Resolved assignament and reading mode from UAS

qgroundcontrol.pri

@@ -380,7 +380,8 @@ win32-g++ {
     message(Building for Windows Platform (32bit))
 
     # Special settings for debug
-    #CONFIG += CONSOLE
+    CONFIG += CONSOLE
+    OUTPUT += CONSOLE
 
     INCLUDEPATH += $$BASEDIR/lib/sdl/include \
                    $$BASEDIR/lib/opal/include #\ #\

src/Core.cc

@@ -65,8 +65,11 @@ This file is part of the QGROUNDCONTROL project
  * @param argv The string array of parameters
  **/
 
+
 Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
 {
+
+
     // Set application name
     this->setApplicationName(QGC_APPLICATION_NAME);
     this->setApplicationVersion(QGC_APPLICATION_VERSION);

src/main.cc

@@ -39,6 +39,21 @@ This file is part of the QGROUNDCONTROL project
   #undef main
 #endif
 
+
+// Install a message handler so you do not need
+// the MSFT debug tools installed to se
+// qDebug(), qWarning(), qCritical and qAbort
+#ifdef Q_OS_WIN
+void msgHandler( QtMsgType type, const char* msg )
+{
+    const char symbols[] = { 'I', 'E', '!', 'X' };
+    QString output = QString("[%1] %2").arg( symbols[type] ).arg( msg );
+    std::cerr << output.toStdString() << std::endl;
+    if( type == QtFatalMsg ) abort();
+}
+
+#endif
+
 /**
  * @brief Starts the application
  *
@@ -46,9 +61,15 @@ This file is part of the QGROUNDCONTROL project
  * @param argv Commandline arguments
  * @return exit code, 0 for normal exit and !=0 for error cases
  */
+
 int main(int argc, char *argv[])
 {
 
+// install the message handler
+#ifdef Q_OS_WIN
+    qInstallMsgHandler( msgHandler );
+#endif
+
     Core core(argc, argv);
     return core.exec();
 }

src/uas/UAS.cc

@@ -244,7 +244,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_sys_status_decode(&message, &state);
 
                 // FIXME
-                //qDebug() << "SYSTEM NAV MODE:" << state.nav_mode;
+                qDebug() << "1 SYSTEM STATUS:" << state.status;
 
                 QString audiostring = "System " + QString::number(this->getUASID());
                 QString stateAudio = "";
@@ -264,6 +264,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     stateAudio = " changed status to " + uasState;
                 }
 
+                qDebug() << "1 SYSTEM MODE:" << state.mode;
+                qDebug() << "1 THIS MODE:" << this->mode;
                 if (this->mode != static_cast<unsigned int>(state.mode))
                 {
                     modechanged = true;
@@ -305,6 +307,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     }
 
                     emit modeChanged(this->getUASID(), mode, "");
+
+                    qDebug() << "2 SYSTEM MODE:" << mode;
+
                     modeAudio = " is now in " + mode;
                 }
                 currentVoltage = state.vbat/1000.0f;
@@ -984,12 +989,16 @@ void UAS::setMode(int mode)
 {
     if ((uint8_t)mode >= MAV_MODE_LOCKED && (uint8_t)mode <= MAV_MODE_RC_TRAINING)
     {
-        this->mode = mode;
+        //this->mode = mode; //no call assignament, update receive message from UAS
         mavlink_message_t msg;
         mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, (uint8_t)uasId, (uint8_t)mode);
         sendMessage(msg);
         qDebug() << "SENDING REQUEST TO SET MODE TO SYSTEM" << uasId << ", REQUEST TO SET MODE " << (uint8_t)mode;
     }
+    else
+    {
+        qDebug() << "uas Mode not assign: " << mode;
+    }
 }
 
 void UAS::sendMessage(mavlink_message_t message)

src/uas/UAS.h

@@ -126,7 +126,7 @@ protected: //COMMENTS FOR TEST UNIT
     double currentVoltage;      ///< Voltage currently measured
     float lpVoltage;            ///< Low-pass filtered voltage
     int timeRemaining;          ///< Remaining time calculated based on previous and current
-    unsigned int mode;          ///< The current mode of the MAV
+    //unsigned int mode;          ///< The current mode of the MAV
     int status;                 ///< The current status of the MAV
     quint64 onboardTimeOffset;
 
@@ -324,6 +324,9 @@ protected slots:
     // MESSAGE RECEPTION
     /** @brief Receive a named value message */
     void receiveMessageNamedValue(const mavlink_message_t& message);
+
+private:
+    unsigned int mode;          ///< The current mode of the MAV
 };
 
 

src/ui/uas/UASControlWidget.cc

@@ -41,6 +41,7 @@ This file is part of the PIXHAWK project
 #include "UASControlWidget.h"
 #include <UASManager.h>
 #include <UAS.h>
+#include "QGC.h"
 
 #define CONTROL_MODE_LOCKED "MODE LOCKED"
 #define CONTROL_MODE_MANUAL "MODE MANUAL"