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qgroundcontrol
Commit 45c48fa0 authored by dongfang's avatar dongfang
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merge

parent d25d3be9
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Showing with 138 additions and 42 deletions
src/ui/PrimaryFlightDisplay.cpp
View file @ 45c48fa0
......@@ -71,7 +71,7 @@ PrimaryFlightDisplay::PrimaryFlightDisplay(int width, int height, QWidget *paren
fineLineWidth(1),
instrumentEdgePen(QColor::fromHsvF(0, 0, 0.65, 0.5)),
// AIEdgePen(QColor::fromHsvF(0, 0, 0.65, 0.5)),
// AIEdgePen(QColor::fromHsvF(0, 0, 0.65, 0.5)),
instrumentBackground(QColor::fromHsvF(0, 0, 0.3, 0.3)),
instrumentOpagueBackground(QColor::fromHsvF(0, 0, 0.3, 1.0))
......@@ -130,7 +130,7 @@ void PrimaryFlightDisplay::resizeEvent(QResizeEvent *e) {
qreal size = e->size().width();
if(e->size().height()<size) size = e->size().height();
lineWidth = constrain(size*LINEWIDTH, 2, 4);
lineWidth = constrain(size*LINEWIDTH, 1, 6);
fineLineWidth = constrain(size*LINEWIDTH*2/3, 1, 2);
instrumentEdgePen.setWidthF(fineLineWidth);
......@@ -212,7 +212,9 @@ void PrimaryFlightDisplay::updateAttitude(UASInterface* uas, double roll, double
// TODO: Units conversion? // Called from UAS.cc l. 646
this->roll = roll * (180.0 / M_PI);
this->pitch = pitch * (180.0 / M_PI);
this->heading = yaw * (180.0 / M_PI);
yaw = yaw * (180.0 / M_PI);
if (yaw<0) yaw+=360;
this->heading = yaw;
}
// TODO: Else-part. We really should have an "attitude bad or unknown" indication instead of just freezing.
......@@ -227,17 +229,16 @@ void PrimaryFlightDisplay::updateAttitude(UASInterface* uas, int component, doub
{
Q_UNUSED(uas);
Q_UNUSED(component);
Q_UNUSED(roll);
Q_UNUSED(pitch);
Q_UNUSED(yaw);
Q_UNUSED(timestamp);
// Called from UAS.cc l. 616
// Called from UAS.cc l. 616
if (!isnan(roll) && !isinf(roll) && !isnan(pitch) && !isinf(pitch) && !isnan(yaw) && !isinf(yaw)) {
this->roll = roll * (180.0 / M_PI);
this->pitch = pitch * (180.0 / M_PI);
this->heading = yaw * (180.0 / M_PI);
}
qDebug("(2) r,p,y: %f,%f,%f", roll, pitch, yaw);
yaw = yaw * (180.0 / M_PI);
if (yaw<0) yaw+=360;
this->heading = yaw;
}
qDebug("(2) r,p,y: %f,%f,%f", roll, pitch, yaw);
}
......@@ -650,15 +651,8 @@ void PrimaryFlightDisplay::drawAICompassDisk(QPainter& painter, QRectF area) {
float radius = area.width()/2;
float innerRadius = radius * 0.96;
painter.resetTransform();
if (layout == COMPASS_SEPARATED) {
painter.setBrush(instrumentOpagueBackground);
painter.setPen(instrumentEdgePen);
}
else {
painter.setBrush(instrumentBackground);
painter.setPen(instrumentEdgePen);
}
painter.drawEllipse(area);
painter.setBrush(Qt::NoBrush);
......@@ -709,7 +703,7 @@ void PrimaryFlightDisplay::drawAICompassDisk(QPainter& painter, QRectF area) {
drawTextCenter(painter, name, mediumTextSize, 0, -innerRadius*0.75);
}
}
}
}
// draw the scale lines. If an arrow was drawn, stay off from it.
QPointF p_start = drewArrow ? QPoint(0, -innerRadius*0.94) : QPoint(0, -innerRadius);
......@@ -733,8 +727,6 @@ void PrimaryFlightDisplay::drawAICompassDisk(QPainter& painter, QRectF area) {
painter.setPen(instrumentEdgePen);
painter.drawRoundedRect(compassRect, instrumentEdgePen.widthF()*2/3, instrumentEdgePen.widthF()*2/3);
if (heading < 0) heading += 360;
else if (heading >= 360) heading -= 360;
/* final safeguard for really stupid systems */
int yawCompass = static_cast<int>(heading) % 360;
......@@ -749,6 +741,101 @@ void PrimaryFlightDisplay::drawAICompassDisk(QPainter& painter, QRectF area) {
drawTextCenter(painter, yawAngle, largeTextSize, 0, -radius*0.38);
}
// TODO: Merge common code above and below this line.....
void PrimaryFlightDisplay::drawSeparateCompassDisk(QPainter& painter, QRectF area) {
float radius = area.width()/2;
float innerRadius = radius * 0.96;
painter.resetTransform();
painter.setBrush(instrumentOpagueBackground);
painter.setPen(instrumentEdgePen);
painter.drawEllipse(area);
painter.setBrush(Qt::NoBrush);
QPen scalePen(Qt::white);
scalePen.setWidthF(fineLineWidth);
for (int displayTick=0; displayTick<360; displayTick+=COMPASS_DISK_RESOLUTION) {
// yaw is in center.
float off = displayTick - heading;
// wrap that to ]-180..180]
if (off<=-180) off+= 360; else if (off>180) off -= 360;
painter.translate(area.center());
painter.rotate(off);
bool drewArrow = false;
bool isMajor = displayTick % COMPASS_DISK_MAJORTICK == 0;
if (displayTick==30 || displayTick==60 ||
displayTick==120 || displayTick==150 ||
displayTick==210 || displayTick==240 ||
displayTick==300 || displayTick==330) {
// draw a number
QString s_number;
s_number.sprintf("%d", displayTick/10);
painter.setPen(scalePen);
drawTextCenter(painter, s_number, mediumTextSize, 0, -innerRadius*0.75);
} else {
if (displayTick % COMPASS_DISK_ARROWTICK == 0) {
if (displayTick!=0) {
QPainterPath markerPath(QPointF(0, -innerRadius*(1-COMPASS_DISK_MARKERHEIGHT/2)));
markerPath.lineTo(innerRadius*COMPASS_DISK_MARKERWIDTH/4, -innerRadius);
markerPath.lineTo(-innerRadius*COMPASS_DISK_MARKERWIDTH/4, -innerRadius);
markerPath.closeSubpath();
painter.setPen(scalePen);
painter.setBrush(Qt::SolidPattern);
painter.drawPath(markerPath);
painter.setBrush(Qt::NoBrush);
drewArrow = true;
}
if (displayTick%90 == 0) {
// Also draw a label
QString name = compassWindNames[displayTick / 45];
painter.setPen(scalePen);
drawTextCenter(painter, name, mediumTextSize, 0, -innerRadius*0.75);
}
}
}
// draw the scale lines. If an arrow was drawn, stay off from it.
QPointF p_start = drewArrow ? QPoint(0, -innerRadius*0.94) : QPoint(0, -innerRadius);
QPoint p_end = isMajor ? QPoint(0, -innerRadius*0.86) : QPoint(0, -innerRadius*0.90);
painter.setPen(scalePen);
painter.drawLine(p_start, p_end);
painter.resetTransform();
}
painter.setPen(scalePen);
//painter.setBrush(Qt::SolidPattern);
painter.translate(area.center());
QPainterPath markerPath(QPointF(0, -radius-2));
markerPath.lineTo(radius*COMPASS_DISK_MARKERWIDTH/2, -radius-radius*COMPASS_DISK_MARKERHEIGHT-2);
markerPath.lineTo(-radius*COMPASS_DISK_MARKERWIDTH/2, -radius-radius*COMPASS_DISK_MARKERHEIGHT-2);
markerPath.closeSubpath();
painter.drawPath(markerPath);
QRectF headingNumberRect(-radius/3, radius*0.13, radius*2/3, radius*0.28);
painter.setPen(instrumentEdgePen);
painter.drawRoundedRect(headingNumberRect, instrumentEdgePen.widthF()*2/3, instrumentEdgePen.widthF()*2/3);
// if (heading < 0) heading += 360;
// else if (heading >= 360) heading -= 360;
/* final safeguard for really stupid systems */
int yawCompass = static_cast<int>(heading) % 360;
QString yawAngle;
yawAngle.sprintf("%03d", yawCompass);
QPen pen;
pen.setWidthF(lineWidth);
pen.setColor(Qt::white);
painter.setPen(pen);
drawTextCenter(painter, yawAngle, largeTextSize, 0, radius/4);
}
void PrimaryFlightDisplay::drawAltimeter(
QPainter& painter,
QRectF area, // the area where to draw the tape.
......@@ -776,7 +863,7 @@ void PrimaryFlightDisplay::drawAltimeter(
float numbersLeft = 0.42*w;
float markerHalfHeight = 0.06*h;
float rightEdge = w-instrumentEdgePen.widthF()*2;
float markerTip = tickmarkLeft;
float markerTip = (tickmarkLeft*2+tickmarkRight)/3;
// altitude scale
#ifdef ALTIMETER_PROJECTED
......@@ -821,7 +908,7 @@ void PrimaryFlightDisplay::drawAltimeter(
painter.resetTransform();
painter.translate(area.left(), area.center().y());
pen.setWidthF(fineLineWidth);
pen.setWidthF(lineWidth);
pen.setColor(Qt::white);
painter.setPen(pen);
......@@ -1122,7 +1209,7 @@ void PrimaryFlightDisplay::doPaint() {
qreal panelsWidth = width() / 4.0f;
qreal remainingHeight = height() - aiheight;
qreal panelsHeight = remainingHeight / 5.0f;
qreal panelsHeight = remainingHeight / 3.0f;
QPoint compassCenter;
qreal maxCompassDiam;
if(remainingHeight > width()) {
......@@ -1149,7 +1236,14 @@ void PrimaryFlightDisplay::doPaint() {
// diagonal between 2 panel corners
qreal xd = width()-panelsWidth*2;
qreal yd = height()-panelsHeight - AIArea.bottom();
maxCompassDiam = sqrt(xd*xd + yd*yd);
maxCompassDiam = qSqrt(xd*xd + yd*yd);
if (maxCompassDiam > remainingHeight) {
maxCompassDiam = width() - panelsWidth*2;
if (maxCompassDiam > remainingHeight) {
// If still too large, lower.
// compassCenter.setY();
}
}
}
qreal compassDiam = maxCompassDiam * 0.8;
......@@ -1168,7 +1262,7 @@ void PrimaryFlightDisplay::doPaint() {
if (layout==COMPASS_SEPARATED) {
painter.setClipping(false);
drawAICompassDisk(painter, compassArea);
drawSeparateCompassDisk(painter, compassArea);
}
else {
drawAICompassDisk(painter, compassArea);
......
src/ui/PrimaryFlightDisplay.h
View file @ 45c48fa0
......@@ -14,7 +14,7 @@
//#define PANELS_TEXT_SIZE 0.030
//#define COMPASS_SCALE_TEXT_SIZE 0.16
#define SMALL_TEXT_SIZE 0.028f
#define SMALL_TEXT_SIZE 0.03f
#define MEDIUM_TEXT_SIZE (SMALL_TEXT_SIZE*1.2f)
#define LARGE_TEXT_SIZE (MEDIUM_TEXT_SIZE*1.2f)
......@@ -152,6 +152,8 @@ private:
void drawRollScale(QPainter& painter, QRectF area, bool drawTicks, bool drawNumbers);
void drawAIAttitudeScales(QPainter& painter, QRectF area);
void drawAICompassDisk(QPainter& painter, QRectF area);
void drawSeparateCompassDisk(QPainter& painter, QRectF area);
void drawAltimeter(QPainter& painter, QRectF area, float altitude, float maxAltitude, float vv);
void fillInstrumentBackground(QPainter& painter, QRectF edge);
......
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