Commit 3ff23278 authored by Don Gagne's avatar Don Gagne

Merge pull request #2921 from DonLakeFlyer/TalkingBattery

Talking battery, plus other stuff
parents 859f08c9 7285dfb5
......@@ -92,10 +92,6 @@ QT += \
bluetooth \
}
contains(DEFINES, QGC_NOTIFY_TUNES_ENABLED) {
QT += multimedia
}
# testlib is needed even in release flavor for QSignalSpy support
QT += testlib
......
......@@ -23,7 +23,7 @@ QGCTextField {
inputMethodHints: Qt.ImhFormattedNumbersOnly
onEditingFinished: {
if (qgcView) {
if (typeof qgcView !== 'undefined' && qgcView) {
var errorString = fact.validate(text, false /* convertOnly */)
if (errorString == "") {
fact.value = text
......
......@@ -40,6 +40,9 @@ const char* FactGroup::_versionJsonKey = "version";
const char* FactGroup::_typeJsonKey = "type";
const char* FactGroup::_shortDescriptionJsonKey = "shortDescription";
const char* FactGroup::_unitsJsonKey = "units";
const char* FactGroup::_defaultValueJsonKey = "defaultValue";
const char* FactGroup::_minJsonKey = "min";
const char* FactGroup::_maxJsonKey = "max";
FactGroup::FactGroup(int updateRateMsecs, const QString& metaDataFile, QObject* parent)
: QObject(parent)
......@@ -187,8 +190,8 @@ void FactGroup::_loadMetaData(const QString& jsonFilename)
QStringList keys;
QList<QJsonValue::Type> types;
keys << _nameJsonKey << _decimalPlacesJsonKey;
types << QJsonValue::String << QJsonValue::Double;
keys << _nameJsonKey << _decimalPlacesJsonKey << _typeJsonKey << _shortDescriptionJsonKey << _unitsJsonKey << _defaultValueJsonKey << _minJsonKey << _maxJsonKey;
types << QJsonValue::String << QJsonValue::Double << QJsonValue::String << QJsonValue::String << QJsonValue::String << QJsonValue::Double << QJsonValue::Double << QJsonValue::Double;
if (!JsonHelper::validateKeyTypes(jsonObject, keys, types, errorString)) {
qWarning() << errorString;
return;
......@@ -219,6 +222,16 @@ void FactGroup::_loadMetaData(const QString& jsonFilename)
metaData->setShortDescription(jsonObject.value(_shortDescriptionJsonKey).toString());
metaData->setRawUnits(jsonObject.value(_unitsJsonKey).toString());
if (jsonObject.contains(_defaultValueJsonKey)) {
metaData->setRawDefaultValue(jsonObject.value(_defaultValueJsonKey).toDouble());
}
if (jsonObject.contains(_minJsonKey)) {
metaData->setRawMin(jsonObject.value(_minJsonKey).toDouble());
}
if (jsonObject.contains(_maxJsonKey)) {
metaData->setRawMax(jsonObject.value(_maxJsonKey).toDouble());
}
for (int i=0; i<enumValues.count(); i++) {
QVariant enumVariant;
QString errorString;
......
......@@ -78,6 +78,9 @@ private:
static const char* _versionJsonKey;
static const char* _shortDescriptionJsonKey;
static const char* _unitsJsonKey;
static const char* _defaultValueJsonKey;
static const char* _minJsonKey;
static const char* _maxJsonKey;
};
#endif
......@@ -131,7 +131,7 @@ Item {
Rectangle {
anchors.fill: _valuesWidget
color: _backgroundColor
visible: !_showCompass && _activeVehicle
visible: !_showCompass
radius: _spacing
}
......@@ -145,7 +145,6 @@ Item {
}
}
Rectangle {
id: _spacer2
height: 1
......
......@@ -33,7 +33,6 @@ import QGroundControl 1.0
QGCFlickable {
id: _root
visible: _activeVehicle
height: Math.min(maxHeight, _smallFlow.y + _smallFlow.height)
contentHeight: _smallFlow.y + _smallFlow.height
flickableDirection: Flickable.VerticalFlick
......@@ -43,7 +42,7 @@ QGCFlickable {
property color textColor
property var maxHeight
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.disconnectedVehicle
property real _margins: ScreenTools.defaultFontPixelWidth / 2
QGCPalette { id:qgcPal; colorGroupEnabled: true }
......
......@@ -33,7 +33,6 @@ import QGroundControl 1.0
QGCFlickable {
id: _root
visible: _activeVehicle
height: Math.min(maxHeight, innerItem.height)
contentHeight: innerItem.height
flickableDirection: Flickable.VerticalFlick
......@@ -43,7 +42,7 @@ QGCFlickable {
property color backgroundColor
property var maxHeight
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.disconnectedVehicle
property real _margins: ScreenTools.defaultFontPixelWidth / 2
property real _barWidth: Math.round(ScreenTools.defaultFontPixelWidth * 3)
......
......@@ -88,12 +88,11 @@ bool GAudioOutput::isMuted()
return muted;
}
bool GAudioOutput::say(const QString& inText, int severity)
bool GAudioOutput::say(const QString& inText)
{
if (!muted) {
if (!muted && !qgcApp()->runningUnitTests()) {
#if defined __android__
#if defined QGC_SPEECH_ENABLED
Q_UNUSED(severity);
static const char V_jniClassName[] {"org/qgroundcontrol/qgchelper/UsbDeviceJNI"};
QAndroidJniEnvironment env;
if (env->ExceptionCheck()) {
......@@ -105,7 +104,7 @@ bool GAudioOutput::say(const QString& inText, int severity)
QAndroidJniObject::callStaticMethod<void>(V_jniClassName, "say", "(Ljava/lang/String;)V", javaMessage.object<jstring>());
#endif
#else
emit textToSpeak(inText, severity);
emit textToSpeak(inText);
#endif
}
return true;
......
......@@ -79,14 +79,14 @@ public:
bool isMuted();
public slots:
/** @brief Say this text if current output priority matches */
bool say(const QString& text, int severity = 6);
/** @brief Say this text */
bool say(const QString& text);
/** @brief Mute/unmute sound */
void mute(bool mute);
signals:
void mutedChanged(bool);
bool textToSpeak(QString text, int severity = 1);
bool textToSpeak(QString text);
void beepOnce();
protected:
......
......@@ -55,7 +55,7 @@ public:
Q_PROPERTY(LinkManager* linkManager READ linkManager CONSTANT)
Q_PROPERTY(MissionCommands* missionCommands READ missionCommands CONSTANT)
Q_PROPERTY(MultiVehicleManager* multiVehicleManager READ multiVehicleManager CONSTANT)
Q_PROPERTY(QGCMapEngineManager* mapEngineManager READ mapEngineManager CONSTANT)
Q_PROPERTY(QGCMapEngineManager* mapEngineManager READ mapEngineManager CONSTANT)
Q_PROPERTY(qreal zOrderTopMost READ zOrderTopMost CONSTANT) ///< z order for top most items, toolbar, main window sub view
Q_PROPERTY(qreal zOrderWidgets READ zOrderWidgets CONSTANT) ///< z order value to widgets, for example: zoom controls, hud widgetss
......
......@@ -16,6 +16,16 @@
"decimalPlaces": 0,
"units": "%"
},
{
"name": "percentRemainingAnnounce",
"shortDescription": "Percent",
"type": "int32",
"decimalPlaces": 0,
"units": "%",
"defaultValue": 30,
"min": 0,
"max": 100
},
{
"name": "mahConsumed",
"shortDescription": "Consumed",
......
......@@ -50,6 +50,7 @@ MultiVehicleManager::MultiVehicleManager(QGCApplication* app)
, _activeVehicleAvailable(false)
, _parameterReadyVehicleAvailable(false)
, _activeVehicle(NULL)
, _disconnectedVehicle(NULL)
, _firmwarePluginManager(NULL)
, _autopilotPluginManager(NULL)
, _joystickManager(NULL)
......@@ -66,6 +67,8 @@ MultiVehicleManager::MultiVehicleManager(QGCApplication* app)
if (_gcsHeartbeatEnabled) {
_gcsHeartbeatTimer.start();
}
_disconnectedVehicle = new Vehicle(this);
}
void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
......
......@@ -57,6 +57,9 @@ public:
Q_PROPERTY(QmlObjectListModel* vehicles READ vehicles CONSTANT)
Q_PROPERTY(bool gcsHeartBeatEnabled READ gcsHeartbeatEnabled WRITE setGcsHeartbeatEnabled NOTIFY gcsHeartBeatEnabledChanged)
/// A disconnected vehicle is used to access FactGroup information for the Vehicle object when no active vehicle is available
Q_PROPERTY(Vehicle* disconnectedVehicle MEMBER _disconnectedVehicle CONSTANT)
// Methods
Q_INVOKABLE Vehicle* getVehicleById(int vehicleId);
......@@ -104,6 +107,7 @@ private:
bool _activeVehicleAvailable; ///< true: An active vehicle is available
bool _parameterReadyVehicleAvailable; ///< true: An active vehicle with ready parameters is available
Vehicle* _activeVehicle; ///< Currently active vehicle from a ui perspective
Vehicle* _disconnectedVehicle; ///< Disconnected vechicle for FactGroup access
QList<Vehicle*> _vehiclesBeingDeleted; ///< List of Vehicles being deleted in queued phases
Vehicle* _vehicleBeingSetActive; ///< Vehicle being set active in queued phases
......
This diff is collapsed.
......@@ -29,6 +29,7 @@
#include <QObject>
#include <QGeoCoordinate>
#include <QElapsedTimer>
#include "FactGroup.h"
#include "LinkInterface.h"
......@@ -36,6 +37,7 @@
#include "QmlObjectListModel.h"
#include "MAVLinkProtocol.h"
#include "UASMessageHandler.h"
#include "SettingsFact.h"
class UAS;
class UASInterface;
......@@ -66,12 +68,12 @@ public:
Q_PROPERTY(Fact* clipCount2 READ clipCount2 CONSTANT)
Q_PROPERTY(Fact* clipCount3 READ clipCount3 CONSTANT)
Fact* xAxis(void) { return &_xAxisFact; }
Fact* yAxis(void) { return &_yAxisFact; }
Fact* zAxis(void) { return &_zAxisFact; }
Fact* clipCount1(void) { return &_clipCount1Fact; }
Fact* clipCount2(void) { return &_clipCount2Fact; }
Fact* clipCount3(void) { return &_clipCount3Fact; }
Fact* xAxis (void) { return &_xAxisFact; }
Fact* yAxis (void) { return &_yAxisFact; }
Fact* zAxis (void) { return &_zAxisFact; }
Fact* clipCount1 (void) { return &_clipCount1Fact; }
Fact* clipCount2 (void) { return &_clipCount2Fact; }
Fact* clipCount3 (void) { return &_clipCount3Fact; }
void setVehicle(Vehicle* vehicle);
......@@ -103,9 +105,9 @@ public:
Q_PROPERTY(Fact* speed READ speed CONSTANT)
Q_PROPERTY(Fact* verticalSpeed READ verticalSpeed CONSTANT)
Fact* direction(void) { return &_directionFact; }
Fact* speed(void) { return &_speedFact; }
Fact* verticalSpeed(void) { return &_verticalSpeedFact; }
Fact* direction (void) { return &_directionFact; }
Fact* speed (void) { return &_speedFact; }
Fact* verticalSpeed (void) { return &_verticalSpeedFact; }
void setVehicle(Vehicle* vehicle);
......@@ -133,11 +135,11 @@ public:
Q_PROPERTY(Fact* count READ count CONSTANT)
Q_PROPERTY(Fact* lock READ lock CONSTANT)
Fact* hdop(void) { return &_hdopFact; }
Fact* vdop(void) { return &_vdopFact; }
Fact* courseOverGround(void) { return &_courseOverGroundFact; }
Fact* count(void) { return &_countFact; }
Fact* lock(void) { return &_lockFact; }
Fact* hdop (void) { return &_hdopFact; }
Fact* vdop (void) { return &_vdopFact; }
Fact* courseOverGround (void) { return &_courseOverGroundFact; }
Fact* count (void) { return &_countFact; }
Fact* lock (void) { return &_lockFact; }
void setVehicle(Vehicle* vehicle);
......@@ -175,24 +177,33 @@ public:
Q_PROPERTY(Fact* mahConsumed READ mahConsumed CONSTANT)
Q_PROPERTY(Fact* current READ current CONSTANT)
Q_PROPERTY(Fact* temperature READ temperature CONSTANT)
Q_PROPERTY(Fact* cellCount READ cellCount CONSTANT)
Q_PROPERTY(Fact* cellCount READ cellCount CONSTANT)
/// If percentRemaining falls below this value, warning will be output through speech
Q_PROPERTY(Fact* percentRemainingAnnounce READ percentRemainingAnnounce CONSTANT)
Fact* voltage (void) { return &_voltageFact; }
Fact* percentRemaining (void) { return &_percentRemainingFact; }
Fact* percentRemainingAnnounce (void) { return &_percentRemainingAnnounceFact; }
Fact* mahConsumed (void) { return &_mahConsumedFact; }
Fact* current (void) { return &_currentFact; }
Fact* temperature (void) { return &_temperatureFact; }
Fact* cellCount (void) { return &_cellCountFact; }
Fact* voltage(void) { return &_voltageFact; }
Fact* percentRemaining(void) { return &_percentRemainingFact; }
Fact* mahConsumed(void) { return &_mahConsumedFact; }
Fact* current(void) { return &_currentFact; }
Fact* temperature(void) { return &_temperatureFact; }
Fact* cellCount(void) { return &_cellCountFact; }
void setVehicle(Vehicle* vehicle);
static const char* _voltageFactName;
static const char* _percentRemainingFactName;
static const char* _percentRemainingAnnounceFactName;
static const char* _mahConsumedFactName;
static const char* _currentFactName;
static const char* _temperatureFactName;
static const char* _cellCountFactName;
static const char* _settingsGroup;
static const int _percentRemainingAnnounceDefault;
static const double _voltageUnavailable;
static const int _percentRemainingUnavailable;
static const int _mahConsumedUnavailable;
......@@ -201,13 +212,15 @@ public:
static const int _cellCountUnavailable;
private:
Vehicle* _vehicle;
Fact _voltageFact;
Fact _percentRemainingFact;
Fact _mahConsumedFact;
Fact _currentFact;
Fact _temperatureFact;
Fact _cellCountFact;
Vehicle* _vehicle;
Fact _voltageFact;
Fact _percentRemainingFact;
Fact _mahConsumedFact;
Fact _currentFact;
Fact _temperatureFact;
Fact _cellCountFact;
static SettingsFact _percentRemainingAnnounceFact;
};
class Vehicle : public FactGroup
......@@ -222,6 +235,11 @@ public:
FirmwarePluginManager* firmwarePluginManager,
AutoPilotPluginManager* autopilotPluginManager,
JoystickManager* joystickManager);
// The following is used to create a disconnected Vehicle. A disconnected vehicle is primarily used to access FactGroup information
// without needing a real connection.
Vehicle(QObject* parent = NULL);
~Vehicle();
Q_PROPERTY(int id READ id CONSTANT)
......@@ -505,6 +523,7 @@ private slots:
void _addNewMapTrajectoryPoint(void);
void _parametersReady(bool parametersReady);
void _remoteControlRSSIChanged(uint8_t rssi);
void _announceflightModeChanged(const QString& flightMode);
void _handleTextMessage (int newCount);
void _handletextMessageReceived (UASMessage* message);
......@@ -540,11 +559,13 @@ private:
void _mapTrajectoryStart(void);
void _mapTrajectoryStop(void);
void _connectionActive(void);
void _say(const QString& text, int severity);
void _say(const QString& text);
QString _vehicleIdSpeech(void);
private:
int _id; ///< Mavlink system id
bool _active;
bool _disconnectedVehicle; ///< This Vehicle is a "disconnected" vehicle for ui use when no active vehicle is available
MAV_AUTOPILOT _firmwareType;
MAV_TYPE _vehicleType;
......@@ -635,6 +656,9 @@ private:
uint8_t _compID;
bool _heardFrom;
static const int _lowBatteryAnnounceRepeatMSecs; // Amount of time in between each low battery announcement
QElapsedTimer _lowBatteryAnnounceTimer;
// FactGroup facts
Fact _rollFact;
......
......@@ -76,9 +76,6 @@ QGCAudioWorker::QGCAudioWorker(QObject *parent) :
#if defined _MSC_VER && defined QGC_SPEECH_ENABLED
pVoice(NULL),
#endif
#ifdef QGC_NOTIFY_TUNES_ENABLED
sound(NULL),
#endif
emergency(false),
muted(false)
{
......@@ -89,10 +86,6 @@ QGCAudioWorker::QGCAudioWorker(QObject *parent) :
void QGCAudioWorker::init()
{
#ifdef QGC_NOTIFY_TUNES_ENABLED
sound = new QSound(":/res/Alert");
#endif
#if defined Q_OS_LINUX && !defined __android__ && defined QGC_SPEECH_ENABLED
espeak_Initialize(AUDIO_OUTPUT_SYNCH_PLAYBACK, 500, NULL, 0); // initialize for playback with 500ms buffer and no options (see speak_lib.h)
espeak_VOICE *espeak_voice = espeak_GetCurrentVoice();
......@@ -135,11 +128,10 @@ QGCAudioWorker::~QGCAudioWorker()
#endif
}
void QGCAudioWorker::say(QString inText, int severity)
void QGCAudioWorker::say(QString inText)
{
#ifdef __android__
Q_UNUSED(inText);
Q_UNUSED(severity);
#else
static bool threadInit = false;
if (!threadInit) {
......@@ -150,17 +142,6 @@ void QGCAudioWorker::say(QString inText, int severity)
if (!muted)
{
QString text = fixTextMessageForAudio(inText);
// Prepend high priority text with alert beep
if (severity < GAudioOutput::AUDIO_SEVERITY_CRITICAL) {
beep();
}
#ifdef QGC_NOTIFY_TUNES_ENABLED
// Wait for the last sound to finish
while (!sound->isFinished()) {
QGC::SLEEP::msleep(100);
}
#endif
#if defined _MSC_VER && defined QGC_SPEECH_ENABLED
HRESULT hr = pVoice->Speak(text.toStdWString().c_str(), SPF_DEFAULT, NULL);
......@@ -195,17 +176,6 @@ void QGCAudioWorker::mute(bool mute)
}
}
void QGCAudioWorker::beep()
{
if (!muted)
{
#ifdef QGC_NOTIFY_TUNES_ENABLED
sound->play(":/res/Alert");
#endif
}
}
bool QGCAudioWorker::isMuted()
{
return this->muted;
......
......@@ -3,9 +3,6 @@
#include <QObject>
#include <QTimer>
#ifdef QGC_NOTIFY_TUNES_ENABLED
#include <QSound>
#endif
#if defined _MSC_VER && defined QGC_SPEECH_ENABLED
// Documentation: http://msdn.microsoft.com/en-us/library/ee125082%28v=VS.85%29.aspx
......@@ -29,19 +26,13 @@ public:
signals:
public slots:
/** @brief Say this text if current output priority matches */
void say(QString text, int severity = 1);
/** @brief Sound a single beep */
void beep();
/** @brief Say this text */
void say(QString text);
protected:
int voiceIndex; ///< The index of the flite voice to use (awb, slt, rms)
#if defined _MSC_VER && defined QGC_SPEECH_ENABLED
ISpVoice *pVoice;
#endif
#ifdef QGC_NOTIFY_TUNES_ENABLED
QSound *sound;
#endif
bool emergency; ///< Emergency status flag
QTimer *emergencyTimer;
......
......@@ -41,8 +41,6 @@
QGC_LOGGING_CATEGORY(UASLog, "UASLog")
#define UAS_DEFAULT_BATTERY_WARNLEVEL 20
/**
* Gets the settings from the previous UAS (name, airframe, autopilot, battery specs)
* by calling readSettings. This means the new UAS will have the same settings
......@@ -63,17 +61,6 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * fi
custom_mode(0),
status(-1),
startVoltage(-1.0f),
tickVoltage(10.5f),
lastTickVoltageValue(13.0f),
tickLowpassVoltage(12.0f),
warnLevelPercent(UAS_DEFAULT_BATTERY_WARNLEVEL),
currentVoltage(12.6f),
lpVoltage(-1.0f),
currentCurrent(0.4f),
chargeLevel(-1),
lowBattAlarm(false),
startTime(QGC::groundTimeMilliseconds()),
onboardTimeOffset(0),
......@@ -294,12 +281,8 @@ void UAS::receiveMessage(mavlink_message_t message)
QString audiostring = QString("System %1").arg(uasId);
QString stateAudio = "";
QString modeAudio = "";
QString navModeAudio = "";
bool statechanged = false;
bool modechanged = false;
QString audiomodeText = _firmwarePluginManager->firmwarePluginForAutopilot((MAV_AUTOPILOT)state.autopilot, (MAV_TYPE)state.type)->flightMode(state.base_mode, state.custom_mode);
if ((state.system_status != this->status) && state.system_status != MAV_STATE_UNINIT)
{
......@@ -318,27 +301,14 @@ void UAS::receiveMessage(mavlink_message_t message)
stateAudio = uasState;
}
if (this->base_mode != state.base_mode || this->custom_mode != state.custom_mode)
{
modechanged = true;
this->base_mode = state.base_mode;
this->custom_mode = state.custom_mode;
modeAudio = " is now in " + audiomodeText + " flight mode";
}
// We got the mode
receivedMode = true;
// AUDIO
if (modechanged && statechanged)
{
// Output both messages
audiostring += modeAudio + " and " + stateAudio;
}
else if (modechanged || statechanged)
if (statechanged)
{
// Output the one message
audiostring += modeAudio + stateAudio;
audiostring += stateAudio;
}
if (statechanged && ((int)state.system_status == (int)MAV_STATE_CRITICAL || state.system_status == (int)MAV_STATE_EMERGENCY))
......@@ -346,7 +316,7 @@ void UAS::receiveMessage(mavlink_message_t message)
_say(QString("Emergency for system %1").arg(this->getUASID()), GAudioOutput::AUDIO_SEVERITY_EMERGENCY);
QTimer::singleShot(3000, qgcApp()->toolbox()->audioOutput(), SLOT(startEmergency()));
}
else if (modechanged || statechanged)
else if (statechanged)
{
_say(audiostring.toLower());
}
......@@ -378,62 +348,6 @@ void UAS::receiveMessage(mavlink_message_t message)
emit loadChanged(this,state.load/10.0f);
emit valueChanged(uasId, name.arg("load"), "%", state.load/10.0f, time);
currentVoltage = state.voltage_battery/1000.0f;
if (state.voltage_battery > 0.0f && state.voltage_battery != UINT16_MAX) {
// Battery charge/time remaining/voltage calculations
currentVoltage = state.voltage_battery/1000.0f;
filterVoltage(currentVoltage);
tickLowpassVoltage = tickLowpassVoltage * 0.8f + 0.2f * currentVoltage;
// We don't want to tick above the threshold
if (tickLowpassVoltage > tickVoltage)
{
lastTickVoltageValue = tickLowpassVoltage;
}
if ((startVoltage > 0.0f) && (tickLowpassVoltage < tickVoltage) && (fabs(lastTickVoltageValue - tickLowpassVoltage) > 0.1f)
/* warn if lower than treshold */
&& (lpVoltage < tickVoltage)
/* warn only if we have at least the voltage of an empty LiPo cell, else we're sampling something wrong */
&& (currentVoltage > 3.3f)
/* warn only if current voltage is really still lower by a reasonable amount */
&& ((currentVoltage - 0.2f) < tickVoltage)
/* warn only every 20 seconds */
&& (QGC::groundTimeUsecs() - lastVoltageWarning) > 20000000)
{
_say(QString("Low battery system %1: %2 volts").arg(getUASID()).arg(lpVoltage, 0, 'f', 1, QChar(' ')));
lastVoltageWarning = QGC::groundTimeUsecs();
lastTickVoltageValue = tickLowpassVoltage;
}
if (startVoltage == -1.0f && currentVoltage > 0.1f) startVoltage = currentVoltage;
chargeLevel = state.battery_remaining;
emit batteryChanged(this, lpVoltage, currentCurrent, getChargeLevel(), 0);
}
emit valueChanged(uasId, name.arg("battery_remaining"), "%", getChargeLevel(), time);
emit valueChanged(uasId, name.arg("battery_voltage"), "V", currentVoltage, time);
// And if the battery current draw is measured, log that also.
if (state.current_battery != -1)
{
currentCurrent = ((double)state.current_battery)/100.0f;
emit valueChanged(uasId, name.arg("battery_current"), "A", currentCurrent, time);
}
// LOW BATTERY ALARM
if (chargeLevel >= 0 && (getChargeLevel() < warnLevelPercent))
{
// An audio alarm. Does not generate any signals.
startLowBattAlarm();
}
else
{
stopLowBattAlarm();
}
// control_sensors_enabled:
// relevant bits: 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control
emit attitudeControlEnabled(state.onboard_control_sensors_enabled & (1 << 11));
......@@ -1178,19 +1092,6 @@ quint64 UAS::getUnixTime(quint64 time)
return ret;
}
/**
* @param value battery voltage
*/
float UAS::filterVoltage(float value)
{
if (lpVoltage < 0.0f) {
lpVoltage = value;
}
lpVoltage = lpVoltage * 0.6f + value * 0.4f;
return lpVoltage;
}
/**
* Get the status of the code and a description of the status.
* Status can be unitialized, booting up, calibrating sensors, active
......@@ -2077,31 +1978,6 @@ QMap<int, QString> UAS::getComponents()
return components;
}
/**
* @return charge level in percent - 0 - 100
*/
float UAS::getChargeLevel()
{
return chargeLevel;
}
void UAS::startLowBattAlarm()
{
if (!lowBattAlarm)
{
_say(tr("System %1 has low battery").arg(getUASID()));
lowBattAlarm = true;
}
}
void UAS::stopLowBattAlarm()
{
if (lowBattAlarm)
{
lowBattAlarm = false;
}
}
void UAS::sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax)
{
if (!_vehicle) {
......@@ -2164,8 +2040,8 @@ void UAS::unsetRCToParameterMap()
void UAS::_say(const QString& text, int severity)
{
if (!qgcApp()->runningUnitTests())
qgcApp()->toolbox()->audioOutput()->say(text, severity);
Q_UNUSED(severity);
qgcApp()->toolbox()->audioOutput()->say(text);
}
void UAS::shutdownVehicle(void)
......
......@@ -77,8 +77,6 @@ public:
/** @brief The time interval the robot is switched on */
quint64 getUptime() const;
/** @brief Add one measurement and get low-passed voltage */
float filterVoltage(float value);
Q_PROPERTY(double latitude READ getLatitude WRITE setLatitude NOTIFY latitudeChanged)
Q_PROPERTY(double longitude READ getLongitude WRITE setLongitude NOTIFY longitudeChanged)
......@@ -376,21 +374,6 @@ protected: //COMMENTS FOR TEST UNIT
uint32_t custom_mode; ///< The current mode of the MAV
int status; ///< The current status of the MAV
// dongfang: This looks like a candidate for being moved off to a separate class.
/// BATTERY / ENERGY
float startVoltage; ///< Voltage at system start
float tickVoltage; ///< Voltage where 0.1 V ticks are told
float lastTickVoltageValue; ///< The last voltage where a tick was announced
float tickLowpassVoltage; ///< Lowpass-filtered voltage for the tick announcement
float warnLevelPercent; ///< Warning level, in percent
double currentVoltage; ///< Voltage currently measured
float lpVoltage; ///< Low-pass filtered voltage
double currentCurrent; ///< Battery current currently measured
bool batteryRemainingEstimateEnabled; ///< If the estimate is