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qgroundcontrol
Commit 39ed495e authored by Lorenz Meier's avatar Lorenz Meier
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Merge branch 'master' of github.com:mavlink/qgroundcontrol into thread_test

parents 68e181e3 0ea78c2f
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Showing with 112 additions and 124 deletions
libs/qwt/qwt_math.h
View file @ 39ed495e
......@@ -23,8 +23,8 @@
#else // QT_VERSION >= 0x040000
#define qwtMax qMax
#define qwtMin qMin
#define qwtMax(x,y) qMax(qreal(x),qreal(y))
#define qwtMin(x,y) qMin(qreal(x),qreal(y))
#define qwtAbs qAbs
#endif
......
src/uas/UAS.cc
View file @ 39ed495e
......@@ -2000,7 +2000,7 @@ void UAS::sendMessage(LinkInterface* link, mavlink_message_t message)
*/
float UAS::filterVoltage(float value) const
{
return lpVoltage * 0.7f + value * 0.3f;
return lpVoltage * 0.6f + value * 0.4f;
}
/**
......@@ -2551,110 +2551,76 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
parameters.insert(compId, new QMap<QString, QVariant>());
}
// Insert parameter into registry
if (parameters.value(compId)->contains(paramName)) {
parameters.value(compId)->remove(paramName);
}
QVariant param;
// Insert with correct type
// TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
switch (rawValue.param_type)
{
case MAV_PARAM_TYPE_REAL32:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(paramValue.param_float);
}
else {
param = QVariant(paramValue.param_float);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
// qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAV_PARAM_TYPE_UINT8:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(QChar((unsigned char)paramValue.param_float));
}
else {
param = QVariant(QChar((unsigned char)paramValue.param_uint8));
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
//qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAV_PARAM_TYPE_INT8:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(QChar((char)paramValue.param_float));
}
else {
param = QVariant(QChar((char)paramValue.param_int8));
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
//qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAV_PARAM_TYPE_INT16:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((short)paramValue.param_float);
}
else {
param = QVariant(paramValue.param_int16);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
//qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAV_PARAM_TYPE_UINT32:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((unsigned int)paramValue.param_float);
}
else {
param = QVariant(paramValue.param_uint32);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
}
break;
case MAV_PARAM_TYPE_INT32:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((int)paramValue.param_float);
}
else {
param = QVariant(paramValue.param_int32);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
// qDebug() << "RECEIVED PARAM:" << param;
}
break;
default:
qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
switch (rawValue.param_type) {
case MAV_PARAM_TYPE_REAL32:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(paramValue.param_float);
} else {
param = QVariant(paramValue.param_float);
}
break;
case MAV_PARAM_TYPE_UINT8:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(QChar((unsigned char)paramValue.param_float));
} else {
param = QVariant(QChar((quint8)paramValue.param_float));
}
break;
case MAV_PARAM_TYPE_INT8:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(QChar((char)paramValue.param_float));
} else {
param = QVariant(QChar((qint8)paramValue.param_float));
}
break;
case MAV_PARAM_TYPE_INT16:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((short)paramValue.param_float);
} else {
param = QVariant((qint16)paramValue.param_float);
}
break;
case MAV_PARAM_TYPE_UINT16:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((unsigned short)paramValue.param_float);
} else {
param = QVariant((quint16)paramValue.param_float);
}
break;
case MAV_PARAM_TYPE_UINT32:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((unsigned int)paramValue.param_float);
} else {
param = QVariant((quint32)paramValue.param_float);
}
break;
case MAV_PARAM_TYPE_INT32:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((int)paramValue.param_float);
} else {
param = QVariant((qint32)paramValue.param_float);
}
break;
default:
qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
return;
} //switch (value.param_type)
// We did not return a critical error, now insert parameter into registry
if (parameters.value(compId)->contains(paramName)) {
parameters.value(compId)->remove(paramName);
}
// add new values
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
}
/**
......
src/ui/QGCPX4VehicleConfig.cc
View file @ 39ed495e
......@@ -50,7 +50,7 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
rcThrottle(0.0f),
rcMode(0.0f),
rcAssist(0.0f),
rcMission(0.0f),
rcLoiter(0.0f),
rcReturn(0.0f),
rcFlaps(0.0f),
rcAux1(0.0f),
......@@ -72,7 +72,7 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
channelNames << "Throttle";
channelNames << "Main Mode Switch";
channelNames << "Assist Switch";
channelNames << "Mission Switch";
channelNames << "Loiter Switch";
channelNames << "Return Switch";
channelNames << "Flaps";
channelNames << "Aux1";
......@@ -1484,7 +1484,7 @@ void QGCPX4VehicleConfig::remoteControlChannelRawChanged(int chan, float fval)
rcAssist = normalized; // ASSIST SWITCH
}
else if (chan == rcMapping[6]) {
rcMission = normalized; // MISSION SWITCH
rcLoiter = normalized; // LOITER SWITCH
}
else if (chan == rcMapping[7]) {
rcReturn = normalized; // RETURN SWITCH
......@@ -1948,7 +1948,7 @@ void QGCPX4VehicleConfig::updateRcChanLabels()
}
if (rcValue[rcMapping[6]] != UINT16_MAX) {
ui->missionSwChanLabel->setText(labelForRcValue(rcMission));
ui->missionSwChanLabel->setText(labelForRcValue(rcLoiter));
}
else {
ui->missionSwChanLabel->setText(blankLabel);
......
src/ui/QGCPX4VehicleConfig.h
View file @ 39ed495e
......@@ -306,7 +306,7 @@ protected:
float rcThrottle; ///< PPM input channel used as throttle control input
float rcMode; ///< PPM input channel used as mode switch control input
float rcAssist; ///< PPM input channel used as assist switch control input
float rcMission; ///< PPM input channel used as mission switch control input
float rcLoiter; ///< PPM input channel used as loiter switch control input
float rcReturn; ///< PPM input channel used as return switch control input
float rcFlaps; ///< PPM input channel used as flaps control input
float rcAux1; ///< PPM input channel used as aux 1 input
......
src/ui/designer/QGCXYPlot.cc
View file @ 39ed495e
......@@ -33,23 +33,28 @@ public:
/** Append data, returning the number of removed items */
int appendData(const QPointF &data) {
if(!minMaxSet) {
xmin = xmax = data.x();
ymin = ymax = data.y();
minMaxSet = true;
} else if(m_autoScale) {
xmin = qMin(xmin, data.x());
xmax = qMax(xmax, data.x());
ymin = qMin(ymin, data.y());
ymax = qMax(ymax, data.y());
}
m_data.append(data);
int removed = 0;
while(m_data.size() > m_maxStorePoints) {
while (m_data.size() > m_maxShowPoints) {
++removed;
m_data.removeFirst();
}
if (!minMaxSet) {
xmin = xmax = data.x();
ymin = ymax = data.y();
minMaxSet = true;
previousTime =xmin;
} else if (m_autoScale) {
if (m_autoScaleTime) {
xmin += removed * (data.x() - previousTime);
previousTime = data.x();
} else {
xmin = qMin(qreal(xmin), data.x());
}
xmax = qMax(qreal(xmax), data.x());
ymin = qMin(qreal(ymin), data.y());
ymax = qMax(qreal(ymax), data.y());
}
itemChanged();
return removed;
}
......@@ -61,6 +66,10 @@ public:
void setColor(const QColor &color) {
m_color = color;
}
void setTimeSerie(bool state) {
clear();
m_autoScaleTime = state;
}
void unsetMinMax() {
if(m_autoScale)
return;
......@@ -70,13 +79,13 @@ public:
minMaxSet = false;
else {
minMaxSet = true;
xmax = xmin = m_data.at(0).x();
previousTime = xmax = xmin = m_data.at(0).x();
ymax = ymin = m_data.at(0).y();
for(int i = 1; i < m_data.size(); i++) {
xmin = qMin(xmin, m_data.at(i).x());
xmax = qMax(xmax, m_data.at(i).x());
ymin = qMin(ymin, m_data.at(i).y());
ymax = qMax(ymax, m_data.at(i).y());
xmin = qMin(qreal(xmin), m_data.at(i).x());
xmax = qMax(qreal(xmax), m_data.at(i).x());
ymin = qMin(qreal(ymin), m_data.at(i).y());
ymax = qMax(qreal(ymax), m_data.at(i).y());
}
}
}
......@@ -164,12 +173,14 @@ private:
int m_smoothPoints; /** Number of points to average across */
mutable QColor m_color;
double previousTime;
double xmin;
double xmax;
double ymin;
double ymax;
bool minMaxSet;
bool m_autoScale;
bool m_autoScaleTime;
int m_startIndex;
};
......@@ -220,6 +231,7 @@ QGCXYPlot::QGCXYPlot(QWidget *parent) :
connect(ui->minY, SIGNAL(valueChanged(double)),this, SLOT(updateMinMaxSettings()));
connect(ui->maxY, SIGNAL(valueChanged(double)),this, SLOT(updateMinMaxSettings()));
connect(ui->automaticAxisRange, SIGNAL(toggled(bool)),this, SLOT(updateMinMaxSettings()));
connect(ui->timeAxisRange, SIGNAL(toggled(bool)),this, SLOT(setTimeAxis()));
connect(ui->maxDataShowSpinBox, SIGNAL(valueChanged(int)),this, SLOT(updateMinMaxSettings()));
connect(ui->maxDataStoreSpinBox, SIGNAL(valueChanged(int)),this, SLOT(updateMinMaxSettings()));
connect(ui->smoothSpinBox, SIGNAL(valueChanged(int)),this, SLOT(updateMinMaxSettings()));
......@@ -261,6 +273,7 @@ void QGCXYPlot::setEditMode(bool editMode)
ui->maxDataShowSpinBox->setVisible(editMode);
ui->maxDataStoreSpinBox->setVisible(editMode);
ui->automaticAxisRange->setVisible(editMode);
ui->timeAxisRange->setVisible(editMode);
ui->lblSmooth->setVisible(editMode);
ui->smoothSpinBox->setVisible(editMode);
......@@ -286,7 +299,7 @@ void QGCXYPlot::writeSettings(QSettings& settings)
settings.setValue("QGC_XYPLOT_MAXDATA_SHOW", ui->maxDataShowSpinBox->value());
settings.setValue("QGC_XYPLOT_AUTO", ui->automaticAxisRange->isChecked());
settings.setValue("QGC_XYPLOT_SMOOTH", ui->smoothSpinBox->value());
settings.setValue("QGC_XYPLOT_TIME", ui->timeAxisRange->isChecked());
settings.sync();
}
void QGCXYPlot::readSettings(const QString& pre,const QVariantMap& settings)
......@@ -301,6 +314,7 @@ void QGCXYPlot::readSettings(const QString& pre,const QVariantMap& settings)
ui->maxDataStoreSpinBox->setValue(settings.value(pre + "QGC_XYPLOT_MAXDATA_STORE", 10000).toInt());
ui->maxDataShowSpinBox->setValue(settings.value(pre + "QGC_XYPLOT_MAXDATA_SHOW", 15).toInt());
ui->smoothSpinBox->setValue(settings.value(pre + "QGC_XYPLOT_SMOOTH", 1).toInt());
ui->timeAxisRange->setChecked(settings.value(pre + "QGC_XYPLOT_TIME", true).toBool());
plot->setAxisTitle(QwtPlot::xBottom, ui->editXParam->currentText());
plot->setAxisTitle(QwtPlot::yLeft, ui->editYParam->currentText());
updateMinMaxSettings();
......@@ -318,6 +332,7 @@ void QGCXYPlot::readSettings(const QSettings& settings)
ui->maxDataStoreSpinBox->setValue(settings.value("QGC_XYPLOT_MAXDATA_STORE", 10000).toInt());
ui->maxDataShowSpinBox->setValue(settings.value("QGC_XYPLOT_MAXDATA_SHOW", 15).toInt());
ui->smoothSpinBox->setValue(settings.value("QGC_XYPLOT_SMOOTH", 1).toInt());
ui->timeAxisRange->setChecked(settings.value("QGC_XYPLOT_TIME", true).toBool());
plot->setAxisTitle(QwtPlot::xBottom, ui->editXParam->currentText());
plot->setAxisTitle(QwtPlot::yLeft, ui->editYParam->currentText());
updateMinMaxSettings();
......@@ -412,6 +427,11 @@ void QGCXYPlot::updateMinMaxSettings()
xycurve->setSmoothPoints(ui->smoothSpinBox->value());
}
void QGCXYPlot::setTimeAxis()
{
xycurve->setTimeSerie(ui->timeAxisRange->isChecked());
}
void QGCXYPlot::on_maxDataShowSpinBox_valueChanged(int value)
{
ui->maxDataStoreSpinBox->setMinimum(value);
......
src/ui/designer/QGCXYPlot.h
View file @ 39ed495e
......@@ -31,10 +31,11 @@ public slots:
void styleChanged(MainWindow::QGC_MAINWINDOW_STYLE style);
void updateMinMaxSettings();
private slots:
void on_maxDataShowSpinBox_valueChanged(int value);
void on_stopStartButton_toggled(bool checked);
void setTimeAxis();
void on_timeScrollBar_valueChanged(int value);
private:
......@@ -42,6 +43,7 @@ private:
QwtPlot *plot;
XYPlotCurve* xycurve;
bool autoScaleTime;
double x; /**< Last unused value for the x-coordinate */
quint64 x_timestamp_us; /**< Timestamp that we last recieved a value for x */
bool x_valid; /**< Whether we have recieved an x value but so far no corresponding y value */
......
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