr("Select a 3D model for your vehicle"),
-                          QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("OsgEarth file (*.osg, *.ac, *.3ds);;"));
-    graphicsView->getSceneData()->asGroup()->addChild(osgDB::readNodeFile(vehicleName.toStdString()));
-    graphicsView->updateCamera();
-}
-
-#endif