Skip to content

Q
qgroundcontrol
Commit 4c6bd390 authored by Mariano Lizarraga's avatar Mariano Lizarraga
Browse files
Options

Merge branch 'dev' of git://github.com/pixhawk/qgroundcontrol into dev

parents 84dfb69d ac8a86ef
Hide whitespace changes
Inline Side-by-side
Showing with 117 additions and 73 deletions
.gitignore
View file @ 4c6bd390
......@@ -27,3 +27,7 @@ deploy/linux
controller_log*
user_config.pri
*.app
*.ncb
*.vcproj
*.sln
\ No newline at end of file
data/kinect.cal
View file @ 4c6bd390
[rgb]
principal_point\x=313.67245
principal_point\y=264.06175
focal_length\x=527.44654
focal_length\y=527.40652
distortion\k1=0.20780
distortion\k2=-0.34320
distortion\k3=0.00139
distortion\k4=0.00061
distortion\k5=0.00000
principal_point\x=314.70228964
principal_point\y=264.30478827
focal_length\x=527.91246131
focal_length\y=527.91246131
distortion\k1=0.20496745
distortion\k2=-0.36341243
distortion\k3=0.00000000
distortion\k4=0.00000000
distortion\k5=0.00000000
[depth]
principal_point\x=313.23400
principal_point\y=246.13447
focal_length\x=587.62150
focal_length\y=587.51184
distortion\k1=0.01063
distortion\k2=-0.04479
distortion\k3=-0.00073
distortion\k4=0.00081
distortion\k5=0.00000
principal_point\x=311.88621344
principal_point\y=247.63447078
focal_length\x=593.89813561
focal_length\y=593.89813561
distortion\k1=0.00000000
distortion\k2=0.00000000
distortion\k3=0.00000000
distortion\k4=0.00000000
distortion\k5=0.00000000
[transform]
R11=0.99994
R12=0.00098102
R13=0.010900
R21=-0.00097894
R22=1.0
R23=-0.00019534
R33=-0.010900
R32=0.00018466
R33=0.99994
Tx=-0.02581986
Ty=-0.0130948
Tz=-0.0047681
R11=0.999982
R12=0.000556
R13=0.005927
R21=-0.000563
R22=0.999999
R23=0.001235
R33=-0.005926
R32=-0.001239
R33=0.999982
Tx=-0.024287
Ty=0.001018
Tz=-0.015195
baseline=0.06061
disparity_offset=1092.3403
qgroundcontrol.pri
View file @ 4c6bd390
......@@ -34,10 +34,10 @@ release {
# DEFINES += QT_NO_WARNING_OUTPUT
}
QMAKE_PRE_LINK += echo "Copying files"
QMAKE_POST_LINK += echo "Copying files"
#QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/.
#QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
#QMAKE_POST_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/.
#QMAKE_POST_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
# MAC OS X
macx {
......@@ -77,11 +77,11 @@ macx {
ICON = $$BASEDIR/images/icons/macx.icns
# Copy audio files if needed
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/.
QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/.
# Copy google earth starter file
QMAKE_PRE_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/.
QMAKE_POST_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/.
# Copy model files
#QMAKE_PRE_LINK += && cp -f $$BASEDIR/models/*.dae $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/.
#QMAKE_POST_LINK += && cp -f $$BASEDIR/models/*.dae $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/.
exists(/Library/Frameworks/osg.framework):exists(/Library/Frameworks/OpenThreads.framework) {
# No check for GLUT.framework since it's a MAC default
......@@ -155,7 +155,7 @@ linux-g++ {
#DESTDIR = $$BUILDDIR/release
}
QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
QMAKE_POST_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
INCLUDEPATH += /usr/include \
/usr/include/qt4/phonon
......@@ -179,7 +179,8 @@ linux-g++ {
message("Building support for OpenSceneGraph")
DEPENDENCIES_PRESENT += osg
# Include OpenSceneGraph libraries
LIBS += -losg
LIBS += -losg \
-losgViewer
DEFINES += QGC_OSG_ENABLED
}
......@@ -187,8 +188,7 @@ linux-g++ {
message("Building support for osgEarth")
DEPENDENCIES_PRESENT += osgearth
# Include osgEarth libraries
LIBS += -losgViewer \
-losgEarth \
LIBS += -losgEarth \
-losgEarthUtil
DEFINES += QGC_OSGEARTH_ENABLED
}
......@@ -202,10 +202,15 @@ linux-g++ {
DEFINES += QGC_LIBFREENECT_ENABLED
}
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/.
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/debug/.
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/release/.
debug {
QMAKE_POST_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/.
QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/debug/.
}
release {
QMAKE_POST_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/release/.
}
# osg/osgEarth dynamic casts might fail without this compiler option.
# see http://osgearth.org/wiki/FAQ for details.
......@@ -223,7 +228,7 @@ linux-g++-64 {
#DESTDIR = $$BUILDDIR/release
}
QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
QMAKE_POST_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
INCLUDEPATH += /usr/include \
/usr/include/qt4/phonon
......@@ -248,7 +253,8 @@ linux-g++-64 {
message("Building support for OpenSceneGraph")
DEPENDENCIES_PRESENT += osg
# Include OpenSceneGraph libraries
LIBS += -losg
LIBS += -losg \
-losgViewer
DEFINES += QGC_OSG_ENABLED
}
......@@ -256,8 +262,7 @@ linux-g++-64 {
message("Building support for osgEarth")
DEPENDENCIES_PRESENT += osgearth
# Include osgEarth libraries
LIBS += -losgViewer \
-losgEarth \
LIBS += -losgEarth \
-losgEarthUtil
DEFINES += QGC_OSGEARTH_ENABLED
}
......@@ -325,16 +330,19 @@ exists($$BASEDIR/lib/osgEarth123) {
BASEDIR_WIN = $$replace(BASEDIR,"/","\\")
TARGETDIR_WIN = $$replace(TARGETDIR,"/","\\")
QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\debug\SDL.dll\"
QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\release\SDL.dll\"
QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\debug\audio\" /S /E /Y
QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\release\audio\" /S /E /Y
QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\debug\models\" /S /E /Y
QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\release\models\" /S /E /Y
debug {
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll\" \"$$TARGETDIR_WIN\\debug\\SDL.dll\"
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\debug\audio\" /S /E /Y
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\debug\models\" /S /E /Y
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR/images/earth.html $$TARGETDIR_WIN\debug\"
}
# Copy google earth starter file
QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR/images/earth.html $$TARGETDIR_WIN\release\"
QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR/images/earth.html $$TARGETDIR_WIN\debug\"
release {
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\release\SDL.dll\"
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\release\audio\" /S /E /Y
QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\release\models\" /S /E /Y
QMAKE_POST_LINK += && copy /Y \"$$BASEDIR/images/earth.html $$TARGETDIR_WIN\release\"
}
}
......@@ -366,15 +374,18 @@ win32-g++ {
RC_FILE = $$BASEDIR/qgroundcontrol.rc
# Copy dependencies
BASEDIR_WIN = $$replace(BASEDIR,"/","\\")
TARGETDIR_WIN = $$replace(TARGETDIR,"/","\\")
QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\debug\SDL.dll\"
QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\release\SDL.dll\"
QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\debug\audio\" /S /E /Y
QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\release\audio\" /S /E /Y
QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\debug\models\" /S /E /Y
QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\release\models\" /S /E /Y
debug {
QMAKE_POST_LINK += && cp $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/debug/SDL.dll
QMAKE_POST_LINK += && cp -r $$BASEDIR/audio $$TARGETDIR/debug/audio
QMAKE_POST_LINK += && cp -r $$BASEDIR/models $$TARGETDIR/debug/models
}
release {
QMAKE_POST_LINK += && cp $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/release/SDL.dll
QMAKE_POST_LINK += && cp -r $$BASEDIR/audio $$TARGETDIR/release/audio
QMAKE_POST_LINK += && cp -r $$BASEDIR/models $$TARGETDIR/release/models
}
# osg/osgEarth dynamic casts might fail without this compiler option.
# see http://osgearth.org/wiki/FAQ for details.
......
src/input/Freenect.cc
View file @ 4c6bd390
......@@ -208,8 +208,9 @@ Freenect::get3DPointCloudData(void)
{
if (data[i] > 0 && data[i] <= 2048)
{
// see www.ros.org/wiki/kinect_node for details
double range = 1.0f / (-0.00307f * static_cast<float>(data[i]) + 3.33f);
double range = baseline * depthCameraParameters.fx
/ (1.0 / 8.0 * (disparityOffset
- static_cast<double>(data[i])));
if (range > 0.0f)
{
......@@ -341,6 +342,9 @@ Freenect::readConfigFile(void)
settings.value("transform/Tz").toDouble(),
0.0, 0.0, 0.0, 1.0);
transformMatrix = transformMatrix.transposed();
baseline = settings.value("transform/baseline").toDouble();
disparityOffset = settings.value("transform/disparity_offset").toDouble();
}
void
......
src/input/Freenect.h
View file @ 4c6bd390
......@@ -119,6 +119,8 @@ private:
IntrinsicCameraParameters depthCameraParameters;
QMatrix4x4 transformMatrix;
double baseline;
double disparityOffset;
// tilt angle of Kinect camera
int tiltAngle;
......
src/uas/UAS.cc
View file @ 4c6bd390
......@@ -637,7 +637,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_THROTTLE_LEN; ++i)
throttle << radioMsg.throttle[i];
QPointer<RadioCalibrationData> radioData = new RadioCalibrationData(aileron,
QPointer<RadioCalibrationData> radioData = new RadioCalibrationData(aileron, elevator, rudder, gyro, pitch, throttle);
emit radioCalibrationReceived(radioData);
delete radioData;
}
......
src/ui/MainWindow.h
View file @ 4c6bd390
......@@ -70,7 +70,7 @@ This file is part of the QGROUNDCONTROL project
#include "SlugsPIDControl.h"
#include "slugshilsim.h"
#include "SlugsHilSim.h"
#include "SlugsVideoCamControl.h"
......
src/ui/slugshilsim.cc → src/ui/SlugsHilSim.cc
View file @ 4c6bd390
......@@ -28,8 +28,8 @@ This file is part of the QGROUNDCONTROL project
*/
#include "slugshilsim.h"
#include "ui_slugshilsim.h"
#include "SlugsHilSim.h"
#include "ui_SlugsHilSim.h"
#include "LinkManager.h"
SlugsHilSim::SlugsHilSim(QWidget *parent) :
......@@ -143,6 +143,8 @@ void SlugsHilSim::processHilDatagram(const QByteArray* datagram){
// GPS
mavlink_gps_raw_t tmpGpsRaw;
#ifdef MAVLINK_ENABLED_SLUGS
mavlink_gps_date_time_t tmpGpsTime;
tmpGpsTime.year = datagram->at(i++);
......@@ -165,6 +167,7 @@ void SlugsHilSim::processHilDatagram(const QByteArray* datagram){
mavlink_msg_gps_date_time_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &tmpGpsTime);
activeUas->sendMessage(hilLink, msg);
#endif
memset(&msg, 0, sizeof(mavlink_message_t));
......
src/ui/SlugsPIDControl.cpp
View file @ 4c6bd390
......@@ -46,9 +46,9 @@ SlugsPIDControl::SlugsPIDControl(QWidget *parent) :
*/
void SlugsPIDControl::activeUasSet(UASInterface* uas)
{
#ifdef MAVLINK_ENABLED_SLUGS
SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(uas);
#ifdef MAVLINK_ENABLED_SLUGS
if (slugsMav != NULL)
{
connect(slugsMav,SIGNAL(slugsActionAck(int,const mavlink_action_ack_t&)),this,SLOT(recibeMensaje(int,mavlink_action_ack_t)));
......@@ -187,6 +187,7 @@ void SlugsPIDControl::changeColor_GREEN_AirSpeed_groupBox()
{
//create the packet
#ifdef MAVLINK_ENABLED_SLUGS
pidMessage.target = activeUAS->getUASID();
pidMessage.idx = 0;
pidMessage.pVal = ui->dT_P_set->text().toFloat();
......@@ -197,6 +198,7 @@ void SlugsPIDControl::changeColor_GREEN_AirSpeed_groupBox()
mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
slugsMav->sendMessage(msg);
#endif
ui->AirSpeedHold_groupBox->setStyleSheet(GREENcolorStyle);
}
......@@ -232,6 +234,7 @@ void SlugsPIDControl::changeColor_GREEN_PitchFollowei_groupBox()
if (slugsMav != NULL)
{
#ifdef MAVLINK_ENABLED_SLUGS
//create the packet
pidMessage.target = activeUAS->getUASID();
pidMessage.idx = 2;
......@@ -243,6 +246,7 @@ void SlugsPIDControl::changeColor_GREEN_PitchFollowei_groupBox()
mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
slugsMav->sendMessage(msg);
#endif
ui->PitchFlowei_groupBox->setStyleSheet(GREENcolorStyle);
}
......@@ -280,6 +284,7 @@ void SlugsPIDControl::changeColor_GREEN_RollControl_groupBox()
if (slugsMav != NULL)
{
#ifdef MAVLINK_ENABLED_SLUGS
//create the packet
pidMessage.target = activeUAS->getUASID();
pidMessage.idx = 4;
......@@ -291,6 +296,7 @@ void SlugsPIDControl::changeColor_GREEN_RollControl_groupBox()
mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
slugsMav->sendMessage(msg);
#endif
ui->RollControl_groupBox->setStyleSheet(GREENcolorStyle);
}
......@@ -340,6 +346,7 @@ void SlugsPIDControl::changeColor_GREEN_HeigthError_groupBox()
if (slugsMav != NULL)
{
#ifdef MAVLINK_ENABLED_SLUGS
//create the packet
pidMessage.target = activeUAS->getUASID();
pidMessage.idx = 1;
......@@ -351,6 +358,7 @@ void SlugsPIDControl::changeColor_GREEN_HeigthError_groupBox()
mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
slugsMav->sendMessage(msg);
#endif
ui->HeightErrorLoPitch_groupBox->setStyleSheet(GREENcolorStyle);
}
......@@ -399,6 +407,7 @@ void SlugsPIDControl::changeColor_GREEN_YawDamper_groupBox()
if (slugsMav != NULL)
{
#ifdef MAVLINK_ENABLED_SLUGS
//create the packet
pidMessage.target = activeUAS->getUASID();
pidMessage.idx = 3;
......@@ -410,6 +419,7 @@ void SlugsPIDControl::changeColor_GREEN_YawDamper_groupBox()
mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
slugsMav->sendMessage(msg);
#endif
ui->YawDamper_groupBox->setStyleSheet(GREENcolorStyle);
}
......@@ -460,6 +470,7 @@ void SlugsPIDControl::changeColor_GREEN_Pitch2dT_groupBox()
if (slugsMav != NULL)
{
#ifdef MAVLINK_ENABLED_SLUGS
//create the packet
pidMessage.target = activeUAS->getUASID();
pidMessage.idx = 8;
......@@ -471,6 +482,7 @@ void SlugsPIDControl::changeColor_GREEN_Pitch2dT_groupBox()
mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
slugsMav->sendMessage(msg);
#endif
ui->Pitch2dTFFterm_groupBox->setStyleSheet(GREENcolorStyle);
}
}
......@@ -541,10 +553,12 @@ void SlugsPIDControl::receivePidValues(int systemId, const mavlink_pid_t &pidVal
}
}
#endif // MAVLINK_ENABLED_SLUG
void SlugsPIDControl::sendMessagePIDStatus(int PIDtype)
{
#ifdef MAVLINK_ENABLED_SLUGS
//ToDo remplace actionId values
......@@ -626,6 +640,7 @@ void SlugsPIDControl::sendMessagePIDStatus(int PIDtype)
}
}
#endif // MAVLINK_ENABLED_SLUG
}
void SlugsPIDControl::slugsGetGeneral()
......@@ -695,6 +710,8 @@ void SlugsPIDControl::slugsSetGeneral()
counterRefreshSet++;
valuesMutex.unlock();
}
void SlugsPIDControl::slugsTimerStartSet()
{
counterRefreshSet = 1;
......@@ -714,4 +731,3 @@ void SlugsPIDControl::slugsTimerStop()
// counterRefresh = 1;
}
#endif // MAVLINK_ENABLED_SLUGS
src/ui/SlugsPIDControl.h
View file @ 4c6bd390
......@@ -277,8 +277,10 @@ private:
QString ORIGINcolorStyle;
//SlugsMav Message
#ifdef MAVLINK_ENABLED_SLUGS
mavlink_pid_t pidMessage;
mavlink_slugs_action_t actionSlugs;
#endif
QTimer* refreshTimerSet; ///< The main timer, controls the update view
QTimer* refreshTimerGet; ///< The main timer, controls the update view
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment