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qgroundcontrol
Commit 4558e03c authored by pixhawk's avatar pixhawk
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Merge branch 'master' of pixhawk.ethz.ch:qgroundcontrol

parents db2b0bf5 f38fc465
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Showing with 271 additions and 56 deletions
src/Waypoint.cc
View file @ 4558e03c
......@@ -32,15 +32,17 @@ This file is part of the PIXHAWK project
#include "Waypoint.h"
Waypoint::Waypoint(quint16 id, float x, float y, float z, float yaw, bool autocontinue, bool current)
Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _autocontinue, bool _current, float _orbit, int _holdTime)
: id(_id),
x(_x),
y(_y),
z(_z),
yaw(_yaw),
autocontinue(_autocontinue),
current(_current),
orbit(_orbit),
holdTime(_holdTime)
{
this->id = id;
this->x = x;
this->y = y;
this->z = z;
this->yaw = yaw;
this->autocontinue = autocontinue;
this->current = current;
}
Waypoint::~Waypoint()
......@@ -83,6 +85,16 @@ void Waypoint::setCurrent(bool current)
this->current = current;
}
void Waypoint::setOrbit(float orbit)
{
this->orbit = orbit;
}
void Waypoint::setHoldTime(int holdTime)
{
this->holdTime = holdTime;
}
void Waypoint::setX(double x)
{
this->x = x;
......@@ -102,3 +114,8 @@ void Waypoint::setYaw(double yaw)
{
this->yaw = yaw;
}
void Waypoint::setOrbit(double orbit)
{
this->orbit = orbit;
}
src/Waypoint.h
View file @ 4558e03c
......@@ -41,7 +41,7 @@ class Waypoint : public QObject
Q_OBJECT
public:
Waypoint(quint16 id = 0, float x = 0.0f, float y = 0.0f, float z = 0.0f, float yaw = 0.0f, bool autocontinue = false, bool current = false);
Waypoint(quint16 id = 0, float x = 0.0f, float y = 0.0f, float z = 0.0f, float yaw = 0.0f, bool autocontinue = false, bool current = false, float orbit = 0.1f, int holdTime = 2000);
~Waypoint();
quint16 getId() const { return id; }
......@@ -51,6 +51,8 @@ public:
float getYaw() const { return yaw; }
bool getAutoContinue() const { return autocontinue; }
bool getCurrent() const { return current; }
float getOrbit() const { return orbit; }
float getHoldTime() const { return holdTime; }
private:
quint16 id;
......@@ -60,6 +62,8 @@ private:
float yaw;
bool autocontinue;
bool current;
float orbit;
int holdTime;
public slots:
void setId(quint16 id);
......@@ -69,12 +73,15 @@ public slots:
void setYaw(float yaw);
void setAutocontinue(bool autoContinue);
void setCurrent(bool current);
void setOrbit(float orbit);
void setHoldTime(int holdTime);
//for QDoubleSpin
void setX(double x);
void setY(double y);
void setZ(double z);
void setYaw(double yaw);
void setOrbit(double orbit);
};
#endif // WAYPOINT_H
src/uas/UAS.cc
View file @ 4558e03c
......@@ -661,10 +661,20 @@ void UAS::requestParameters()
sendMessage(msg);
}
void UAS::writeParameters()
void UAS::writeParametersToStorage()
{
//mavlink_message_t msg;
qDebug() << __FILE__ << __LINE__ << __func__ << "IS NOT IMPLEMENTED!";
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_STORAGE_WRITE);
sendMessage(msg);
}
void UAS::readParametersFromStorage()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(uint8_t)MAV_ACTION_STORAGE_READ);
sendMessage(msg);
}
void UAS::enableAllDataTransmission(bool enabled)
......@@ -929,7 +939,7 @@ void UAS::launch()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(uint8_t)MAV_ACTION_LAUNCH);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_LAUNCH);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
......@@ -943,7 +953,7 @@ void UAS::enable_motors()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(uint8_t)MAV_ACTION_MOTORS_START);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_MOTORS_START);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
......@@ -957,7 +967,7 @@ void UAS::disable_motors()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(uint8_t)MAV_ACTION_MOTORS_STOP);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_MOTORS_STOP);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
......@@ -1069,7 +1079,7 @@ void UAS::halt()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_HALT);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_HALT);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
......@@ -1079,7 +1089,7 @@ void UAS::go()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_CONTINUE);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_CONTINUE);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
......@@ -1090,7 +1100,7 @@ void UAS::home()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_RETURN);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_RETURN);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
......@@ -1104,7 +1114,7 @@ void UAS::emergencySTOP()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_EMCY_LAND);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_EMCY_LAND);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
......@@ -1135,7 +1145,7 @@ bool UAS::emergencyKILL()
{
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_EMCY_KILL);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_EMCY_KILL);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
......@@ -1164,7 +1174,7 @@ void UAS::shutdown()
// If the active UAS is set, execute command
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_SHUTDOWN);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(int)MAV_ACTION_SHUTDOWN);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
......
src/uas/UAS.h
View file @ 4558e03c
......@@ -200,7 +200,9 @@ public slots:
void setParameter(int component, QString id, float value);
/** @brief Write parameters to permanent storage */
void writeParameters();
void writeParametersToStorage();
/** @brief Read parameters from permanent storage */
void readParametersFromStorage();
void enableAllDataTransmission(bool enabled);
void enableRawSensorDataTransmission(bool enabled);
......
src/uas/UASInterface.h
View file @ 4558e03c
......@@ -173,7 +173,9 @@ public slots:
/** @brief Request all onboard parameters of all components */
virtual void requestParameters() = 0;
/** @brief Write parameter to permanent storage */
virtual void writeParameters() = 0;
virtual void writeParametersToStorage() = 0;
/** @brief Read parameter from permanent storage */
virtual void readParametersFromStorage() = 0;
/** @brief Set a system parameter
* @param component ID of the system component to write the parameter to
* @param id String identifying the parameter
......
src/uas/UASWaypointManager.cc
View file @ 4558e03c
......@@ -94,7 +94,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
if(wp->seq == current_wp_id)
{
//update the UI FIXME
emit waypointUpdated(uas.getUASID(), wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current);
emit waypointUpdated(uas.getUASID(), wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->orbit, wp->hold_time);
//get next waypoint
current_wp_id++;
......@@ -237,7 +237,8 @@ void UASWaypointManager::sendWaypoints(const QVector<Waypoint*> &list)
cur_d->autocontinue = cur_s->getAutoContinue();
cur_d->current = cur_s->getCurrent();
cur_d->orbit = 0.1f; //FIXME
cur_d->orbit = cur_s->getOrbit();
cur_d->hold_time = cur_s->getHoldTime();
cur_d->type = 1; //FIXME
cur_d->seq = i;
cur_d->x = cur_s->getX();
......
src/uas/UASWaypointManager.h
View file @ 4558e03c
......@@ -71,7 +71,7 @@ public slots:
void sendWaypoints(const QVector<Waypoint *> &list);
signals:
void waypointUpdated(int,quint16,double,double,double,double,bool,bool); ///< Adds a waypoint to the waypoint list widget
void waypointUpdated(int,quint16,double,double,double,double,bool,bool,double,int); ///< Adds a waypoint to the waypoint list widget
void currentWaypointChanged(quint16); ///< emits the new current waypoint sequence number
void updateStatusString(const QString &); ///< emits the current status string
......
src/ui/HSIDisplay.cc
View file @ 4558e03c
......@@ -504,7 +504,7 @@ void HSIDisplay::updatePositionSetpoints(int uasid, float xDesired, float yDesir
bodyYawSet = yawDesired;
mavInitialized = true;
qDebug() << "Received setpoint at x: " << x << "metric y:" << y;
// qDebug() << "Received setpoint at x: " << x << "metric y:" << y;
// posXSet = xDesired;
// posYSet = yDesired;
// posZSet = zDesired;
......
src/ui/QGCParamWidget.cc
View file @ 4558e03c
......@@ -31,6 +31,8 @@ This file is part of the QGROUNDCONTROL project
#include <QGridLayout>
#include <QPushButton>
#include <QFileDialog>
#include <QFile>
#include "QGCParamWidget.h"
#include "UASInterface.h"
......@@ -46,7 +48,8 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
mav(uas),
components(new QMap<int, QTreeWidgetItem*>()),
paramGroups(),
changedValues()
changedValues(),
parameters()
{
// Create tree widget
tree = new QTreeWidget(this);
......@@ -61,18 +64,30 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
horizontalLayout->setSizeConstraint(QLayout::SetMinimumSize);
horizontalLayout->addWidget(tree, 0, 0, 1, 3);
QPushButton* readButton = new QPushButton(tr("Read"));
connect(readButton, SIGNAL(clicked()), this, SLOT(requestParameterList()));
horizontalLayout->addWidget(readButton, 1, 0);
QPushButton* refreshButton = new QPushButton(tr("Refresh"));
connect(refreshButton, SIGNAL(clicked()), this, SLOT(requestParameterList()));
horizontalLayout->addWidget(refreshButton, 1, 0);
QPushButton* setButton = new QPushButton(tr("Set (RAM)"));
QPushButton* setButton = new QPushButton(tr("Transmit"));
connect(setButton, SIGNAL(clicked()), this, SLOT(setParameters()));
horizontalLayout->addWidget(setButton, 1, 1);
QPushButton* writeButton = new QPushButton(tr("Write (Disk)"));
QPushButton* writeButton = new QPushButton(tr("Write (ROM)"));
connect(writeButton, SIGNAL(clicked()), this, SLOT(writeParameters()));
horizontalLayout->addWidget(writeButton, 1, 2);
QPushButton* readButton = new QPushButton(tr("Read (ROM)"));
connect(readButton, SIGNAL(clicked()), this, SLOT(readParameters()));
horizontalLayout->addWidget(readButton, 2, 2);
QPushButton* loadFileButton = new QPushButton(tr("Load File"));
connect(loadFileButton, SIGNAL(clicked()), this, SLOT(loadParameters()));
horizontalLayout->addWidget(loadFileButton, 2, 0);
QPushButton* saveFileButton = new QPushButton(tr("Save File"));
connect(saveFileButton, SIGNAL(clicked()), this, SLOT(saveParameters()));
horizontalLayout->addWidget(saveFileButton, 2, 1);
// Set layout
this->setLayout(horizontalLayout);
......@@ -128,6 +143,16 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName)
paramGroups.insert(component, new QMap<QString, QTreeWidgetItem*>());
tree->addTopLevelItem(comp);
tree->update();
// Create map in parameters
if (!parameters.contains(component))
{
parameters.insert(component, new QMap<QString, float>());
}
// Create map in changed parameters
if (!changedValues.contains(component))
{
changedValues.insert(component, new QMap<QString, float>());
}
}
}
......@@ -148,6 +173,13 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
addComponent(uas, component, "Component #" + QString::number(component));
}
// Replace value in map
// FIXME
if (parameters.value(component)->contains(parameterName)) parameters.value(component)->remove(parameterName);
parameters.value(component)->insert(parameterName, value);
QString splitToken = "_";
// Check if auto-grouping can work
if (parameterName.contains(splitToken))
......@@ -267,16 +299,101 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column)
if (ok)
{
qDebug() << "PARAM CHANGED: COMP:" << key << "KEY:" << str << "VALUE:" << value;
// Changed values list
if (map->contains(str)) map->remove(str);
map->insert(str, value);
//current->setBackground(0, QBrush(QColor(QGC::colorGreen)));
//current->setBackground(1, QBrush(QColor(QGC::colorGreen)));
// Check if the value was numerically changed
if (!parameters.value(key)->contains(str) || parameters.value(key)->value(str, 0.0f) != value)
{
current->setBackground(0, QBrush(QColor(QGC::colorGreen)));
current->setBackground(1, QBrush(QColor(QGC::colorGreen)));
}
// All parameters list
if (parameters.value(key)->contains(str)) parameters.value(key)->remove(str);
parameters.value(key)->insert(str, value);
}
}
}
}
}
void QGCParamWidget::saveParameters()
{
QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./parameters.txt", tr("Parameter File (*.txt)"));
QFile file(fileName);
if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
{
return;
}
QTextStream in(&file);
in << "# Onboard parameters for system " << mav->getUASName() << "\n";
in << "#\n";
in << "# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT)\n";
// Iterate through all components, through all parameters and emit them
QMap<int, QMap<QString, float>*>::iterator i;
for (i = parameters.begin(); i != parameters.end(); ++i)
{
// Iterate through the parameters of the component
int compid = i.key();
QMap<QString, float>* comp = i.value();
{
QMap<QString, float>::iterator j;
for (j = comp->begin(); j != comp->end(); ++j)
{
in << mav->getUASID() << "\t" << compid << "\t" << j.key() << "\t" << j.value() << "\n";
in.flush();
}
}
}
file.close();
}
void QGCParamWidget::loadParameters()
{
QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Parameter file (*.txt)"));
QFile file(fileName);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
return;
// Clear list
clear();
QTextStream in(&file);
while (!in.atEnd())
{
QString line = in.readLine();
if (!line.startsWith("#"))
{
QStringList wpParams = line.split("\t");
if (wpParams.size() == 4)
{
// Only load parameters for right mav
if (mav->getUASID() == wpParams.at(0).toInt())
{
addParameter(wpParams.at(0).toInt(), wpParams.at(1).toInt(), wpParams.at(2), wpParams.at(3).toDouble());
if (changedValues.contains(wpParams.at(1).toInt()))
{
if (changedValues.value(wpParams.at(1).toInt())->contains(wpParams.at(1)))
{
changedValues.value(wpParams.at(1).toInt())->remove(wpParams.at(1));
}
changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(1), (float)wpParams.at(2).toDouble());
}
}
}
}
}
file.close();
}
/**
* @param component the subsystem which has the parameter
* @param parameterName name of the parameter, as delivered by the system
......@@ -319,7 +436,12 @@ void QGCParamWidget::setParameters()
*/
void QGCParamWidget::writeParameters()
{
mav->writeParameters();
mav->writeParametersToStorage();
}
void QGCParamWidget::readParameters()
{
mav->readParametersFromStorage();
}
/**
......
src/ui/QGCParamWidget.h
View file @ 4558e03c
......@@ -65,16 +65,24 @@ public slots:
void setParameters();
/** @brief Write the current parameters to permanent storage (EEPROM/HDD) */
void writeParameters();
/** @brief Read the parameters from permanent storage to RAM */
void readParameters();
/** @brief Clear the parameter list */
void clear();
/** @brief Update when user changes parameters */
void parameterItemChanged(QTreeWidgetItem* prev, int column);
/** @brief Store parameters to a file */
void saveParameters();
/** @brief Load parameters from a file */
void loadParameters();
protected:
UASInterface* mav; ///< The MAV this widget is controlling
QTreeWidget* tree; ///< The parameter tree
QMap<int, QTreeWidgetItem*>* components; ///< The list of components
QMap<int, QMap<QString, QTreeWidgetItem*>* > paramGroups; ///< Parameter groups
QMap<int, QMap<QString, float>* > changedValues; ///< Changed values
QMap<int, QMap<QString, float>* > parameters; ///< All parameters
};
......
src/ui/WaypointList.cc
View file @ 4558e03c
......@@ -96,7 +96,7 @@ void WaypointList::setUAS(UASInterface* uas)
this->uas = uas;
connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &)));
connect(&uas->getWaypointManager(), SIGNAL(waypointUpdated(int,quint16,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,quint16,double,double,double,double,bool,bool)));
connect(&uas->getWaypointManager(), SIGNAL(waypointUpdated(int,quint16,double,double,double,double,bool,bool,double,int)), this, SLOT(setWaypoint(int,quint16,double,double,double,double,bool,bool,double,int)));
connect(&uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
connect(this, SIGNAL(sendWaypoints(const QVector<Waypoint*> &)), &uas->getWaypointManager(), SLOT(sendWaypoints(const QVector<Waypoint*> &)));
......@@ -105,11 +105,11 @@ void WaypointList::setUAS(UASInterface* uas)
}
}
void WaypointList::setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current)
void WaypointList::setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current, double orbit, int holdTime)
{
if (uasId == this->uas->getUASID())
{
Waypoint* wp = new Waypoint(id, x, y, z, yaw, autocontinue, current);
Waypoint* wp = new Waypoint(id, x, y, z, yaw, autocontinue, current, orbit, holdTime);
addWaypoint(wp);
}
}
......@@ -168,11 +168,11 @@ void WaypointList::add()
{
if (waypoints.size() > 0)
{
addWaypoint(new Waypoint(waypoints.size(), 1.1, 1.1, -0.6, 0.0, true, false));
addWaypoint(new Waypoint(waypoints.size(), 1.1, 1.1, -0.6, 0.0, true, false, 0.1, 2000));
}
else
{
addWaypoint(new Waypoint(waypoints.size(), 0.0, 0.0, -0.0, 0.0, true, true));
addWaypoint(new Waypoint(waypoints.size(), 1.1, 1.1, -0.6, 0.0, true, true, 0.1, 2000));
}
}
}
......@@ -302,7 +302,7 @@ void WaypointList::saveWaypoints()
for (int i = 0; i < waypoints.size(); i++)
{
Waypoint* wp = waypoints[i];
in << "~" << wp->getId() << "~" << wp->getX() << "~" << wp->getY() << "~" << wp->getZ() << "~" << wp->getYaw() << "~" << wp->getAutoContinue() << "~" << wp->getCurrent() << "\n";
in << "\t" << wp->getId() << "\t" << wp->getX() << "\t" << wp->getY() << "\t" << wp->getZ() << "\t" << wp->getYaw() << "\t" << wp->getAutoContinue() << "\t" << wp->getCurrent() << wp->getOrbit() << "\t" << wp->getHoldTime() << "\n";
in.flush();
}
file.close();
......@@ -323,9 +323,9 @@ void WaypointList::loadWaypoints()
QTextStream in(&file);
while (!in.atEnd())
{
QStringList wpParams = in.readLine().split("~");
QStringList wpParams = in.readLine().split("\t");
if (wpParams.size() == 8)
addWaypoint(new Waypoint(wpParams[1].toInt(), wpParams[2].toDouble(), wpParams[3].toDouble(), wpParams[4].toDouble(), wpParams[5].toDouble(), (wpParams[6].toInt() == 1 ? true : false), (wpParams[7].toInt() == 1 ? true : false)));
addWaypoint(new Waypoint(wpParams[1].toInt(), wpParams[2].toDouble(), wpParams[3].toDouble(), wpParams[4].toDouble(), wpParams[5].toDouble(), (wpParams[6].toInt() == 1 ? true : false), (wpParams[7].toInt() == 1 ? true : false), wpParams[8].toDouble(), wpParams[9].toInt()));
}
file.close();
}
......
src/ui/WaypointList.h
View file @ 4558e03c
......@@ -72,7 +72,7 @@ public slots:
void currentWaypointChanged(quint16 seq);
//To be moved to UASWaypointManager (?)
void setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current);
void setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current, double orbit, int holdTime);
void addWaypoint(Waypoint* wp);
void removeWaypoint(Waypoint* wp);
void waypointReached(UASInterface* uas, quint16 waypointId);
......
src/ui/WaypointView.cc
View file @ 4558e03c
......@@ -54,7 +54,9 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
m_ui->selectedBox->setChecked(wp->getCurrent());
m_ui->autoContinue->setChecked(wp->getAutoContinue());
m_ui->idLabel->setText(QString("%1").arg(wp->getId()));
m_ui->idLabel->setText(QString("%1").arg(wp->getId()));\
m_ui->orbitSpinBox->setValue(wp->getOrbit());
m_ui->holdTimeSpinBox->setValue(wp->getHoldTime());
connect(m_ui->xSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
connect(m_ui->ySpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
......@@ -70,6 +72,9 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
connect(m_ui->autoContinue, SIGNAL(stateChanged(int)), this, SLOT(changedAutoContinue(int)));
connect(m_ui->selectedBox, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int)));
connect(m_ui->orbitSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setOrbit(double)));
connect(m_ui->holdTimeSpinBox, SIGNAL(valueChanged(int)), wp, SLOT(setHoldTime(int)));
}
void WaypointView::setYaw(int yawDegree)
......
src/ui/WaypointView.ui
View file @ 4558e03c
......@@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>595</width>
<width>763</width>
<height>40</height>
</rect>
</property>
......@@ -155,7 +155,7 @@ QProgressBar::chunk#thrustBar {
<property name="title">
<string/>
</property>
<layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,5,0,0,0,0,0,0,0,0">
<layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,0,0,0,0,0,0,0,0,0,0,0">
<property name="spacing">
<number>2</number>
</property>
......@@ -216,13 +216,13 @@ QProgressBar::chunk#thrustBar {
<string>Position X coordinate</string>
</property>
<property name="suffix">
<string>m</string>
<string> m</string>
</property>
<property name="minimum">
<double>-100000.000000000000000</double>
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>100000.000000000000000</double>
<double>1000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
......@@ -235,13 +235,13 @@ QProgressBar::chunk#thrustBar {
<string>Position Y coordinate</string>
</property>
<property name="suffix">
<string>m</string>
<string> m</string>
</property>
<property name="minimum">
<double>-100000.000000000000000</double>
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>100000.000000000000000</double>
<double>1000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
......@@ -257,10 +257,10 @@ QProgressBar::chunk#thrustBar {
<string>Position Z coordinate</string>
</property>
<property name="suffix">
<string>m</string>
<string> m</string>
</property>
<property name="minimum">
<double>-100000.000000000000000</double>
<double>-1000.000000000000000</double>
</property>
<property name="maximum">
<double>0.000000000000000</double>
......@@ -284,6 +284,47 @@ QProgressBar::chunk#thrustBar {
<property name="maximum">
<number>359</number>
</property>
<property name="singleStep">
<number>10</number>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="orbitSpinBox">
<property name="toolTip">
<string>Orbit radius</string>
</property>
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>0.050000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="holdTimeSpinBox">
<property name="statusTip">
<string>Time in milliseconds that the MAV has to stay inside the orbit before advancing</string>
</property>
<property name="suffix">
<string> ms</string>
</property>
<property name="maximum">
<number>60000</number>
</property>
<property name="singleStep">
<number>500</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item>
......
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