Add button setHome to MapWidget

src/comm/MAVLinkProtocol.cc

@@ -315,6 +315,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                     currLossCounter = 0;
                     currReceiveCounter = 0;
                     emit receiveLossChanged(message.sysid, receiveLoss);
+                    qDebug() << "LOSSCHANGED" << message.sysid<<" "<<receiveLoss;
                 }
 
                 // The packet is emitted as a whole, as it is only 255 - 261 bytes short

src/ui/MainWindow.cc

@@ -335,14 +335,6 @@ void MainWindow::buildCommonWidgets()
         addToToolsMenu (controlDockWidget, tr("Control"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL, Qt::LeftDockWidgetArea);
     }  
 
-    if (!controlParameterWidget)
-    {
-        controlParameterWidget = new QDockWidget(tr("Control Parameters"), this);
-        controlParameterWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_PARAMETERWIDGET");
-        controlParameterWidget->setWidget( new UASControlParameters(this) );
-        addToToolsMenu (controlParameterWidget, tr("Control Parameters"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL_PARAM, Qt::LeftDockWidgetArea);
-    }
-
     if (!listDockWidget)
     {
         listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
@@ -401,6 +393,14 @@ void MainWindow::buildCommonWidgets()
         dataplotWidget    = new QGCDataPlot2D(this);
         addToCentralWidgetsMenu (dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()),CENTRAL_DATA_PLOT);
     }
+
+    if (!controlParameterWidget)
+    {
+        controlParameterWidget = new QDockWidget(tr("Control Parameters"), this);
+        controlParameterWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_PARAMETERWIDGET");
+        controlParameterWidget->setWidget( new UASControlParameters(this) );
+        addToToolsMenu (controlParameterWidget, tr("Control Parameters"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL_PARAM, Qt::LeftDockWidgetArea);
+    }
 }
 
 

src/ui/MapWidget.cc

@@ -93,6 +93,8 @@ void MapWidget::init()
         geomLayer = new qmapcontrol::GeometryLayer("Waypoints", mapadapter);
         mc->addLayer(geomLayer);
 
+        homePosition = new qmapcontrol::GeometryLayer("Station", mapadapter);
+        mc->addLayer(homePosition);
 
 
         //
@@ -183,11 +185,17 @@ void MapWidget::init()
         goToButton->setToolTip(tr("Enter a latitude/longitude position to move the map to"));
         goToButton->setStatusTip(tr("Enter a latitude/longitude position to move the map to"));
 
+        setHome = new QPushButton(QIcon(":/images/actions/go-home.svg"), "", this);
+        setHome->setStyleSheet(buttonStyle);
+        setHome->setToolTip(tr("Set home"));
+        setHome->setStatusTip(tr("Set home"));
+
         zoomin->setMaximumWidth(30);
         zoomout->setMaximumWidth(30);
         createPath->setMaximumWidth(30);
         //    clearTracking->setMaximumWidth(30);
         followgps->setMaximumWidth(30);
+        setHome->setMaximumWidth(30);
         goToButton->setMaximumWidth(30);
 
         // Set checkable buttons
@@ -195,6 +203,7 @@ void MapWidget::init()
         //       create a style and the slots to change the background so it is easier to distinguish
         followgps->setCheckable(true);
         createPath->setCheckable(true);
+        setHome->setCheckable(true);
 
         // add buttons to control the map (zoom, GPS tracking and WP capture)
         QGridLayout* innerlayout = new QGridLayout(mc);
@@ -204,6 +213,7 @@ void MapWidget::init()
         innerlayout->addWidget(zoomout, 1, 0);
         innerlayout->addWidget(followgps, 2, 0);
         innerlayout->addWidget(createPath, 3, 0);
+        innerlayout->addWidget(setHome, 4, 0);
         //innerlayout->addWidget(clearTracking, 4, 0);
         // Add spacers to compress buttons on the top left
         innerlayout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 5, 0);
@@ -262,6 +272,12 @@ void MapWidget::init()
         connect(createPath, SIGNAL(clicked(bool)),
                 this, SLOT(createPathButtonClicked(bool)));
 
+        connect(setHome, SIGNAL(clicked(bool)), this, SLOT(createHomePositionClick(bool)));
+
+        connect(mc, SIGNAL(mouseEventCoordinate(const QMouseEvent*,QPointF)), this,
+                SLOT(createHomePosition(const QMouseEvent*,QPointF)));
+        //connect(setHome, SIGNAL(clicked(bool)), this, SLOT(createHomePosition(bool)));
+
 
         connect(geomLayer, SIGNAL(geometryClicked(Geometry*,QPoint)),
                 this, SLOT(captureGeometryClick(Geometry*, QPoint)));
@@ -1199,3 +1215,46 @@ QPointF MapWidget::getPointxBearing_Range(double lat1, double lon1, double beari
     return temp;
 }
 
+void MapWidget::createHomePosition(const QMouseEvent *event, const QPointF coordinate)
+{
+    if (QEvent::MouseButtonRelease == event->type() && setHome->isChecked())
+    {
+        homeCoordinate= coordinate;
+        Waypoint2DIcon* tempCirclePoint;
+
+        double latitud = homeCoordinate.x();
+        double longitud = homeCoordinate.y();
+
+        tempCirclePoint = new Waypoint2DIcon(
+                 latitud,
+                 longitud,
+                 20, "g", qmapcontrol::Point::Middle);
+
+        QPen* pencil = new QPen(Qt::blue);
+        tempCirclePoint->setPen(pencil);
+
+        mc->layer("Station")->clearGeometries();
+        mc->layer("Station")->addGeometry(tempCirclePoint);
+
+        qmapcontrol::Point* tempPoint = new qmapcontrol::Point(latitud, longitud,"g");
+
+        if (isVisible())
+        {
+            mc->updateRequest(tempPoint->boundingBox().toRect());
+        }
+    }
+}
+
+void MapWidget::createHomePositionClick(bool click)
+{
+    Q_UNUSED(click);
+
+    if (!setHome->isChecked())
+    {
+        UASManager::instance()->setHomePosition(
+                    static_cast<double>(homeCoordinate.x()),
+                    static_cast<double>(homeCoordinate.y()), 0);
+
+        qDebug()<<"Set home position "<<homeCoordinate.x()<<" "<<homeCoordinate.y();
+    }
+}

src/ui/MapWidget.h

@@ -118,6 +118,7 @@ protected:
     QPushButton* followgps;
     QPushButton* createPath;
     QPushButton* clearTracking;
+    QPushButton* setHome;
     QLabel* gpsposition;
     QMenu* mapMenu;
     QPushButton* mapButton;
@@ -128,7 +129,7 @@ protected:
     qmapcontrol::Layer* overlay;            ///< Street overlay (foreground)
     qmapcontrol::Layer* tracks;             ///< Layer for UAV tracks
     qmapcontrol::GeometryLayer* geomLayer;  ///< Layer for waypoints
-
+    qmapcontrol::GeometryLayer* homePosition;       ///< Layer for station control
     //only for experiment
     qmapcontrol::GeometryLayer* camLayer; ///< Layer for camera indicator
 
@@ -163,6 +164,9 @@ protected:
     void createWaypointGraphAtMap(int id, const QPointF coordinate);
     void mapproviderSelected(QAction* action);
 
+    void createHomePosition(const QMouseEvent* event, const QPointF coordinate);
+    void createHomePositionClick(bool click);
+
   signals:
     //void movePoint(QPointF newCoord);
     //void captureMapCoordinateClick(const QPointF coordinate); //ROCA
@@ -188,6 +192,7 @@ private:
     bool drawCamBorder;
     int radioCamera;
 
+    QPointF homeCoordinate;
 };
 
 #endif // MAPWIDGET_H

src/ui/UASControlParameters.ui

@@ -84,7 +84,7 @@
       <string notr="true"/>
      </property>
      <property name="currentIndex">
-      <number>0</number>
+      <number>1</number>
      </property>
      <widget class="QWidget" name="tab">
       <attribute name="title">
@@ -184,32 +184,30 @@
       </attribute>
       <layout class="QGridLayout" name="gridLayout_3">
        <item row="0" column="0">
-        <layout class="QHBoxLayout" name="horizontalLayout_6">
-         <item>
-          <layout class="QVBoxLayout" name="verticalLayout_2">
+        <layout class="QVBoxLayout" name="verticalLayout">
          <item>
-            <widget class="QCheckBox" name="cxElevator">
+          <widget class="QCheckBox" name="cxdle_c">
            <property name="text">
             <string>Elevator</string>
            </property>
           </widget>
          </item>
          <item>
-            <widget class="QCheckBox" name="cxRudder">
+          <widget class="QCheckBox" name="cxdr_c">
            <property name="text">
             <string>Rudder</string>
            </property>
           </widget>
          </item>
          <item>
-            <widget class="QCheckBox" name="cxThrottle">
+          <widget class="QCheckBox" name="cxdt_c">
            <property name="text">
             <string>Throttle</string>
            </property>
           </widget>
          </item>
          <item>
-            <widget class="QCheckBox" name="cxAilerons">
+          <widget class="QCheckBox" name="cxdla_c">
            <property name="text">
             <string>Ailerons</string>
            </property>
@@ -217,40 +215,6 @@
          </item>
         </layout>
        </item>
-         <item>
-          <layout class="QVBoxLayout" name="verticalLayout">
-           <item>
-            <widget class="QCheckBox" name="cxRightAileron">
-             <property name="text">
-              <string>Right Aileron</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QCheckBox" name="cxRightElevator">
-             <property name="text">
-              <string>Right Elevator</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QCheckBox" name="cxLeftFlap">
-             <property name="text">
-              <string>Left Flap</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QCheckBox" name="cxRightFlap">
-             <property name="text">
-              <string>Right Flap</string>
-             </property>
-            </widget>
-           </item>
-          </layout>
-         </item>
-        </layout>
-       </item>
        <item row="1" column="0">
         <widget class="QPushButton" name="btSetCtrl">
          <property name="text">

src/ui/uas/UASControlParameters.cpp

@@ -27,6 +27,8 @@ UASControlParameters::UASControlParameters(QWidget *parent) :
 {
     ui->setupUi(this);
 
+    ui->btSetCtrl->setStatusTip(tr("Set Passthrough"));
+
     connect(ui->btGetCommands, SIGNAL(clicked()), this, SLOT(getCommands()));
 
     connect(ui->btSetCtrl, SIGNAL(clicked()), this, SLOT(setPassthrough()));
@@ -91,11 +93,8 @@ void UASControlParameters::activeUasSet(UASInterface *uas)
     connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
     connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(speedChanged(UASInterface*,double,double,double,quint64)));
     connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
-
     connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
-
     connect(uas, SIGNAL(thrustChanged(UASInterface*,double)), this, SLOT(thrustChanged(UASInterface*,double)) );
-    //connect(uas, SIGNAL(radioCalibrationReceived(QPointer<RadioCalibrationData>)), this, SLOT(radioChanged(QPointer<RadioCalibrationData>)));
 
     activeUAS= uas;
 }
@@ -122,6 +121,8 @@ void UASControlParameters::updateAttitude(UASInterface *uas, double roll, double
 
 void UASControlParameters::setCommands()
 {
+    if(this->activeUAS)
+    {
         UAS* myUas= static_cast<UAS*>(this->activeUAS);
 
         mavlink_message_t msg;
@@ -132,6 +133,7 @@ void UASControlParameters::setCommands()
 
         mavlink_msg_mid_lvl_cmds_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &this->tempCmds);
         myUas->sendMessage(msg);
+    }
 }
 
 void UASControlParameters::getCommands()
@@ -143,41 +145,28 @@ void UASControlParameters::getCommands()
 
 void UASControlParameters::setPassthrough()
 {
-    //UAS* myUas= static_cast<UAS*>(this->activeUAS);
+    if(this->activeUAS)
+    {
+        UAS* myUas= static_cast<UAS*>(this->activeUAS);
 
-    //mavlink_message_t msg;
+        mavlink_message_t msg;
 
         int8_t tmpBit=0;
 
-    if(ui->cxAilerons->isChecked())
-    {
-        tmpBit+=1;
-    }
-    if(ui->cxElevator->isChecked())
-    {
-        tmpBit+=2;
-    }
-    if(ui->cxLeftFlap->isChecked())
-    {
-        tmpBit+=4;
-    }
-    if(ui->cxRightAileron->isChecked())
+        if(ui->cxdle_c->isChecked())//left elevator command
         {
             tmpBit+=8;
         }
-    if(ui->cxRightElevator->isChecked())
+        if(ui->cxdr_c->isChecked())//rudder command
         {
             tmpBit+=16;
         }
-    if(ui->cxRightFlap->isChecked())
-    {
-        tmpBit+=32;
-    }
-    if(ui->cxRudder->isChecked())
+
+        if(ui->cxdla_c->isChecked())//left aileron command
         {
             tmpBit+=64;
         }
-    if(ui->cxThrottle->isChecked())
+        if(ui->cxdt_c->isChecked())//throttle command
         {
             tmpBit+=128;
         }
@@ -186,11 +175,13 @@ void UASControlParameters::setPassthrough()
         r.b[1] = 0;
         r.b[0] = tmpBit;//255;
 
+        tempCtrl.target= this->activeUAS->getUASID();
         tempCtrl.bitfieldPt= (uint16_t)r.s;
 
-    //mavlink_msg_ctrl_srfc_pt_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &this->tempCtrl);
-    //myUas->sendMessage(msg);
-    qDebug()<<tempCtrl.bitfieldPt;
+        mavlink_msg_ctrl_srfc_pt_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &this->tempCtrl);
+        myUas->sendMessage(msg);
+        //qDebug()<<tempCtrl.bitfieldPt;
+    }
 }
 
 void UASControlParameters::updateMode(int uas,QString mode,QString description)
@@ -208,24 +199,3 @@ void UASControlParameters::thrustChanged(UASInterface *uas, double throttle)
     Q_UNUSED(uas);
     this->throttle= throttle;
 }
-
-
-void UASControlParameters::radioChanged(const QPointer<RadioCalibrationData>& radio)
-{
-    if (radio)
-    {
-        if (this->radio)
-        {
-            delete this->radio;
-        }
-
-        this->radio = new RadioCalibrationData(*radio);
-
-//        aileron->set((*radio)(RadioCalibrationData::AILERON));
-//        elevator->set((*radio)(RadioCalibrationData::ELEVATOR));
-//        rudder->set((*radio)(RadioCalibrationData::RUDDER));
-//        gyro->set((*radio)(RadioCalibrationData::GYRO));
-//        pitch->set((*radio)(RadioCalibrationData::PITCH));
-//        throttle->set((*radio)(RadioCalibrationData::THROTTLE));
-    }
-}

src/ui/uas/UASControlParameters.h

@@ -31,7 +31,6 @@ public slots:
     void setPassthrough();
     void updateMode(int uas,QString mode,QString description);
     void thrustChanged(UASInterface* uas,double throttle);
-    void radioChanged(const QPointer<RadioCalibrationData>& radio);
 
 private:
     Ui::UASControlParameters *ui;