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Commit 48f06761 authored by Lorenz Meier's avatar Lorenz Meier
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Merge pull request #454 from mavlink/rc_config 

Extended RC config to 18 channels, dealing with multi-port messages
parents 9a33de6d 88b9528b
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Showing with 487 additions and 247 deletions
src/uas/UAS.cc
View file @ 48f06761
......@@ -1001,30 +1001,52 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
mavlink_rc_channels_raw_t channels;
mavlink_msg_rc_channels_raw_decode(&message, &channels);
const unsigned int portWidth = 8; // XXX magic number
emit remoteControlRSSIChanged(channels.rssi/255.0f);
emit remoteControlChannelRawChanged(0, channels.chan1_raw);
emit remoteControlChannelRawChanged(1, channels.chan2_raw);
emit remoteControlChannelRawChanged(2, channels.chan3_raw);
emit remoteControlChannelRawChanged(3, channels.chan4_raw);
emit remoteControlChannelRawChanged(4, channels.chan5_raw);
emit remoteControlChannelRawChanged(5, channels.chan6_raw);
emit remoteControlChannelRawChanged(6, channels.chan7_raw);
emit remoteControlChannelRawChanged(7, channels.chan8_raw);
if (channels.chan1_raw != UINT16_MAX)
emit remoteControlChannelRawChanged(channels.port * portWidth + 0, channels.chan1_raw);
if (channels.chan2_raw != UINT16_MAX)
emit remoteControlChannelRawChanged(channels.port * portWidth + 1, channels.chan2_raw);
if (channels.chan3_raw != UINT16_MAX)
emit remoteControlChannelRawChanged(channels.port * portWidth + 2, channels.chan3_raw);
if (channels.chan4_raw != UINT16_MAX)
emit remoteControlChannelRawChanged(channels.port * portWidth + 3, channels.chan4_raw);
if (channels.chan5_raw != UINT16_MAX)
emit remoteControlChannelRawChanged(channels.port * portWidth + 4, channels.chan5_raw);
if (channels.chan6_raw != UINT16_MAX)
emit remoteControlChannelRawChanged(channels.port * portWidth + 5, channels.chan6_raw);
if (channels.chan7_raw != UINT16_MAX)
emit remoteControlChannelRawChanged(channels.port * portWidth + 6, channels.chan7_raw);
if (channels.chan8_raw != UINT16_MAX)
emit remoteControlChannelRawChanged(channels.port * portWidth + 7, channels.chan8_raw);
}
break;
case MAVLINK_MSG_ID_RC_CHANNELS_SCALED:
{
mavlink_rc_channels_scaled_t channels;
mavlink_msg_rc_channels_scaled_decode(&message, &channels);
const unsigned int portWidth = 8; // XXX magic number
emit remoteControlRSSIChanged(channels.rssi/255.0f);
emit remoteControlChannelScaledChanged(0, channels.chan1_scaled/10000.0f);
emit remoteControlChannelScaledChanged(1, channels.chan2_scaled/10000.0f);
emit remoteControlChannelScaledChanged(2, channels.chan3_scaled/10000.0f);
emit remoteControlChannelScaledChanged(3, channels.chan4_scaled/10000.0f);
emit remoteControlChannelScaledChanged(4, channels.chan5_scaled/10000.0f);
emit remoteControlChannelScaledChanged(5, channels.chan6_scaled/10000.0f);
emit remoteControlChannelScaledChanged(6, channels.chan7_scaled/10000.0f);
emit remoteControlChannelScaledChanged(7, channels.chan8_scaled/10000.0f);
if (channels.chan1_scaled != UINT16_MAX)
emit remoteControlChannelScaledChanged(channels.port * portWidth + 0, channels.chan1_scaled/10000.0f);
if (channels.chan2_scaled != UINT16_MAX)
emit remoteControlChannelScaledChanged(channels.port * portWidth + 1, channels.chan2_scaled/10000.0f);
if (channels.chan3_scaled != UINT16_MAX)
emit remoteControlChannelScaledChanged(channels.port * portWidth + 2, channels.chan3_scaled/10000.0f);
if (channels.chan4_scaled != UINT16_MAX)
emit remoteControlChannelScaledChanged(channels.port * portWidth + 3, channels.chan4_scaled/10000.0f);
if (channels.chan5_scaled != UINT16_MAX)
emit remoteControlChannelScaledChanged(channels.port * portWidth + 4, channels.chan5_scaled/10000.0f);
if (channels.chan6_scaled != UINT16_MAX)
emit remoteControlChannelScaledChanged(channels.port * portWidth + 5, channels.chan6_scaled/10000.0f);
if (channels.chan7_scaled != UINT16_MAX)
emit remoteControlChannelScaledChanged(channels.port * portWidth + 6, channels.chan7_scaled/10000.0f);
if (channels.chan8_scaled != UINT16_MAX)
emit remoteControlChannelScaledChanged(channels.port * portWidth + 7, channels.chan8_scaled/10000.0f);
}
break;
case MAVLINK_MSG_ID_PARAM_VALUE:
......@@ -1207,7 +1229,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
mavlink_servo_output_raw_t raw;
mavlink_msg_servo_output_raw_decode(&message, &raw);
if (hilEnabled)
if (hilEnabled && raw.port == 0)
{
emit hilActuatorsChanged(static_cast<uint64_t>(getUnixTimeFromMs(raw.time_usec)), static_cast<float>(raw.servo1_raw),
static_cast<float>(raw.servo2_raw), static_cast<float>(raw.servo3_raw),
......
src/ui/MAVLinkDecoder.cc
View file @ 48f06761
......@@ -30,6 +30,7 @@ MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
messageFilter.insert(MAVLINK_MSG_ID_MISSION_ACK, false);
messageFilter.insert(MAVLINK_MSG_ID_DATA_STREAM, false);
messageFilter.insert(MAVLINK_MSG_ID_GPS_STATUS, false);
messageFilter.insert(MAVLINK_MSG_ID_RC_CHANNELS_RAW, false);
#ifdef MAVLINK_MSG_ID_ENCAPSULATED_DATA
messageFilter.insert(MAVLINK_MSG_ID_ENCAPSULATED_DATA, false);
#endif
......@@ -240,6 +241,30 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
name = QString(buf);
time = getUnixTimeFromMs(msg->sysid, debug.time_boot_ms);
}
else if (msgid == MAVLINK_MSG_ID_RC_CHANNELS_RAW)
{
// XXX this is really ugly, but we do not know a better way to do this
mavlink_rc_channels_raw_t raw;
mavlink_msg_rc_channels_raw_decode(msg, &raw);
name = name.arg(messageInfo[msgid].name).arg(fieldName);
name.prepend(QString("port%1_").arg(raw.port));
}
else if (msgid == MAVLINK_MSG_ID_RC_CHANNELS_SCALED)
{
// XXX this is really ugly, but we do not know a better way to do this
mavlink_rc_channels_scaled_t scaled;
mavlink_msg_rc_channels_scaled_decode(msg, &scaled);
name = name.arg(messageInfo[msgid].name).arg(fieldName);
name.prepend(QString("port%1_").arg(scaled.port));
}
else if (msgid == MAVLINK_MSG_ID_SERVO_OUTPUT_RAW)
{
// XXX this is really ugly, but we do not know a better way to do this
mavlink_servo_output_raw_t servo;
mavlink_msg_servo_output_raw_decode(msg, &servo);
name = name.arg(messageInfo[msgid].name).arg(fieldName);
name.prepend(QString("port%1_").arg(servo.port));
}
else
{
name = name.arg(messageInfo[msgid].name).arg(fieldName);
......
src/ui/QGCPX4VehicleConfig.cc
View file @ 48f06761
......@@ -127,6 +127,26 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
ui->radio7Widget->setName("Radio 7");
ui->radio8Widget->setOrientation(Qt::Horizontal);
ui->radio8Widget->setName("Radio 8");
ui->radio9Widget->setOrientation(Qt::Horizontal);
ui->radio9Widget->setName("Radio 9");
ui->radio10Widget->setOrientation(Qt::Horizontal);
ui->radio10Widget->setName("Radio 10");
ui->radio11Widget->setOrientation(Qt::Horizontal);
ui->radio11Widget->setName("Radio 11");
ui->radio12Widget->setOrientation(Qt::Horizontal);
ui->radio12Widget->setName("Radio 12");
ui->radio13Widget->setOrientation(Qt::Horizontal);
ui->radio13Widget->setName("Radio 13");
ui->radio14Widget->setOrientation(Qt::Horizontal);
ui->radio14Widget->setName("Radio 14");
ui->radio15Widget->setOrientation(Qt::Horizontal);
ui->radio15Widget->setName("Radio 15");
ui->radio16Widget->setOrientation(Qt::Horizontal);
ui->radio16Widget->setName("Radio 16");
ui->radio17Widget->setOrientation(Qt::Horizontal);
ui->radio17Widget->setName("Radio 17");
ui->radio18Widget->setOrientation(Qt::Horizontal);
ui->radio18Widget->setName("Radio 18");
connect(ui->rcMenuButton,SIGNAL(clicked()),
this,SLOT(rcMenuButtonClicked()));
......@@ -488,6 +508,16 @@ void QGCPX4VehicleConfig::startCalibrationRC()
ui->radio6Widget->showMinMax();
ui->radio7Widget->showMinMax();
ui->radio8Widget->showMinMax();
ui->radio9Widget->showMinMax();
ui->radio10Widget->showMinMax();
ui->radio11Widget->showMinMax();
ui->radio12Widget->showMinMax();
ui->radio13Widget->showMinMax();
ui->radio14Widget->showMinMax();
ui->radio15Widget->showMinMax();
ui->radio16Widget->showMinMax();
ui->radio17Widget->showMinMax();
ui->radio18Widget->showMinMax();
QMessageBox::information(0, tr("Information"), tr("Please click on the <Finish RC Calibration> button once finished"));
}
......@@ -516,6 +546,16 @@ void QGCPX4VehicleConfig::stopCalibrationRC()
ui->radio6Widget->hideMinMax();
ui->radio7Widget->hideMinMax();
ui->radio8Widget->hideMinMax();
ui->radio9Widget->hideMinMax();
ui->radio10Widget->hideMinMax();
ui->radio11Widget->hideMinMax();
ui->radio12Widget->hideMinMax();
ui->radio13Widget->hideMinMax();
ui->radio14Widget->hideMinMax();
ui->radio15Widget->hideMinMax();
ui->radio16Widget->hideMinMax();
ui->radio17Widget->hideMinMax();
ui->radio18Widget->hideMinMax();
for (unsigned int i = 0; i < chanCount; i++) {
if (rcMin[i] > 1350) {
......@@ -1517,6 +1557,36 @@ void QGCPX4VehicleConfig::updateMappingView(int function_index)
case 7:
ui->radio8Widget->setName(tr("%1 (#8)").arg(assignments[7]));
break;
case 8:
ui->radio9Widget->setName(tr("%1 (#9)").arg(assignments[8]));
break;
case 9:
ui->radio10Widget->setName(tr("%1 (#10)").arg(assignments[9]));
break;
case 10:
ui->radio11Widget->setName(tr("%1 (#11)").arg(assignments[10]));
break;
case 11:
ui->radio12Widget->setName(tr("%1 (#12)").arg(assignments[11]));
break;
case 12:
ui->radio13Widget->setName(tr("%1 (#13)").arg(assignments[12]));
break;
case 13:
ui->radio14Widget->setName(tr("%1 (#14)").arg(assignments[13]));
break;
case 14:
ui->radio15Widget->setName(tr("%1 (#15)").arg(assignments[14]));
break;
case 15:
ui->radio16Widget->setName(tr("%1 (#16)").arg(assignments[15]));
break;
case 16:
ui->radio17Widget->setName(tr("%1 (#17)").arg(assignments[16]));
break;
case 17:
ui->radio18Widget->setName(tr("%1 (#18)").arg(assignments[17]));
break;
}
}
}
......@@ -1778,6 +1848,16 @@ void QGCPX4VehicleConfig::updateRcWidgetValues()
ui->radio6Widget->setValueAndRange(rcValueReversed[5],rcMin[5],rcMax[5]);
ui->radio7Widget->setValueAndRange(rcValueReversed[6],rcMin[6],rcMax[6]);
ui->radio8Widget->setValueAndRange(rcValueReversed[7],rcMin[7],rcMax[7]);
ui->radio9Widget->setValueAndRange(rcValueReversed[8],rcMin[8],rcMax[8]);
ui->radio10Widget->setValueAndRange(rcValueReversed[9],rcMin[9],rcMax[9]);
ui->radio11Widget->setValueAndRange(rcValueReversed[10],rcMin[10],rcMax[10]);
ui->radio12Widget->setValueAndRange(rcValueReversed[11],rcMin[11],rcMax[11]);
ui->radio13Widget->setValueAndRange(rcValueReversed[12],rcMin[12],rcMax[12]);
ui->radio14Widget->setValueAndRange(rcValueReversed[13],rcMin[13],rcMax[13]);
ui->radio15Widget->setValueAndRange(rcValueReversed[14],rcMin[14],rcMax[14]);
ui->radio16Widget->setValueAndRange(rcValueReversed[15],rcMin[15],rcMax[15]);
ui->radio17Widget->setValueAndRange(rcValueReversed[16],rcMin[16],rcMax[16]);
ui->radio18Widget->setValueAndRange(rcValueReversed[17],rcMin[17],rcMax[17]);
}
void QGCPX4VehicleConfig::updateRcChanLabels()
......
src/ui/QGCPX4VehicleConfig.h
View file @ 48f06761
......@@ -277,8 +277,8 @@ protected:
bool doneLoadingConfig;
UASInterface* mav; ///< The current MAV
QGCUASParamManagerInterface* paramMgr; ///< params mgr for the mav
static const unsigned int chanMax = 14; ///< Maximum number of channels
static const unsigned int chanMappedMax = 16; ///< Maximum number of mapped channels (can be higher than input channel count)
static const unsigned int chanMax = 18; ///< Maximum number of channels
static const unsigned int chanMappedMax = 18; ///< Maximum number of mapped channels (can be higher than input channel count)
unsigned int chanCount; ///< Actual channels
float rcMin[chanMax]; ///< Minimum values
float rcMax[chanMax]; ///< Maximum values
......
src/ui/QGCPX4VehicleConfig.ui
View file @ 48f06761
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