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Commit 552d4760 authored by Alejandro's avatar Alejandro
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Update send message CMDS and CTRL

parent ef51e33a
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Showing with 295 additions and 102 deletions
src/uas/SlugsMAV.cc
View file @ 552d4760
...@@ -135,11 +135,11 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message) ...@@ -135,11 +135,11 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
break; break;
case MAVLINK_MSG_ID_MID_LVL_CMDS: //180 case MAVLINK_MSG_ID_MID_LVL_CMDS: //180
mavlink_msg_mid_lvl_cmds_decode(&message, &mlMidLevelCommands);
break; break;
case MAVLINK_MSG_ID_CTRL_SRFC_PT: //181 case MAVLINK_MSG_ID_CTRL_SRFC_PT: //181
mavlink_msg_ctrl_srfc_pt_decode(&message, &mlPassthrough);
break; break;
case MAVLINK_MSG_ID_PID: //182 case MAVLINK_MSG_ID_PID: //182
......
src/ui/MainWindow.cc
View file @ 552d4760
...@@ -625,6 +625,7 @@ void MainWindow::buildSlugsWidgets() ...@@ -625,6 +625,7 @@ void MainWindow::buildSlugsWidgets()
addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea); addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
} }
// if (!slugsCamControlWidget) // if (!slugsCamControlWidget)
// { // {
// slugsCamControlWidget = new QDockWidget(tr("Slugs Video Camera Control"), this); // slugsCamControlWidget = new QDockWidget(tr("Slugs Video Camera Control"), this);
...@@ -1017,11 +1018,6 @@ void MainWindow::connectCommonWidgets() ...@@ -1017,11 +1018,6 @@ void MainWindow::connectCommonWidgets()
connect(waypointsDockWidget->widget(), SIGNAL(changePointList()), mapWidget, SLOT(clearWaypoints())); connect(waypointsDockWidget->widget(), SIGNAL(changePointList()), mapWidget, SLOT(clearWaypoints()));
} }
if(controlDockWidget && controlParameterWidget)
{
connect(controlDockWidget->widget(), SIGNAL(changedMode(int)), controlParameterWidget->widget(), SLOT(changedMode(int)));
}
//TODO temporaly debug //TODO temporaly debug
if (slugsHilSimWidget && slugsHilSimWidget->widget()){ if (slugsHilSimWidget && slugsHilSimWidget->widget()){
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
...@@ -1032,6 +1028,11 @@ void MainWindow::connectCommonWidgets() ...@@ -1032,6 +1028,11 @@ void MainWindow::connectCommonWidgets()
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
controlParameterWidget->widget(), SLOT(activeUasSet(UASInterface*))); controlParameterWidget->widget(), SLOT(activeUasSet(UASInterface*)));
} }
if(controlDockWidget && controlParameterWidget)
{
connect(controlDockWidget->widget(), SIGNAL(changedMode(int)), controlParameterWidget->widget(), SLOT(changedMode(int)));
}
} }
void MainWindow::createCustomWidget() void MainWindow::createCustomWidget()
......
src/ui/UASControlParameters.ui
View file @ 552d4760
...@@ -6,8 +6,8 @@ ...@@ -6,8 +6,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>200</width> <width>204</width>
<height>228</height> <height>246</height>
</rect> </rect>
</property> </property>
<property name="minimumSize"> <property name="minimumSize">
...@@ -26,6 +26,58 @@ ...@@ -26,6 +26,58 @@
<string>Form</string> <string>Form</string>
</property> </property>
<layout class="QGridLayout" name="gridLayout"> <layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="lbMode">
<property name="minimumSize">
<size>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>----</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row="1" column="0"> <item row="1" column="0">
<widget class="QTabWidget" name="tabWidget"> <widget class="QTabWidget" name="tabWidget">
<property name="styleSheet"> <property name="styleSheet">
...@@ -36,61 +88,9 @@ ...@@ -36,61 +88,9 @@
</property> </property>
<widget class="QWidget" name="tab"> <widget class="QWidget" name="tab">
<attribute name="title"> <attribute name="title">
<string>Tab 1</string> <string>Commands</string>
</attribute> </attribute>
<layout class="QGridLayout" name="gridLayout_2"> <layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="lbMode">
<property name="minimumSize">
<size>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>----</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row="1" column="0"> <item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout"> <layout class="QHBoxLayout" name="horizontalLayout">
<item> <item>
...@@ -180,8 +180,98 @@ ...@@ -180,8 +180,98 @@
</widget> </widget>
<widget class="QWidget" name="tab_2"> <widget class="QWidget" name="tab_2">
<attribute name="title"> <attribute name="title">
<string>Tab 2</string> <string>Passthrough</string>
</attribute> </attribute>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_6">
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QCheckBox" name="cxElevator">
<property name="text">
<string>Elevator</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="cxRudder">
<property name="text">
<string>Rudder</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="cxThrottle">
<property name="text">
<string>Throttle</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="cxAilerons">
<property name="text">
<string>Ailerons</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QCheckBox" name="cxRightAileron">
<property name="text">
<string>Right Aileron</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="cxRightElevator">
<property name="text">
<string>Right Elevator</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="cxLeftFlap">
<property name="text">
<string>Left Flap</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="cxRightFlap">
<property name="text">
<string>Right Flap</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="btSetCtrl">
<property name="text">
<string>Set</string>
</property>
</widget>
</item>
<item row="2" column="0">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>26</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget> </widget>
</widget> </widget>
</item> </item>
......
src/ui/uas/UASControlParameters.cpp
View file @ 552d4760
...@@ -27,14 +27,9 @@ UASControlParameters::UASControlParameters(QWidget *parent) : ...@@ -27,14 +27,9 @@ UASControlParameters::UASControlParameters(QWidget *parent) :
{ {
ui->setupUi(this); ui->setupUi(this);
//this->mode = "MAV_MODE_UNKNOWN";
//connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(activeUasSet(UASInterface*)));
connect(ui->btGetCommands, SIGNAL(clicked()), this, SLOT(getCommands())); connect(ui->btGetCommands, SIGNAL(clicked()), this, SLOT(getCommands()));
//QColor groupColor = QColor(231,72,28); connect(ui->btSetCtrl, SIGNAL(clicked()), this, SLOT(setPassthrough()));
//QString borderColor = "#FA4A4F";
//groupColor = groupColor.darker(475);
} }
UASControlParameters::~UASControlParameters() UASControlParameters::~UASControlParameters()
...@@ -46,46 +41,48 @@ void UASControlParameters::changedMode(int mode) ...@@ -46,46 +41,48 @@ void UASControlParameters::changedMode(int mode)
{ {
QString modeTemp; QString modeTemp;
if (mode == CONTROL_MODE_LOCKED_INDEX) switch (mode)
{
modeTemp= CONTROL_MODE_LOCKED;
}
else if (mode == CONTROL_MODE_MANUAL_INDEX)
{
modeTemp= CONTROL_MODE_MANUAL;
}
else if (mode == CONTROL_MODE_GUIDED_INDEX)
{
modeTemp= CONTROL_MODE_GUIDED;
}
else if (mode == CONTROL_MODE_AUTO_INDEX)
{
modeTemp= CONTROL_MODE_AUTO;
}
else if (mode == CONTROL_MODE_TEST1_INDEX)
{
modeTemp= CONTROL_MODE_TEST1;
}
else if (mode == CONTROL_MODE_TEST2_INDEX)
{
modeTemp= CONTROL_MODE_TEST2;
}
else if (mode == CONTROL_MODE_TEST3_INDEX)
{
modeTemp= CONTROL_MODE_TEST3;
}
else if (mode == CONTROL_MODE_RC_TRAINING_INDEX)
{ {
modeTemp= CONTROL_MODE_RC_TRAINING; case (uint8_t)MAV_MODE_LOCKED:
modeTemp = "LOCKED MODE";
break;
case (uint8_t)MAV_MODE_MANUAL:
modeTemp = "MANUAL MODE";
break;
case (uint8_t)MAV_MODE_AUTO:
modeTemp = "AUTO MODE";
break;
case (uint8_t)MAV_MODE_GUIDED:
modeTemp = "GUIDED MODE";
break;
case (uint8_t)MAV_MODE_READY:
modeTemp = "READY MODE";
break;
case (uint8_t)MAV_MODE_TEST1:
modeTemp = "TEST1 MODE";
break;
case (uint8_t)MAV_MODE_TEST2:
modeTemp = "TEST2 MODE";
break;
case (uint8_t)MAV_MODE_TEST3:
modeTemp = "TEST3 MODE";
break;
case (uint8_t)MAV_MODE_RC_TRAINING:
modeTemp = "RC TRAINING MODE";
break;
default:
modeTemp = "UNINIT MODE";
break;
} }
if( static_cast<QString>(modeTemp) != this->mode)
if(modeTemp != this->mode)
{ {
ui->lbMode->setStyleSheet("background-color: rgb(255, 0, 0)"); ui->lbMode->setStyleSheet("background-color: rgb(255, 0, 0)");
} }
else else
{ {
ui->lbMode->setStyleSheet(""); ui->lbMode->setStyleSheet("background-color: rgb(0, 255, 0)");
} }
} }
...@@ -94,8 +91,12 @@ void UASControlParameters::activeUasSet(UASInterface *uas) ...@@ -94,8 +91,12 @@ void UASControlParameters::activeUasSet(UASInterface *uas)
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64))); connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(speedChanged(UASInterface*,double,double,double,quint64))); connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(speedChanged(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64))); connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString))); connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
connect(uas, SIGNAL(thrustChanged(UASInterface*,double)), this, SLOT(thrustChanged(UASInterface*,double)) );
//connect(uas, SIGNAL(radioCalibrationReceived(QPointer<RadioCalibrationData>)), this, SLOT(radioChanged(QPointer<RadioCalibrationData>)));
activeUAS= uas; activeUAS= uas;
} }
...@@ -120,7 +121,18 @@ void UASControlParameters::updateAttitude(UASInterface *uas, double roll, double ...@@ -120,7 +121,18 @@ void UASControlParameters::updateAttitude(UASInterface *uas, double roll, double
} }
void UASControlParameters::setCommands() void UASControlParameters::setCommands()
{} {
UAS* myUas= static_cast<UAS*>(this->activeUAS);
mavlink_message_t msg;
tempCmds.uCommand = ui->sbAirSpeed->value();
tempCmds.hCommand = ui->sbHeight->value();
tempCmds.rCommand = ui->sbTurnRate->value();
mavlink_msg_mid_lvl_cmds_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &this->tempCmds);
myUas->sendMessage(msg);
}
void UASControlParameters::getCommands() void UASControlParameters::getCommands()
{ {
...@@ -129,10 +141,91 @@ void UASControlParameters::getCommands() ...@@ -129,10 +141,91 @@ void UASControlParameters::getCommands()
ui->sbTurnRate->setValue(this->roll); ui->sbTurnRate->setValue(this->roll);
} }
void UASControlParameters::setPassthrough()
{
//UAS* myUas= static_cast<UAS*>(this->activeUAS);
//mavlink_message_t msg;
int8_t tmpBit=0;
if(ui->cxAilerons->isChecked())
{
tmpBit+=1;
}
if(ui->cxElevator->isChecked())
{
tmpBit+=2;
}
if(ui->cxLeftFlap->isChecked())
{
tmpBit+=4;
}
if(ui->cxRightAileron->isChecked())
{
tmpBit+=8;
}
if(ui->cxRightElevator->isChecked())
{
tmpBit+=16;
}
if(ui->cxRightFlap->isChecked())
{
tmpBit+=32;
}
if(ui->cxRudder->isChecked())
{
tmpBit+=64;
}
if(ui->cxThrottle->isChecked())
{
tmpBit+=128;
}
generic_16bit r;
r.b[1] = 0;
r.b[0] = tmpBit;//255;
tempCtrl.bitfieldPt= (uint16_t)r.s;
//mavlink_msg_ctrl_srfc_pt_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &this->tempCtrl);
//myUas->sendMessage(msg);
qDebug()<<tempCtrl.bitfieldPt;
}
void UASControlParameters::updateMode(int uas,QString mode,QString description) void UASControlParameters::updateMode(int uas,QString mode,QString description)
{ {
Q_UNUSED(uas); Q_UNUSED(uas);
Q_UNUSED(description); Q_UNUSED(description);
this->mode = mode; this->mode = mode;
ui->lbMode->setText(this->mode); ui->lbMode->setText(this->mode);
ui->lbMode->setStyleSheet("background-color: rgb(0, 255, 0)");
}
void UASControlParameters::thrustChanged(UASInterface *uas, double throttle)
{
Q_UNUSED(uas);
this->throttle= throttle;
}
void UASControlParameters::radioChanged(const QPointer<RadioCalibrationData>& radio)
{
if (radio)
{
if (this->radio)
{
delete this->radio;
}
this->radio = new RadioCalibrationData(*radio);
// aileron->set((*radio)(RadioCalibrationData::AILERON));
// elevator->set((*radio)(RadioCalibrationData::ELEVATOR));
// rudder->set((*radio)(RadioCalibrationData::RUDDER));
// gyro->set((*radio)(RadioCalibrationData::GYRO));
// pitch->set((*radio)(RadioCalibrationData::PITCH));
// throttle->set((*radio)(RadioCalibrationData::THROTTLE));
}
} }
src/ui/uas/UASControlParameters.h
View file @ 552d4760
...@@ -27,7 +27,11 @@ public slots: ...@@ -27,7 +27,11 @@ public slots:
void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 time); void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 time);
void setCommands(); void setCommands();
void getCommands(); void getCommands();
void setPassthrough();
void updateMode(int uas,QString mode,QString description); void updateMode(int uas,QString mode,QString description);
void thrustChanged(UASInterface* uas,double throttle);
void radioChanged(const QPointer<RadioCalibrationData>& radio);
private: private:
Ui::UASControlParameters *ui; Ui::UASControlParameters *ui;
...@@ -36,8 +40,13 @@ private: ...@@ -36,8 +40,13 @@ private:
double speed; double speed;
double roll; double roll;
double altitude; double altitude;
double throttle;
QString mode; QString mode;
QString REDcolorStyle; QString REDcolorStyle;
QPointer<RadioCalibrationData> radio;
LinkInterface* hilLink;
mavlink_mid_lvl_cmds_t tempCmds;
mavlink_ctrl_srfc_pt_t tempCtrl;
}; };
#endif // UASCONTROLPARAMETERS_H #endif // UASCONTROLPARAMETERS_H
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