Added new options for windows serial port, fixed a number of bugs, added...

Added new options for windows serial port, fixed a number of bugs, added customizing options to instrument widgets

deploy/mac_create_dmg.sh

@@ -12,6 +12,7 @@ cp -r ../bin/mac/qgroundcontrol.app mac/.
 
 cp -r ../audio mac/qgroundcontrol.app/Contents/MacOs/.
 mkdir -p mac/qgroundcontrol.app/Contents/Frameworks/
+# SDL is not copied by Qt - for whatever reason
 cp -r SDL.framework mac/qgroundcontrol.app/Contents/Frameworks/.
 echo -e '\n\nStarting to create disk image. This may take a while..\n'
 macdeployqt mac/qgroundcontrol.app -dmg

qgroundcontrol.pri

@@ -29,6 +29,7 @@
 #               $$BASEDIR/lib/openjaus/libopenJaus/include
 
 message(Qt version $$[QT_VERSION])
+message(Using Qt from $QTDIR)
 
 release {
 #    DEFINES += QT_NO_DEBUG_OUTPUT
@@ -50,6 +51,7 @@ macx {
     contains( HARDWARE_PLATFORM, 9.6.0 ) || contains( HARDWARE_PLATFORM, 9.7.0 ) || contains( HARDWARE_PLATFORM, 9.8.0 ) || contains( HARDWARE_PLATFORM, 9.9.0 ) {
         # x86 Mac OS X Leopard 10.5 and earlier
         CONFIG += x86 cocoa phonon
+        CONFIG -= x86_64
         message(Building for Mac OS X 32bit/Leopard 10.5 and earlier)
 
                 # Enable function-profiling with the OS X saturn tool

src/QGC.h

@@ -11,6 +11,7 @@ namespace QGC
     const QColor colorGreen(20, 200, 20);
     const QColor colorYellow(255, 255, 0);
     const QColor colorDarkYellow(180, 180, 0);
+    const QColor colorBackground("#050508");
 
     /** @brief Get the current ground time in microseconds */
     quint64 groundTimeUsecs();

src/comm/MAVLinkSimulationLink.cc

@@ -289,16 +289,19 @@ void MAVLinkSimulationLink::mainloop()
                     if (keys.value(i, "") == "Gyro_Phi")
                     {
                         rawImuValues.xgyro = d;
+                        attitude.rollspeed = ((d-29.000)/15000.0)*2.7-2.7-2.65;
                     }
 
                     if (keys.value(i, "") == "Gyro_Theta")
                     {
                         rawImuValues.ygyro = d;
+                        attitude.pitchspeed = ((d-29.000)/15000.0)*2.7-2.7-2.65;
                     }
 
                     if (keys.value(i, "") == "Gyro_Psi")
                     {
                         rawImuValues.zgyro = d;
+                        attitude.yawspeed = ((d-29.000)/3000.0)*2.7-2.7-2.65;
                     }
 #ifdef MAVLINK_ENABLED_PIXHAWK
                     if (keys.value(i, "") == "Pressure")
@@ -426,12 +429,12 @@ void MAVLinkSimulationLink::mainloop()
         memcpy(stream+streampointer,buffer, bufferlength);
         streampointer += bufferlength;
 
-        // GLOBAL POSITION VEHICLE 3
-        mavlink_msg_global_position_int_pack(60, componentId, &ret, (473780.28137103+(x/2+0.002))*1E3, (85489.9892510421+((y*2)+0.3))*1E3, (z+590.0)*1000.0, 0*100.0, 0*100.0, 0*100.0);
-        bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
-        //add data into datastream
-        memcpy(stream+streampointer,buffer, bufferlength);
-        streampointer += bufferlength;
+//        // GLOBAL POSITION VEHICLE 3
+//        mavlink_msg_global_position_int_pack(60, componentId, &ret, (473780.28137103+(x/2+0.002))*1E3, (85489.9892510421+((y*2)+0.3))*1E3, (z+590.0)*1000.0, 0*100.0, 0*100.0, 0*100.0);
+//        bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
+//        //add data into datastream
+//        memcpy(stream+streampointer,buffer, bufferlength);
+//        streampointer += bufferlength;
 
         static int rcCounter = 0;
         if (rcCounter == 2)
@@ -609,15 +612,15 @@ void MAVLinkSimulationLink::mainloop()
         memcpy(stream+streampointer,buffer, bufferlength);
         streampointer += bufferlength;
 
-        // HEARTBEAT VEHICLE 3
+//        // HEARTBEAT VEHICLE 3
 
-        // Pack message and get size of encoded byte string
-        messageSize = mavlink_msg_heartbeat_pack(60, componentId, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_PIXHAWK);
-        // Allocate buffer with packet data
-        bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
-        //add data into datastream
-        memcpy(stream+streampointer,buffer, bufferlength);
-        streampointer += bufferlength;
+//        // Pack message and get size of encoded byte string
+//        messageSize = mavlink_msg_heartbeat_pack(60, componentId, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_PIXHAWK);
+//        // Allocate buffer with packet data
+//        bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
+//        //add data into datastream
+//        memcpy(stream+streampointer,buffer, bufferlength);
+//        streampointer += bufferlength;
 
         // STATUS VEHICLE 2
         mavlink_sys_status_t status2;

src/comm/SerialLink.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/>.
-
 ======================================================================*/
 /**
  * @file
@@ -58,34 +38,16 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
     // Set unique ID and add link to the list of links
     this->id = getNextLinkId();
 
-    // Load defaults from settings
-    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
-    settings.sync();
-    if (settings.contains("SERIALLINK_COMM_PORT"))
-    {
-        this->porthandle = settings.value("SERIALLINK_COMM_PORT").toString();
-    }
-
     // *nix (Linux, MacOS tested) serial port support
     port = new QextSerialPort(porthandle, QextSerialPort::Polling);
     //port = new QextSerialPort(porthandle, QextSerialPort::EventDriven);
 
-    if (settings.contains("SERIALLINK_COMM_PORT"))
-    {
-        setBaudRate(settings.value("SERIALLINK_COMM_BAUD").toInt());
-        setParityType(settings.value("SERIALLINK_COMM_PARITY").toInt());
-        setStopBitsType(settings.value("SERIALLINK_COMM_STOPBITS").toInt());
-        setDataBitsType(settings.value("SERIALLINK_COMM_DATABITS").toInt());
-    }
-    else
-    {
-        this->baudrate = baudrate;
-        this->flow = flow;
-        this->parity = parity;
-        this->dataBits = dataBits;
-        this->stopBits = stopBits;
-        this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all.
-    }
+    this->baudrate = baudrate;
+    this->flow = flow;
+    this->parity = parity;
+    this->dataBits = dataBits;
+    this->stopBits = stopBits;
+    this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all.
     port->setTimeout(timeout); // Timeout of 0 ms, we don't want to wait for data, we just poll again next time
     port->setBaudRate(baudrate);
     port->setFlowControl(flow);
@@ -96,7 +58,7 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
     // Set the port name
     if (porthandle == "")
     {
-//        name = tr("serial link ") + QString::number(getId()) + tr(" (unconfigured)");
+        //        name = tr("serial link ") + QString::number(getId()) + tr(" (unconfigured)");
         name = tr("Serial Link ") + QString::number(getId());
     }
     else
@@ -134,6 +96,33 @@ SerialLink::~SerialLink()
     port = NULL;
 }
 
+void SerialLink::loadSettings()
+{
+    // Load defaults from settings
+    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
+    settings.sync();
+    if (settings.contains("SERIALLINK_COMM_PORT"))
+    {
+        setPortName(settings.value("SERIALLINK_COMM_PORT").toString());
+        setBaudRateType(settings.value("SERIALLINK_COMM_BAUD").toInt());
+        setParityType(settings.value("SERIALLINK_COMM_PARITY").toInt());
+        setStopBitsType(settings.value("SERIALLINK_COMM_STOPBITS").toInt());
+        setDataBitsType(settings.value("SERIALLINK_COMM_DATABITS").toInt());
+    }
+}
+
+void SerialLink::writeSettings()
+{
+    // Store settings
+    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
+    settings.setValue("SERIALLINK_COMM_PORT", this->porthandle);
+    settings.setValue("SERIALLINK_COMM_BAUD", getBaudRateType());
+    settings.setValue("SERIALLINK_COMM_PARITY", getParityType());
+    settings.setValue("SERIALLINK_COMM_STOPBITS", getStopBitsType());
+    settings.setValue("SERIALLINK_COMM_DATABITS", getDataBitsType());
+    settings.sync();
+}
+
 
 /**
  * @brief Runs the thread
@@ -189,13 +178,13 @@ void SerialLink::writeBytes(const char* data, qint64 size)
         // Increase write counter
         bitsSentTotal += size * 8;
 
-//        int i;
-//        for (i=0; i<size; i++)
-//        {
-//            unsigned char v=data[i];
+        //        int i;
+        //        for (i=0; i<size; i++)
+        //        {
+        //            unsigned char v=data[i];
 
-//            //fprintf(stderr,"%02x ", v);
-//        }
+        //            //fprintf(stderr,"%02x ", v);
+        //        }
     }
 }
 
@@ -321,18 +310,12 @@ bool SerialLink::hardwareConnect()
     statisticsMutex.unlock();
 
     bool connectionUp = isConnected();
-    if(connectionUp) {
+    if(connectionUp)
+    {
         emit connected();
         emit connected(true);
 
-        // Store settings
-        QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
-        settings.setValue("SERIALLINK_COMM_PORT", this->porthandle);
-        settings.setValue("SERIALLINK_COMM_BAUD", getBaudRate());
-        settings.setValue("SERIALLINK_COMM_PARITY", getParityType());
-        settings.setValue("SERIALLINK_COMM_STOPBITS", getStopBitsType());
-        settings.setValue("SERIALLINK_COMM_DATABITS", getDataBitsType());
-        settings.sync();
+        writeSettings();
     }
 
     return connectionUp;
@@ -376,7 +359,8 @@ void SerialLink::setName(QString name)
 qint64 SerialLink::getNominalDataRate()
 {
     qint64 dataRate = 0;
-    switch (baudrate) {
+    switch (baudrate)
+    {
     case BAUD50:
         dataRate = 50;
         break;
@@ -442,6 +426,13 @@ qint64 SerialLink::getNominalDataRate()
         break;
     case BAUD256000:
         dataRate = 256000;
+        // Windows-specific high-end baudrates
+    case BAUD230400:
+        dataRate = 230400;
+    case BAUD460800:
+        dataRate = 460800;
+    case BAUD921600:
+        dataRate = 921600;
         break;
     }
     return dataRate;
@@ -543,7 +534,8 @@ bool SerialLink::setPortName(QString portName)
     if(portName.trimmed().length() > 0)
     {
         bool reconnect = false;
-        if(isConnected()) {
+        if(isConnected())
+        {
             disconnect();
             reconnect = true;
         }
@@ -650,8 +642,17 @@ bool SerialLink::setBaudRateType(int rateIndex)
         baudrate = BAUD128000;
         break;
     case 21:
+        baudrate = BAUD230400;
+        break;
+    case 22:
         baudrate = BAUD256000;
         break;
+    case 23:
+        baudrate = BAUD460800;
+        break;
+    case 24:
+        baudrate = BAUD921600;
+        break;
     default:
         // If none of the above cases matches, there must be an error
         accepted = false;
@@ -671,12 +672,14 @@ bool SerialLink::setBaudRate(int rate)
 {
     bool reconnect = false;
     bool accepted = true; // This is changed if none of the data rates matches
-    if(isConnected()) {
+    if(isConnected())
+    {
         disconnect();
         reconnect = true;
     }
 
-    switch (rate) {
+    switch (rate)
+    {
     case 50:
         baudrate = BAUD50;
         break;
@@ -740,9 +743,18 @@ bool SerialLink::setBaudRate(int rate)
     case 128000:
         baudrate = BAUD128000;
         break;
+    case 230400:
+        baudrate = BAUD230400;
+        break;
     case 256000:
         baudrate = BAUD256000;
         break;
+    case 460800:
+        baudrate = BAUD460800;
+        break;
+    case 921600:
+        baudrate = BAUD921600;
+        break;
     default:
         // If none of the above cases matches, there must be an error
         accepted = false;
@@ -765,12 +777,14 @@ bool SerialLink::setFlowType(int flow)
 {
     bool reconnect = false;
     bool accepted = true;
-    if(isConnected()) {
+    if(isConnected())
+    {
         disconnect();
         reconnect = true;
     }
 
-    switch (flow) {
+    switch (flow)
+    {
     case FLOW_OFF:
         this->flow = FLOW_OFF;
         break;
@@ -794,12 +808,14 @@ bool SerialLink::setParityType(int parity)
 {
     bool reconnect = false;
     bool accepted = true;
-    if(isConnected()) {
+    if(isConnected())
+    {
         disconnect();
         reconnect = true;
     }
 
-    switch (parity) {
+    switch (parity)
+    {
     case PAR_NONE:
         this->parity = PAR_NONE;
         break;
@@ -826,11 +842,14 @@ bool SerialLink::setParityType(int parity)
     return accepted;
 }
 
+
+// FIXME Works not as anticipated by user!
 bool SerialLink::setDataBitsType(int dataBits)
 {
     bool accepted = true;
 
-    switch (dataBits) {
+    switch (dataBits)
+    {
     case 5:
         this->dataBits = DATA_5;
         break;
@@ -858,6 +877,7 @@ bool SerialLink::setDataBitsType(int dataBits)
     return accepted;
 }
 
+// FIXME WORKS NOT AS ANTICIPATED BY USER!
 bool SerialLink::setStopBitsType(int stopBits)
 {
     bool reconnect = false;
@@ -867,7 +887,8 @@ bool SerialLink::setStopBitsType(int stopBits)
         reconnect = true;
     }
 
-    switch (stopBits) {
+    switch (stopBits)
+    {
     case 1:
         this->stopBits = STOP_1;
         break;

src/comm/SerialLink.h

@@ -91,6 +91,9 @@ public:
     qint64 getBitsSent();
     qint64 getBitsReceived();
 
+    void loadSettings();
+    void writeSettings();
+
     void run();
 
     int getLinkQuality();

src/comm/SerialLinkInterface.h

@@ -57,6 +57,8 @@ public slots:
 	virtual bool setParityType(int parity) = 0;
 	virtual bool setDataBitsType(int dataBits) = 0;
 	virtual bool setStopBitsType(int stopBits) = 0;
+        virtual void loadSettings() = 0;
+        virtual void writeSettings() = 0;
 
 };
 

src/lib/qextserialport/qextserialbase.h

@@ -92,8 +92,11 @@ enum BaudRateType
     BAUD57600,
     BAUD76800,             //POSIX ONLY
     BAUD115200,
-    BAUD128000,            //WINDOWS ONLY
-    BAUD256000             //WINDOWS ONLY
+    BAUD128000,            // WINDOWS ONLY
+    BAUD230400,            // WINDOWS ONLY
+    BAUD256000,            // WINDOWS ONLY
+    BAUD460800,            // WINDOWS ONLY
+    BAUD921600             // WINDOWS ONLY
 };
 
 enum DataBitsType 

src/ui/HDDisplay.h

@@ -37,6 +37,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QTimer>
 #include <QFontDatabase>
 #include <QMap>
+#include <QContextMenuEvent>
 #include <QPair>
 #include <cmath>
 
@@ -58,14 +59,31 @@ class HDDisplay : public QGraphicsView
 {
     Q_OBJECT
 public:
-    HDDisplay(QStringList* plotList, QWidget *parent = 0);
+    HDDisplay(QStringList* plotList, QString title="", QWidget *parent = 0);
     ~HDDisplay();
 
 public slots:
     /** @brief Update a HDD value */
-    void updateValue(UASInterface* uas, QString name, double value, quint64 msec);
+    void updateValue(int uasId, QString name, double value, quint64 msec);
     void setActiveUAS(UASInterface* uas);
 
+    /** @brief Removes a plot item by the action data */
+    void removeItemByAction();
+    /** @brief Bring up the menu to add a gauge */
+    void addGauge();
+    /** @brief Add a gauge using this spec string */
+    void addGauge(const QString& gauge);
+    /** @brief Set the title of this widget and any existing parent dock widget */
+    void setTitle();
+    /** @brief Set the number of colums via popup */
+    void setColumns();
+    /** @brief Set the number of colums */
+    void setColumns(int cols);
+    /** @brief Save the current layout and state to disk */
+    void saveState();
+    /** @brief Restore the last layout and state from disk */
+    void restoreState();
+
 protected slots:
     void enableGLRendering(bool enable);
     //void render(QPainter* painter, const QRectF& target = QRectF(), const QRect& source = QRect(), Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
@@ -73,10 +91,13 @@ protected slots:
     void triggerUpdate();
 
 protected:
-    void changeEvent(QEvent *e);
-    void paintEvent(QPaintEvent * event);
+    void changeEvent(QEvent* e);
+    void paintEvent(QPaintEvent* event);
     void showEvent(QShowEvent* event);
     void hideEvent(QHideEvent* event);
+    void contextMenuEvent(QContextMenuEvent* event);
+    QList<QAction*> getItemRemoveActions();
+    void createActions();
     float refLineWidthToPen(float line);
     float refToScreenX(float x);
     float refToScreenY(float y);
@@ -155,6 +176,11 @@ protected:
     QStringList* acceptList;   ///< Variable names to plot
 
     quint64 lastPaintTime;     ///< Last time this widget was refreshed
+    int columns;               ///< Number of instrument columns
+
+    QAction* addGaugeAction;   ///< Action adding a gauge
+    QAction* setTitleAction;   ///< Action setting the title
+    QAction* setColumnsAction; ///< Action setting the number of columns
 
 private:
     Ui::HDDisplay *m_ui;

src/ui/HSIDisplay.cc

@@ -46,7 +46,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QDebug>
 
 HSIDisplay::HSIDisplay(QWidget *parent) :
-        HDDisplay(NULL, parent),
+        HDDisplay(NULL, "", parent),
         gpsSatellites(),
         satellitesUsed(0),
         attXSet(0),

src/ui/MainWindow.cc

@@ -207,17 +207,19 @@ void MainWindow::buildPxWidgets()
 {
     //FIXME: memory of acceptList will never be freed again
     QStringList* acceptList = new QStringList();
-    acceptList->append("roll IMU");
-    acceptList->append("pitch IMU");
-    acceptList->append("yaw IMU");
-    acceptList->append("rollspeed IMU");
-    acceptList->append("pitchspeed IMU");
-    acceptList->append("yawspeed IMU");
+    acceptList->append("-180,roll (deg),+180");
+    acceptList->append("-180,pitch (deg),+180");
+    acceptList->append("-180,yaw (deg),+180");
+
+    acceptList->append("-500,roll V (deg/s),+500");
+    acceptList->append("-500,pitch V (deg/s),+500");
+    acceptList->append("-500,yaw V (deg/s),+500");
 
     //FIXME: memory of acceptList2 will never be freed again
     QStringList* acceptList2 = new QStringList();
-    acceptList2->append("Battery");
-    acceptList2->append("Pressure");
+    acceptList2->append("0,Abs pressure,65500");
+    acceptList2->append("-2000,Accel. X, 2000");
+    acceptList2->append("-2000,Accel. Y, 2000");
 
     if (!linechartWidget)
     {
@@ -296,15 +298,15 @@ void MainWindow::buildPxWidgets()
 
     if (!headDown1DockWidget)
     {
-        headDown1DockWidget = new QDockWidget(tr("System Stats"), this);
-        headDown1DockWidget->setWidget( new HDDisplay(acceptList, this) );
+        headDown1DockWidget = new QDockWidget(tr("Flight Display"), this);
+        headDown1DockWidget->setWidget( new HDDisplay(acceptList, "Flight Display", this) );
         addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget()), MENU_HDD_1, Qt::RightDockWidgetArea);
     }
 
     if (!headDown2DockWidget)
     {
         headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
-        headDown2DockWidget->setWidget( new HDDisplay(acceptList2, this) );
+        headDown2DockWidget->setWidget( new HDDisplay(acceptList2, "Payload Status", this) );
         addToToolsMenu (headDown2DockWidget, tr("Payload Status"), SLOT(showToolWidget()), MENU_HDD_2, Qt::RightDockWidgetArea);
     }
 

src/ui/SerialConfigurationWindow.cc

@@ -234,6 +234,7 @@ userConfigured(false)
 
     if(serialLink != 0)
     {
+        serialLink->loadSettings();
         this->link = serialLink;
 
         // Setup the user interface according to link type

src/ui/SerialSettings.ui

@@ -159,11 +159,26 @@
        <string>128000</string>
       </property>
      </item>
+     <item>
+      <property name="text">
+       <string>230400</string>
+      </property>
+     </item>
      <item>
       <property name="text">
        <string>256000</string>
       </property>
      </item>
+     <item>
+      <property name="text">
+       <string>460800</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>921600</string>
+      </property>
+     </item>
     </widget>
    </item>
    <item row="2" column="0">

src/ui/linechart/LinechartWidget.h

@@ -72,7 +72,7 @@ public:
 public slots:
     void addCurve(QString curve);
     void removeCurve(QString curve);
-    void appendData(int sysId, QString curve, double data, quint64 usec);
+    void appendData(int uasId, QString curve, double data, quint64 usec);
     void takeButtonClick(bool checked);
     void setPlotWindowPosition(int scrollBarValue);
     void setPlotWindowPosition(quint64 position);

src/ui/map3D/QGCGoogleEarthView.cc

@@ -231,7 +231,7 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event)
             // Reloading the webpage, this resets Google Earth
             gEarthInitialized = false;
 
-            QTimer::singleShot(3000, this, SLOT(initializeGoogleEarth()));
+            QTimer::singleShot(10000, this, SLOT(initializeGoogleEarth()));
         }
         else
         {
@@ -300,7 +300,7 @@ void QGCGoogleEarthView::initializeGoogleEarth()
             qDebug() << "COULD NOT GET DOCUMENT OBJECT! Aborting";
         }
 #endif
-        QTimer::singleShot(3500, this, SLOT(initializeGoogleEarth()));
+        QTimer::singleShot(2500, this, SLOT(initializeGoogleEarth()));
         return;
     }