add mavlink message a fuctions to send PDI values

src/uas/SlugsMAV.cc

@@ -297,6 +297,13 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
             break;
         }
+    case MAVLINK_MSG_ID_ACTION_ACK:
+        {
+            mavlink_action_ack_t ack;
+
+            mavlink_msg_action_ack_decode(&message,&ack);
+            emit slugsActionAck(uasId,ack.action,ack.result);
+        }
 //    case MAVLINK_MSG_ID_MID_LVL_CMDS://180
 //        {
 

src/uas/SlugsMAV.h

@@ -135,6 +135,10 @@ signals:
                          uint8_t gpsvisSat,
                          quint64 time);
 
+   void slugsActionAck(int systemId,
+                       uint8_t action,
+                       uint8_t result);
+
 
 
 

src/ui/MainWindow.cc

@@ -228,6 +228,7 @@ void MainWindow::connectWidgets()
       connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), dynamic_cast<SlugsHilSim*>(slugsHilSimWidget->widget()), SLOT(activeUasSet(UASInterface*)) );
     }
 
+
 }
 
 void MainWindow::arrangeCenterStack()

src/ui/SlugsPIDControl.cpp

@@ -5,29 +5,93 @@
 #include <QPalette>
 #include<QColor>
 #include <QDebug>
+#include <UASManager.h>
+#include <UAS.h>
+#include "LinkManager.h"
 
 SlugsPIDControl::SlugsPIDControl(QWidget *parent) :
     QWidget(parent),
     ui(new Ui::SlugsPIDControl)
 {
     ui->setupUi(this);
+
+   connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(activeUasSet(UASInterface*)));
+
+    activeUAS = NULL;
+
+
     setRedColorStyle();
     setGreenColorStyle();
 
 
-    connect_set_pushButtons();
-    connect_AirSpeed_LineEdit();
+
+
+
+//    connect_set_pushButtons();
+//    connect_AirSpeed_LineEdit();
+//    connect_PitchFollowei_LineEdit();
+//    connect_RollControl_LineEdit();
+//    connect_HeigthError_LineEdit();
+//    connect_YawDamper_LineEdit();
+//    connect_Pitch2dT_LineEdit();
 
 
 }
 
+/**
+ * @brief Called when the a new UAS is set to active.
+ *
+ * Called when the a new UAS is set to active.
+ *
+ * @param uas The new active UAS
+ */
+void SlugsPIDControl::activeUasSet(UASInterface* uas)
+{
+    SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(uas);
+
+    if (slugsMav != NULL)
+    {
+        connect(slugsMav,SIGNAL(slugsActionAck(int,uint8_t,uint8_t)),this,SLOT(recibeMensaje(int,uint8_t,uint8_t)));
+    }
+
+    // Set this UAS as active if it is the first one
+        if(activeUAS == 0)
+        {
+            activeUAS = uas;
+            systemId = activeUAS->getUASID();
+            connect_editLinesPDIvalues();
+
+            //qDebug()<<"------------------->Active UAS ID: "<<uas->getUASID();
+        }
+
+}
+
+/**
+ * @brief Connect Edition Lines for PID Values
+ *
+ * @param
+ */
+void SlugsPIDControl::connect_editLinesPDIvalues()
+{
+    if(activeUAS)
+    {
+       connect_set_pushButtons();
+       connect_AirSpeed_LineEdit();
+       connect_PitchFollowei_LineEdit();
+       connect_RollControl_LineEdit();
+       connect_HeigthError_LineEdit();
+       connect_YawDamper_LineEdit();
+       connect_Pitch2dT_LineEdit();
+    }
+}
+
 SlugsPIDControl::~SlugsPIDControl()
 {
     delete ui;
 }
 
 /**
- * Set the background color RED style for the GroupBox PID when change lineEdit information
+ *@brief Set the background color RED style for the GroupBox PID when change lineEdit information
  *
  */
 void SlugsPIDControl::setRedColorStyle()
@@ -46,7 +110,7 @@ void SlugsPIDControl::setRedColorStyle()
 }
 
 /**
- * Set the background color GREEN style for the GroupBox PID when change lineEdit information
+ *@brief Set the background color GREEN style for the GroupBox PID when change lineEdit information
  *
  */
 void SlugsPIDControl::setGreenColorStyle()
@@ -64,12 +128,17 @@ void SlugsPIDControl::setGreenColorStyle()
 }
 
 /**
- * Connection Signal and Slot of the set buttons on the widget
+ *@brief Connection Signal and Slot of the set buttons on the widget
  */
 void SlugsPIDControl::connect_set_pushButtons()
 {
     //ToDo connect buttons set and get. Before create the slots
-    connect(ui->dT_PID_set_pushButton, SIGNAL(clicked(bool)),this,SLOT(changeColor_GREEN_AirSpeed_groupBox()));
+   connect(ui->dT_PID_set_pushButton, SIGNAL(clicked()),this,SLOT(changeColor_GREEN_AirSpeed_groupBox()));
+   connect(ui->dE_PID_set_pushButton,SIGNAL(clicked()),this,SLOT(changeColor_GREEN_PitchFollowei_groupBox()));
+   connect(ui->dA_PID_set_pushButton,SIGNAL(clicked()),this,SLOT(changeColor_GREEN_RollControl_groupBox()));
+   connect(ui->HELPComm_PDI_set_pushButton,SIGNAL(clicked()),this,SLOT(changeColor_GREEN_HeigthError_groupBox()));
+   connect(ui->dR_PDI_set_pushButton,SIGNAL(clicked()),this,SLOT(changeColor_GREEN_YawDamper_groupBox()));
+   connect(ui->Pitch2dT_PDI_set_pushButton,SIGNAL(clicked()),this,SLOT(changeColor_GREEN_Pitch2dT_groupBox()));
 
 
 }
@@ -90,7 +159,188 @@ void SlugsPIDControl::changeColor_RED_AirSpeed_groupBox(QString text)
 
 void SlugsPIDControl::changeColor_GREEN_AirSpeed_groupBox()
 {
+    //create the packet
+    pidMessage.target = activeUAS->getUASID();
+    pidMessage.idx = 0;
+    pidMessage.pVal = ui->dT_P_set->text().toFloat();
+    pidMessage.iVal = ui->dT_I_set->text().toFloat();
+    pidMessage.dVal = ui->dT_D_set->text().toFloat();
+
+    UAS *uas = dynamic_cast<UAS*>(UASManager::instance()->getActiveUAS());
+
+    mavlink_message_t msg;
+
+    mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
+    uas->sendMessage(msg);
+
+
+
     ui->AirSpeedHold_groupBox->setStyleSheet(GREENcolorStyle);
 }
 
 
+void SlugsPIDControl::connect_PitchFollowei_LineEdit()
+{
+    connect(ui->dE_P_set, SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_PitchFollowei_groupBox(QString)));
+    connect(ui->dE_I_set, SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_PitchFollowei_groupBox(QString)));
+    connect(ui->dE_D_set, SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_PitchFollowei_groupBox(QString)));
+}
+
+void SlugsPIDControl::changeColor_RED_PitchFollowei_groupBox(QString text)
+{
+    Q_UNUSED(text);
+    ui->PitchFlowei_groupBox->setStyleSheet(REDcolorStyle);
+
+}
+
+void SlugsPIDControl::changeColor_GREEN_PitchFollowei_groupBox()
+{
+    ui->PitchFlowei_groupBox->setStyleSheet(GREENcolorStyle);
+}
+
+// Functions for Roll Control GroupBox
+/**
+     * @brief Change color style to red when PID values of Roll Control are edited
+     *
+     *
+     * @param
+     */
+void SlugsPIDControl::changeColor_RED_RollControl_groupBox(QString text)
+{
+    Q_UNUSED(text);
+    ui->RollControl_groupBox->setStyleSheet(REDcolorStyle);
+}
+
+/**
+         * @brief Change color style to green when PID values of Roll Control are send to UAS
+         *
+         * @param
+         */
+void SlugsPIDControl::changeColor_GREEN_RollControl_groupBox()
+{
+    ui->RollControl_groupBox->setStyleSheet(GREENcolorStyle);
+}
+
+/**
+         * @brief Connects the SIGNALS from the editline to SLOT RollControl_groupBox
+         *
+         * @param
+         */
+void SlugsPIDControl::connect_RollControl_LineEdit()
+{
+    connect(ui->dA_P_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_RollControl_groupBox(QString)));
+    connect(ui->dA_I_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_RollControl_groupBox(QString)));
+    connect(ui->dA_D_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_RollControl_groupBox(QString)));
+}
+
+
+// Functions for Heigth Error GroupBox
+/**
+     * @brief Change color style to red when PID values of Heigth Error are edited
+     *
+     *
+     * @param
+     */
+void SlugsPIDControl::changeColor_RED_HeigthError_groupBox(QString text)
+{
+    Q_UNUSED(text);
+    ui->HeightErrorLoPitch_groupBox->setStyleSheet(REDcolorStyle);
+}
+
+/**
+         * @brief Change color style to green when PID values of Heigth Error are send to UAS
+         *
+         * @param
+         */
+void SlugsPIDControl::changeColor_GREEN_HeigthError_groupBox()
+{
+    ui->HeightErrorLoPitch_groupBox->setStyleSheet(GREENcolorStyle);
+}
+
+/**
+         * @brief Connects the SIGNALS from the editline to SLOT HeigthError_groupBox
+         *
+         * @param
+         */
+void SlugsPIDControl::connect_HeigthError_LineEdit()
+{
+    connect(ui->HELPComm_P_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_HeigthError_groupBox(QString)));
+    connect(ui->HELPComm_I_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_HeigthError_groupBox(QString)));
+    connect(ui->HELPComm_FF_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_HeigthError_groupBox(QString)));
+}
+
+
+// Functions for Yaw Damper GroupBox
+/**
+     * @brief Change color style to red when PID values of Yaw Damper are edited
+     *
+     *
+     * @param
+     */
+void SlugsPIDControl::changeColor_RED_YawDamper_groupBox(QString text)
+{
+    Q_UNUSED(text);
+    ui->YawDamper_groupBox->setStyleSheet(REDcolorStyle);
+}
+
+/**
+         * @brief Change color style to green when PID values of Yaw Damper are send to UAS
+         *
+         * @param
+         */
+void SlugsPIDControl::changeColor_GREEN_YawDamper_groupBox()
+{
+    ui->YawDamper_groupBox->setStyleSheet(GREENcolorStyle);
+}
+
+/**
+         * @brief Connects the SIGNALS from the editline to SLOT YawDamper_groupBox
+         *
+         * @param
+         */
+void SlugsPIDControl::connect_YawDamper_LineEdit()
+{
+    connect(ui->dR_P_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_YawDamper_groupBox(QString)));
+    connect(ui->dR_I_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_YawDamper_groupBox(QString)));
+    connect(ui->dR_D_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_YawDamper_groupBox(QString)));
+
+
+}
+
+// Functions for Pitch to dT GroupBox
+/**
+     * @brief Change color style to red when PID values of Pitch to dT are edited
+     *
+     *
+     * @param
+     */
+void SlugsPIDControl::changeColor_RED_Pitch2dT_groupBox(QString text)
+{
+    Q_UNUSED(text);
+    ui->Pitch2dTFFterm_groupBox->setStyleSheet(REDcolorStyle);
+}
+
+/**
+         * @brief Change color style to green when PID values of Pitch to dT are send to UAS
+         *
+         * @param
+         */
+void SlugsPIDControl::changeColor_GREEN_Pitch2dT_groupBox()
+{
+    ui->Pitch2dTFFterm_groupBox->setStyleSheet(GREENcolorStyle);
+}
+
+/**
+         * @brief Connects the SIGNALS from the editline to SLOT Pitch2dT_groupBox
+         *
+         * @param
+         */
+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)
+{
+    ui->recepcion_label->setText(QString::number(action));
+}

src/ui/SlugsPIDControl.h

@@ -3,6 +3,10 @@
 
 #include <QWidget>
 #include<QGroupBox>
+#include "UASInterface.h"
+#include "QGCMAVLink.h"
+#include "SlugsMAV.h"
+
 
 namespace Ui {
     class SlugsPIDControl;
@@ -18,11 +22,52 @@ public:
 
 public slots:
 
+    /**
+     * @brief Called when the a new UAS is set to active.
+     *
+     * Called when the a new UAS is set to active.
+     *
+     * @param uas The new active UAS
+     */
+    void activeUasSet(UASInterface* uas);
+
+    /**
+     */
     void setRedColorStyle();
+    /**
+     * @brief Set color StyleSheet GREEN
+     *
+     * @param
+     */
     void setGreenColorStyle();
 
+    /**
+     * @brief Connect Set pushButtons to change the color GroupBox
+     *
+     * @param
+     */
+    void connect_set_pushButtons();
+
+    /**
+     * @brief Connect Edition Lines for PID Values
+     *
+     * @param
+     */
+    void connect_editLinesPDIvalues();
 
+// Fuctions for Air Speed GroupBox
+    /**
+     * @brief Change color style to red when PID values of Air Speed are edited
+     *
+     *
+     * @param
+     */
     void changeColor_RED_AirSpeed_groupBox(QString text);
+    /**
+     * @brief Change color style to green when PID values of Air Speed are send to UAS
+     *
+     * @param
+     */
     void changeColor_GREEN_AirSpeed_groupBox();
     /**
      * @brief Connects the SIGNALS from the editline to SLOT changeColor_RED_AirSpeed_groupBox()
@@ -31,20 +76,134 @@ public slots:
      */
     void connect_AirSpeed_LineEdit();
 
+// Functions for Pitch Followei GroupBox
+    /**
+     * @brief Change color style to red when PID values of Pitch Followei are edited
+     *
+     *
+     * @param
+     */
+     void changeColor_RED_PitchFollowei_groupBox(QString text);
+     /**
+         * @brief Change color style to green when PID values of Pitch Followei are send to UAS
+         *
+         * @param
+         */
+     void changeColor_GREEN_PitchFollowei_groupBox();
+     /**
+         * @brief Connects the SIGNALS from the editline to SLOT PitchFlowei_groupBox
+         *
+         * @param
+         */
+     void connect_PitchFollowei_LineEdit();
+
+     // Functions for Roll Control GroupBox
+     /**
+          * @brief Change color style to red when PID values of Roll Control are edited
+          *
+          *
+          * @param
+          */
+     void changeColor_RED_RollControl_groupBox(QString text);
+     /**
+              * @brief Change color style to green when PID values of Roll Control are send to UAS
+              *
+              * @param
+              */
+     void changeColor_GREEN_RollControl_groupBox();
+     /**
+              * @brief Connects the SIGNALS from the editline to SLOT RollControl_groupBox
+              *
+              * @param
+              */
+     void connect_RollControl_LineEdit();
+
+     // Functions for Heigth Error GroupBox
+     /**
+          * @brief Change color style to red when PID values of Heigth Error are edited
+          *
+          *
+          * @param
+          */
+     void changeColor_RED_HeigthError_groupBox(QString text);
+     /**
+              * @brief Change color style to green when PID values of Heigth Error are send to UAS
+              *
+              * @param
+              */
+     void changeColor_GREEN_HeigthError_groupBox();
+     /**
+              * @brief Connects the SIGNALS from the editline to SLOT HeigthError_groupBox
+              *
+              * @param
+              */
+     void connect_HeigthError_LineEdit();
+
+     // Functions for Yaw Damper GroupBox
+     /**
+          * @brief Change color style to red when PID values of Yaw Damper are edited
+          *
+          *
+          * @param
+          */
+     void changeColor_RED_YawDamper_groupBox(QString text);
+     /**
+              * @brief Change color style to green when PID values of Yaw Damper are send to UAS
+              *
+              * @param
+              */
+     void changeColor_GREEN_YawDamper_groupBox();
+     /**
+              * @brief Connects the SIGNALS from the editline to SLOT YawDamper_groupBox
+              *
+              * @param
+              */
+     void connect_YawDamper_LineEdit();
+
+     // Functions for Pitch to dT GroupBox
+     /**
+          * @brief Change color style to red when PID values of Pitch to dT are edited
+          *
+          *
+          * @param
+          */
+     void changeColor_RED_Pitch2dT_groupBox(QString text);
+     /**
+              * @brief Change color style to green when PID values of Pitch to dT are send to UAS
+              *
+              * @param
+              */
+     void changeColor_GREEN_Pitch2dT_groupBox();
+     /**
+              * @brief Connects the SIGNALS from the editline to SLOT Pitch2dT_groupBox
+              *
+              * @param
+              */
+     void connect_Pitch2dT_LineEdit();
+
+
+     //Create, send and get Messages PID
+    // void createMessagePID();
+
+     void recibeMensaje(int systemId, uint8_t action, uint8_t result);
 
 
-
-
-    void connect_set_pushButtons();
-
 private:
     Ui::SlugsPIDControl *ui;
+
+     UASInterface* activeUAS;
+     int systemId;
+
     bool change_dT;
 
+
     //Color Styles
     QString REDcolorStyle;
     QString GREENcolorStyle;
     QString ORIGINcolorStyle;
+
+    //SlugsMav Message
+    mavlink_pid_t pidMessage;
 };
 
 #endif // SLUGSPIDCONTROL_H

src/ui/SlugsPIDControl.ui

@@ -122,6 +122,13 @@
           </item>
          </layout>
         </item>
+        <item>
+         <widget class="QLabel" name="recepcion_label">
+          <property name="text">
+           <string>Recepcion</string>
+          </property>
+         </widget>
+        </item>
         <item>
          <spacer name="verticalSpacer_5">
           <property name="orientation">
@@ -671,14 +678,14 @@
         <item>
          <layout class="QGridLayout" name="gridLayout_12">
           <item row="0" column="0">
-           <widget class="QPushButton" name="HELPComm_set_pushButton">
+           <widget class="QPushButton" name="HELPComm_PDI_set_pushButton">
             <property name="text">
              <string>SET</string>
             </property>
            </widget>
           </item>
           <item row="0" column="2">
-           <widget class="QPushButton" name="HELPComm_get_pushButton">
+           <widget class="QPushButton" name="HELPComm_PDI_get_pushButton">
             <property name="text">
              <string>GET</string>
             </property>
@@ -834,14 +841,14 @@
         <item>
          <layout class="QGridLayout" name="gridLayout_14">
           <item row="0" column="0">
-           <widget class="QPushButton" name="dR_set_pushButton">
+           <widget class="QPushButton" name="dR_PDI_set_pushButton">
             <property name="text">
              <string>SET</string>
             </property>
            </widget>
           </item>
           <item row="0" column="2">
-           <widget class="QPushButton" name="dR_get_pushButton">
+           <widget class="QPushButton" name="dR_PDI_get_pushButton">
             <property name="text">
              <string>GET</string>
             </property>
@@ -922,14 +929,14 @@
         <item>
          <layout class="QGridLayout" name="gridLayout_16">
           <item row="0" column="0">
-           <widget class="QPushButton" name="Pitch2dT_set_pushButton">
+           <widget class="QPushButton" name="Pitch2dT_PDI_set_pushButton">
             <property name="text">
              <string>SET</string>
             </property>
            </widget>
           </item>
           <item row="0" column="2">
-           <widget class="QPushButton" name="Pitch2dT_get_pushButton">
+           <widget class="QPushButton" name="Pitch2dT_PDI_get_pushButton">
             <property name="text">
              <string>GET</string>
             </property>