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Commit 4406f5c5 authored by lm's avatar lm
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Updated sensor read pool

parent 1c1f5379
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Showing with 156 additions and 386 deletions
src/uas/UAS.cc
View file @ 4406f5c5
......@@ -62,7 +62,9 @@ UAS::UAS(int id=0) :
manualRollAngle(0),
manualPitchAngle(0),
manualYawAngle(0),
manualThrust(0)
manualThrust(0),
receiveDropRate(0),
sendDropRate(0)
{
uasId = id;
setBattery(LIPOLY, 3);
......@@ -173,7 +175,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit batteryChanged(this, filterVoltage(), getChargeLevel(), timeRemaining);
emit voltageChanged(message.sysid, state.vbat/1000.0f);
// Output audio
// COMMUNICATIONS DROP RATE
emit dropRateChanged(this->getUASID(), this->receiveDropRate, this->sendDropRate);
// AUDIO
if (modechanged && statechanged)
{
// Output both messages
......@@ -195,6 +200,14 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
}
break;
case MAVLINK_MSG_ID_AUX_STATUS:
{
aux_status_t status;
message_aux_status_decode(&message, &status);
emit loadChanged(this, status.load/100.0f);
emit valueChanged(this, "Load", status.load/1000.0f, MG::TIME::getGroundTimeNow());
}
break;
case MAVLINK_MSG_ID_RAW_IMU:
{
raw_imu_t raw;
......@@ -224,10 +237,43 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, "Mag. Z", raw.zmag, time);
}
break;
case MAVLINK_MSG_ID_RAW_SENSOR:
{
raw_sensor_t raw;
message_raw_imu_decode(&message, &raw);
quint64 time = raw.msec;
if (time == 0)
{
time = MG::TIME::getGroundTimeNow();
}
else
{
if (onboardTimeOffset == 0)
{
onboardTimeOffset = MG::TIME::getGroundTimeNow() - time;
}
time += onboardTimeOffset;
}
emit valueChanged(uasId, "Accel. X", raw.xacc, time);
emit valueChanged(uasId, "Accel. Y", raw.yacc, time);
emit valueChanged(uasId, "Accel. Z", raw.zacc, time);
emit valueChanged(uasId, "Gyro Phi", raw.xgyro, time);
emit valueChanged(uasId, "Gyro Theta", raw.ygyro, time);
emit valueChanged(uasId, "Gyro Psi", raw.zgyro, time);
emit valueChanged(uasId, "Mag. X", raw.xmag, time);
emit valueChanged(uasId, "Mag. Y", raw.ymag, time);
emit valueChanged(uasId, "Mag. Z", raw.zmag, time);
emit valueChanged(uasId, "Pressure", raw.baro, time);
emit valueChanged(uasId, "Temperature", raw.baro, time);
}
break;
case MAVLINK_MSG_ID_ATTITUDE:
//std::cerr << std::endl;
//std::cerr << "Decoded attitude message:" << " roll: " << std::dec << message_attitude_get_roll(message.payload) << " pitch: " << message_attitude_get_pitch(message.payload) << " yaw: " << message_attitude_get_yaw(message.payload) << std::endl;
{
attitude_t attitude;
message_attitude_decode(&message, &attitude);
quint64 time = message_attitude_get_msec(&message);
if (time == 0)
{
......@@ -247,6 +293,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(this, "roll IMU", message_attitude_get_roll(&message), time);
emit valueChanged(this, "pitch IMU", message_attitude_get_pitch(&message), time);
emit valueChanged(this, "yaw IMU", message_attitude_get_yaw(&message), time);
emit valueChanged(uasId, "rollspeed IMU", attitude.rollspeed, time);
emit valueChanged(uasId, "pitchspeed IMU", attitude.pitchspeed, time);
emit valueChanged(uasId, "yawspeed IMU", attitude.yawspeed, time);
emit attitudeChanged(this, message_attitude_get_roll(&message), message_attitude_get_pitch(&message), message_attitude_get_yaw(&message), time);
}
break;
......
src/uas/UAS.h
View file @ 4406f5c5
......@@ -118,6 +118,8 @@ protected:
double manualPitchAngle; ///< Pitch angle set by human pilot (radians)
double manualYawAngle; ///< Yaw angle set by human pilot (radians)
double manualThrust; ///< Thrust set by human pilot (radians)
float receiveDropRate; ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
float sendDropRate; ///< Percentage of packets that were not received from the MAV by the GCS
/** @brief Set the current battery type */
void setBattery(BatteryType type, int cells);
......
src/uas/UASInterface.h
View file @ 4406f5c5
......@@ -47,7 +47,8 @@ This file is part of the PIXHAWK project
* This interface is abstract and thus cannot be instantiated. It serves only as type definition.
* It represents an unmanned aerial vehicle, e.g. a micro air vehicle.
**/
class UASInterface : public QObject {
class UASInterface : public QObject
{
Q_OBJECT
public:
UASInterface() :
......@@ -207,6 +208,14 @@ signals:
* @param description longer textual description. Should be however limited to a short text, e.g. 200 chars.
*/
void statusChanged(UASInterface* uas, QString status, QString description);
/**
* @brief Drop rate of communication link updated
*
* @param systemId id of the air system
* @param receiveDrop drop rate of packets this MAV receives (send from GCS or other MAVs)
* @param sendDrop drop rate of packets this MAV sends (received on GCS)
*/
void dropRateChanged(int systemId, float receiveDrop, float sendDrop);
/** @brief Robot mode has changed */
void modeChanged(int sysId, QString status, QString description);
/** @brief A command has been issued **/
......
src/uas/UASManager.cc
View file @ 4406f5c5
......@@ -91,7 +91,7 @@ UASInterface* UASManager::getActiveUAS()
if(!activeUAS)
{
QMessageBox msgBox;
msgBox.setText(tr("No Unmanned System loaded. Please add one first."));
msgBox.setText(tr("No Micro Air Vehicle connected. Please connect one first."));
msgBox.exec();
}
return activeUAS; ///< Return zero pointer if no UAS has been loaded
......
src/ui/MainWindow.cc
View file @ 4406f5c5
......@@ -313,7 +313,7 @@ void MainWindow::addLink()
void MainWindow::UASCreated(UASInterface* uas)
{
// Connect the UAS to the full user interface
ui.menuConnected_Systems->addAction(QIcon(":/images/mavs/generic.svg"), tr("View ") + uas->getUASName(), uas, SLOT(setSelected()));
//ui.menuConnected_Systems->addAction(QIcon(":/images/mavs/generic.svg"), tr("View ") + uas->getUASName(), uas, SLOT(setSelected()));
// Line chart
// FIXME DO THIS ONLY FOR THE FIRST CONNECTED SYSTEM
......
src/ui/MainWindow.ui
View file @ 4406f5c5
......@@ -35,7 +35,7 @@
<x>0</x>
<y>0</y>
<width>1000</width>
<height>22</height>
<height>25</height>
</rect>
</property>
<widget class="QMenu" name="menuMGround">
......@@ -43,7 +43,6 @@
<string>File</string>
</property>
<addaction name="actionJoystickSettings"/>
<addaction name="actionSettings"/>
<addaction name="separator"/>
<addaction name="actionExit"/>
</widget>
......@@ -65,11 +64,6 @@
<addaction name="actionAdd_Link"/>
<addaction name="separator"/>
</widget>
<widget class="QMenu" name="menuConnected_Systems">
<property name="title">
<string>Systems</string>
</property>
</widget>
<widget class="QMenu" name="menuWindow">
<property name="title">
<string>Window</string>
......@@ -84,7 +78,6 @@
<addaction name="menuMGround"/>
<addaction name="menuNetwork"/>
<addaction name="menuUnmanned_System"/>
<addaction name="menuConnected_Systems"/>
<addaction name="menuWindow"/>
</widget>
<widget class="QToolBar" name="mainToolBar">
......
src/ui/UASInfo.ui
View file @ 4406f5c5
This diff is collapsed.
src/ui/uas/UASInfoWidget.cc
View file @ 4406f5c5
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK 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.
PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Brief Description
......@@ -83,14 +83,14 @@ void UASInfoWidget::addUAS(UASInterface* uas)
{
if (uas != NULL)
{
// connect(uas, SIGNAL(voltageChanged(int, double)), this, SLOT(setVoltage(int, double)));
connect(uas, SIGNAL(batteryChanged(UASInterface*,double,double,int)), this, SLOT(updateBattery(UASInterface*,double,double,int)));
connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), this, SLOT(valueChanged(int,QString,double,quint64)));
connect(uas, SIGNAL(actuatorChanged(UASInterface*,int,double)), this, SLOT(actuatorChanged(UASInterface*,int,double)));
connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateCPULoad(UASInterface*,double)));
// Set this UAS as active if it is the first one
if (activeUAS == 0) activeUAS = uas;
// connect(uas, SIGNAL(voltageChanged(int, double)), this, SLOT(setVoltage(int, double)));
connect(uas, SIGNAL(batteryChanged(UASInterface*,double,double,int)), this, SLOT(updateBattery(UASInterface*,double,double,int)));
connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), this, SLOT(valueChanged(int,QString,double,quint64)));
connect(uas, SIGNAL(actuatorChanged(UASInterface*,int,double)), this, SLOT(actuatorChanged(UASInterface*,int,double)));
connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateCPULoad(UASInterface*,double)));
// Set this UAS as active if it is the first one
if (activeUAS == 0) activeUAS = uas;
}
}
......@@ -99,16 +99,7 @@ void UASInfoWidget::setActiveUAS(UASInterface* uas)
activeUAS = uas;
}
void UASInfoWidget::addInstrument(QString key, double min, double max, double initial, QString unit)
{
}
void UASInfoWidget::valueChanged(int uasid, QString key, double value,quint64 time)
{
}
/*
void UASInfoWidget::actuatorChanged(UASInterface* uas, int actId, double value)
{
if (activeUAS == uas)
......@@ -133,7 +124,7 @@ void UASInfoWidget::actuatorChanged(UASInterface* uas, int actId, double value)
break;
}
}
}
}*/
void UASInfoWidget::updateBattery(UASInterface* uas, double voltage, double percent, int seconds)
{
......@@ -142,14 +133,23 @@ void UASInfoWidget::updateBattery(UASInterface* uas, double voltage, double perc
setTimeRemaining(uas, seconds);
}
/**
*
*/
void UASInfoWidget::updateCPULoad(UASInterface* uas, double load)
{
if (activeUAS == uas)
{
this->load = load;
this->load = load*100.0f;
}
}
void UASInfoWidget::updateDropRate(int sysId, float receiveDrop, float sendDrop)
{
ui.receiveLossBar->setValue(receiveDrop * 100.0f);
ui.sendLossBar->setValue(sendDrop * 100.0f);
}
//void UASInfoWidget::setBattery(int uasid, BatteryType type, int cells)
//{
// this->batteryType = type;
......@@ -230,19 +230,19 @@ void UASInfoWidget::refresh()
ui.loadLabel->setText(QString::number(this->load, 'f', loadDecimals));
ui.loadBar->setValue(static_cast<int>(this->load));
// if(this->timeRemaining > 1 && this->timeRemaining < MG::MAX_FLIGHT_TIME)
// {
// // Filter output to get a higher stability
// static int filterTime = static_cast<int>(this->timeRemaining);
// //filterTime = 0.8 * filterTime + 0.2 * static_cast<int>(this->timeRemaining);
//
// int hours = filterTime % (60 * 60);
// int min = (filterTime - hours * 60) % 60;
// int sec = (filterTime - hours * 60 - min * 60);
// QString timeText;
// timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
// ui.voltageTimeEstimateLabel->setText(timeText);
// } else {
// ui.voltageTimeEstimateLabel->setText(tr("Calculating"));
// }
// if(this->timeRemaining > 1 && this->timeRemaining < MG::MAX_FLIGHT_TIME)
// {
// // Filter output to get a higher stability
// static int filterTime = static_cast<int>(this->timeRemaining);
// //filterTime = 0.8 * filterTime + 0.2 * static_cast<int>(this->timeRemaining);
//
// int hours = filterTime % (60 * 60);
// int min = (filterTime - hours * 60) % 60;
// int sec = (filterTime - hours * 60 - min * 60);
// QString timeText;
// timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
// ui.voltageTimeEstimateLabel->setText(timeText);
// } else {
// ui.voltageTimeEstimateLabel->setText(tr("Calculating"));
// }
}
src/ui/uas/UASInfoWidget.h
View file @ 4406f5c5
......@@ -49,15 +49,6 @@ public:
UASInfoWidget(QWidget *parent = 0, QString name = "");
~UASInfoWidget();
// enum BatteryType {
// NICD = 0,
// NIMH = 1,
// LIION = 2,
// LIPOLY = 3,
// LIFE = 4,
// AGZN = 5
// };
public slots:
void addUAS(UASInterface* uas);
......@@ -65,16 +56,15 @@ public slots:
void updateBattery(UASInterface* uas, double voltage, double percent, int seconds);
void updateCPULoad(UASInterface* uas, double load);
void updateDropRate(int sysId, float receiveDrop, float sendDrop);
void setVoltage(UASInterface* uas, double voltage);
void setChargeLevel(UASInterface* uas, double chargeLevel);
void setTimeRemaining(UASInterface* uas, double seconds);
// void setBattery(int uasid, BatteryType type, int cells);
void addInstrument(QString key, double min, double max, double initial, QString unit="");
void valueChanged(int uasid, QString key, double value,quint64 time);
void actuatorChanged(UASInterface* uas, int actId, double value);
// double calculateTimeRemaining();
// void valueChanged(int uasid, QString key, double value,quint64 time);
// void actuatorChanged(UASInterface* uas, int actId, double value);
void refresh();
protected:
......
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