PFD rework

dongfang_notes.txt

-Messages interpreted in UAS.cc:
-MAVLINK_MSG_ID_HEARTBEAT
-MAVLINK_MSG_ID_SYS_STATUS
-MAVLINK_MSG_ID_ATTITUDE
-MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET
-MAVLINK_MSG_ID_HIL_CONTROLS
-MAVLINK_MSG_ID_VFR_HUD
-MAVLINK_MSG_ID_LOCAL_POSITION_NED
-MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE
-MAVLINK_MSG_ID_GLOBAL_POSITION_INT
-MAVLINK_MSG_ID_GPS_RAW_INT
-MAVLINK_MSG_ID_GPS_STATUS
-MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN
-MAVLINK_MSG_ID_RC_CHANNELS_RAW
-MAVLINK_MSG_ID_RC_CHANNELS_SCALED
-MAVLINK_MSG_ID_PARAM_VALUE
-MAVLINK_MSG_ID_COMMAND_ACK
-MAVLINK_MSG_ID_MISSION_COUNT
-MAVLINK_MSG_ID_MISSION_ITEM
-MAVLINK_MSG_ID_MISSION_ACK
-MAVLINK_MSG_ID_MISSION_REQUEST
-MAVLINK_MSG_ID_MISSION_ITEM_REACHED (we want a new signal for this one)
-currentWaypointChanged
-MAVLINK_MSG_ID_MISSION_CURRENT
-MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT
-MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT
-MAVLINK_MSG_ID_STATUSTEXT
-MAVLINK_MSG_ID_SERVO_OUTPUT_RAW
-MAVLINK_MSG_ID_RAW_IMU
-MAVLINK_MSG_ID_SCALED_IMU
-MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT
-MAVLINK_MSG_ID_RAW_PRESSURE
-MAVLINK_MSG_ID_SCALED_PRESSURE
-MAVLINK_MSG_ID_OPTICAL_FLOW
-MAVLINK_MSG_ID_DEBUG_VECT
-MAVLINK_MSG_ID_DEBUG
-MAVLINK_MSG_ID_NAMED_VALUE_FLOAT
-MAVLINK_MSG_ID_NAMED_VALUE_INT
-MAVLINK_MSG_ID_MANUAL_CONTROL
-MAVLINK_MSG_ID_HIGHRES_IMU
-
-Signals of interest:
-
-On UAS.cc:
-// General
-value_changed (custom value tracking)
-
-// Mode:
-armingChanged (ARMED etc)
-statusChanged
-modechanged
-navModeChanged
-
-// System Status
-loadChanged
-Do we already have these in some form? Can they be merged?
-batteryChanged  (DONE)
-voltageChanged  (DONE)
-gpsLocalizationChanged
-satelliteCountChanged   (DONE)
-
-// Mission status
-currentWaypointChanged (on WaypointManager)
-new type for MAVLINK_MSG_ID_MISSION_ITEM_REACHED
-distToWaypointChanged
-
-// Link Status
-heartbeatTimeout
-dropRateChanged
-
-// Attitude & speed
-attitudeChanged
-speedChanged
-speedChanged (when message is MAVLINK_MSG_ID_VFR_HUD: x is airspeed, y is zero and z is VV)
-
-// Position (if used)
-globalPositionChanged
-homePositionChanged (for pointer to home. Or we ignore signals and suck the data
-off the UAS instance)

qgroundcontrol.pro

@@ -681,4 +681,5 @@ win32-msvc2008|win32-msvc2010|win32-msvc2012 {
 unix:!macx:!symbian: LIBS += -losg
 
 OTHER_FILES += \
-    dongfang_notes.txt
+    dongfang_notes.txt \
+    src/ui/dongfang-scrapyard.txt

src/ui/PrimaryFlightDisplay.h

@@ -7,7 +7,7 @@
 
 #define SEPARATE_COMPASS_ASPECTRATIO (3.0f/4.0f)
 
-#define LINEWIDTH 0.0032f
+#define LINEWIDTH 0.0036f
 
 //#define TAPES_TEXT_SIZE 0.028
 //#define AI_TEXT_SIZE 0.040
@@ -41,9 +41,9 @@
 // width of the lines is reduced, down to PITCH_SCALE_WIDTHREDUCTION times
 // the normal width. This helps keep orientation in extreme attitudes.
 #define PITCH_SCALE_WIDTHREDUCTION_FROM 30
-#define PITCH_SCALE_WIDTHREDUCTION 0.4
+#define PITCH_SCALE_WIDTHREDUCTION 0.3
 
-#define PITCH_SCALE_HALFRANGE 20
+#define PITCH_SCALE_HALFRANGE 15
 
 // The number of degrees to either side of the heading to draw the compass disk.
 // 180 is valid, this will draw a complete disk. If the disk is partly clipped
@@ -53,23 +53,20 @@
 #define COMPASS_DISK_ARROWTICK 45
 #define COMPASS_DISK_MAJORLINEWIDTH 0.006
 #define COMPASS_DISK_MINORLINEWIDTH 0.004
-#define COMPASS_DISK_SPAN 180
-#define COMPASS_DISK_RESOLUTION 15
+#define COMPASS_DISK_RESOLUTION 10
 #define COMPASS_SEPARATE_DISK_RESOLUTION 5
 #define COMPASS_DISK_MARKERWIDTH 0.2
 #define COMPASS_DISK_MARKERHEIGHT 0.133
 
-
-#define ALTIMETER_VVI_SPAN 10
-#define ALTIMETER_VVI_LOGARITHMIC true
+#define TAPE_GAUGES_TICKWIDTH_MAJOR 0.25
+#define TAPE_GAUGES_TICKWIDTH_MINOR 0.15
 
 // The altitude difference between top and bottom of scale
-#define ALTIMETER_LINEAR_SPAN 35
+#define ALTIMETER_LINEAR_SPAN 50
 // every 5 meters there is a tick mark
 #define ALTIMETER_LINEAR_RESOLUTION 5
 // every 10 meters there is a number
 #define ALTIMETER_LINEAR_MAJOR_RESOLUTION 10
-// min. and max. vertical velocity
 
 // Projected: An experiment. Make tape appear projected from a cylinder, like a French "drum" style gauge.
 // The altitude difference between top and bottom of scale
@@ -81,9 +78,12 @@
 // min. and max. vertical velocity
 //#define ALTIMETER_PROJECTED
 
+// min. and max. vertical velocity
+#define ALTIMETER_VVI_SPAN 5
+#define ALTIMETER_VVI_WIDTH 0.2
 
 // Now the same thing for airspeed!
-#define AIRSPEED_LINEAR_SPAN 10
+#define AIRSPEED_LINEAR_SPAN 15
 #define AIRSPEED_LINEAR_RESOLUTION 1
 #define AIRSPEED_LINEAR_MAJOR_RESOLUTION 5
 
@@ -107,23 +107,10 @@ public slots:
     /** @brief Attitude from one specific component / redundant autopilot */
     void updateAttitude(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp);
 //    void updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
-    void updateBattery(UASInterface*, double, double, double, int);
-    void receiveHeartbeat(UASInterface*);
-    void updateThrust(UASInterface*, double);
-    void updateLocalPosition(UASInterface*,double,double,double,quint64);
-    void updateGlobalPosition(UASInterface*,double,double,double,quint64);
     void updateSpeed(UASInterface*,double,double,double,quint64);
-    void updateState(UASInterface*,QString);
-    void updateMode(int id,QString mode, QString description);
-    void updateLoad(UASInterface*, double);
-    void updateGPSFixType(UASInterface*,int);
-    void updateSatelliteCount(double count,QString sth);
-    void selectWaypoint(int uasId, int id);
 
 protected:
     enum Layout {
-        //FEATUREPANELS_IN_CORNERS,       // For a wide and low container.
-        //FEATUREPANELS_AT_BOTTOM,        // For higher container.
         COMPASS_INTEGRATED,
         COMPASS_SEPARATED               // For a very high container. Feature panels are at bottom.
     };
@@ -174,10 +161,10 @@ private:
     void drawTextCenterTop(QPainter& painter, QString text, float fontSize, float x, float y);
     void drawAIGlobalFeatures(QPainter& painter, QRectF mainArea, QRectF paintArea);
     void drawAIAirframeFixedFeatures(QPainter& painter, QRectF area);
-    void drawPitchScale(QPainter& painter, QRectF area, bool drawNumbersLeft, bool drawNumbersRight);
+    void drawPitchScale(QPainter& painter, QRectF area, float intrusion, bool drawNumbersLeft, bool drawNumbersRight);
     void drawRollScale(QPainter& painter, QRectF area, bool drawTicks, bool drawNumbers);
-    void drawAIAttitudeScales(QPainter& painter, QRectF area);
-    void drawAICompassDisk(QPainter& painter, QRectF area);
+    void drawAIAttitudeScales(QPainter& painter, QRectF area, float intrusion);
+    void drawAICompassDisk(QPainter& painter, QRectF area, float halfspan);
     void drawSeparateCompassDisk(QPainter& painter, QRectF area);
 
     void drawAltimeter(QPainter& painter, QRectF area, float altitude, float maxAltitude, float vv);
@@ -186,10 +173,12 @@ private:
     void fillInstrumentOpagueBackground(QPainter& painter, QRectF edge);
     void drawInstrumentBackground(QPainter& painter, QRectF edge);
 
+    /* This information is not currently included. These headers left in as a memo for restoration later.
     void drawLinkStatsPanel(QPainter& painter, QRectF area);
     void drawSysStatsPanel(QPainter& painter, QRectF area);
     void drawMissionStatsPanel(QPainter& painter, QRectF area);
     void drawSensorsStatsPanel(QPainter& painter, QRectF area);
+    */
 
     void doPaint();
 
@@ -212,18 +201,6 @@ private:
     float airspeed;
     float verticalVelocity;
 
-    bool uavIsArmed;
-    QString mode;
-    QString state;
-    float load;         //
-
-    double batteryVoltage;
-    double batteryCurrent;
-    double batteryCharge;
-
-    int GPSFixType;
-    int satelliteCount;
-
     Layout layout;      // The display layout.
     Style style;        // The AI style (tapes translusent or opague)
 

src/ui/dongfang-scrapyard.txt

+
+    /* This information is at least for the time not shown here but rather in some always visible bar.
+    void updateBattery(UASInterface*, double, double, double, int);
+    void receiveHeartbeat(UASInterface*);
+    void updateMode(int id,QString mode, QString description);
+    void updateLoad(UASInterface*, double);
+    void updateState(UASInterface*,QString);
+    void updateGPSFixType(UASInterface*,int);
+    void updateSatelliteCount(double count,QString sth);
+    void updateThrust(UASInterface*, double);
+    void updateLocalPosition(UASInterface*,double,double,double,quint64);
+    void updateGlobalPosition(UASInterface*,double,double,double,quint64);
+    void selectWaypoint(int uasId, int id);
+    */
+
+    /*
+    bool uavIsArmed;
+    QString mode;
+    QString state;
+    float load;
+
+    double batteryVoltage;
+    double batteryCurrent;
+    double batteryCharge;
+
+    int GPSFixType;
+    int satelliteCount;
+    */
+
+
+
+
+    batteryVoltage(UNKNOWN_BATTERY),
+    batteryCurrent(UNKNOWN_BATTERY),
+    batteryCharge(UNKNOWN_BATTERY),
+
+    GPSFixType(UNKNOWN_GPSFIXTYPE),
+    satelliteCount(UNKNOWN_COUNT),
+
+
+    uavIsArmed(false),      // TODO: This is an assumption. We have no idea!
+    mode("-"),
+    state("-"),
+    load(0),
+
+void PrimaryFlightDisplay::updateBattery(UASInterface* uas, double voltage, double current, double percent, int seconds)
+{
+    Q_UNUSED(uas);
+    Q_UNUSED(seconds);
+
+    batteryVoltage = voltage;
+    batteryCurrent = current;
+    batteryCharge = percent;
+}
+
+void PrimaryFlightDisplay::updateGPSFixType(UASInterface* uas, int fixType) {
+    Q_UNUSED(uas);
+    this->GPSFixType = fixType;
+}
+
+void PrimaryFlightDisplay::updateSatelliteCount(double count, QString name) {
+    Q_UNUSED(uas)
+    this->satelliteCount = (int)count;
+}
+
+void PrimaryFlightDisplay::receiveHeartbeat(UASInterface*)
+{
+}
+
+void PrimaryFlightDisplay::updateThrust(UASInterface* uas, double thrust)
+{
+    Q_UNUSED(uas);
+    Q_UNUSED(thrust);
+}
+
+/*
+ * TODO! Implementation or removal of this.
+ * Currently a dummy.
+ */
+void PrimaryFlightDisplay::updateLocalPosition(UASInterface* uas,double x,double y,double z,quint64 timestamp)
+{
+    Q_UNUSED(uas);
+    Q_UNUSED(x);
+    Q_UNUSED(y);
+    Q_UNUSED(z);
+    Q_UNUSED(timestamp);
+}
+
+void PrimaryFlightDisplay::updateGlobalPosition(UASInterface* uas,double lat, double lon, double altitude, quint64 timestamp)
+{
+    Q_UNUSED(uas);
+    Q_UNUSED(lat);
+    Q_UNUSED(lon);
+    Q_UNUSED(timestamp);
+
+    // TODO: Examine whether this is really the GPS alt or the mix-alt coming in.
+    GPSAltitude = altitude;
+}
+
+
+void PrimaryFlightDisplay::updateState(UASInterface* uas,QString state)
+{
+    // Only one UAS is connected at a time
+    Q_UNUSED(uas);
+    this->state = state;
+}
+
+void PrimaryFlightDisplay::updateMode(int id, QString mode, QString description)
+{
+    // Only one UAS is connected at a time
+    Q_UNUSED(id);
+    Q_UNUSED(description);
+    this->mode = mode;
+}
+
+void PrimaryFlightDisplay::updateLoad(UASInterface* uas, double load)
+{
+    Q_UNUSED(uas);
+    this->load = load;
+    //updateValue(uas, "load", load, MG::TIME::getGroundTimeNow());
+}
+
+void PrimaryFlightDisplay::selectWaypoint(int uasId, int id) {
+}
+
+void PrimaryFlightDisplay::drawLinkStatsPanel (
+        QPainter& painter,
+        QRectF area) {
+    // UAV Id
+    // Droprates up, down
+    QString s_linkStat("100%");
+    QString s_upTime("01:23:34");
+
+    painter.resetTransform();
+
+    if (style == NO_OVERLAYS)
+        drawInstrumentBackground(painter, area);
+
+    painter.translate(area.center());
+
+    QPen pen;
+    pen.setWidthF(lineWidth);
+    pen.setColor(amberColor);
+    painter.setPen(pen);
+
+    drawTextCenter(painter, s_linkStat, mediumTextSize, 0, -area.height()/6);
+    drawTextCenter(painter, s_upTime, mediumTextSize, 0, area.height()/6);
+}
+
+void PrimaryFlightDisplay::drawMissionStatsPanel (
+        QPainter& painter,
+        QRectF area) {
+    // Flight mode
+    // next WP
+    // next WP dist
+    QString s_flightMode("Auto");
+    QString s_nextWP("1234m\u21924");
+
+    painter.resetTransform();
+
+    if (style == NO_OVERLAYS)
+        drawInstrumentBackground(painter, area);
+
+    painter.translate(area.center());
+
+    QPen pen;
+    pen.setWidthF(lineWidth);
+    pen.setColor(amberColor);
+    painter.setPen(pen);
+    drawTextCenter(painter, s_flightMode, mediumTextSize, 0, -area.height()/6);
+    drawTextCenter(painter, s_nextWP, mediumTextSize, 0, area.height()/6);
+}
+
+void PrimaryFlightDisplay::drawSensorsStatsPanel (
+        QPainter& painter,
+        QRectF area) {
+    // GPS fixmode and #sats
+    // Home alt.?
+    // Groundspeed?
+    QString s_GPS("GPS 3D(8)");
+    QString s_homealt("H.alt 472m");
+
+    painter.resetTransform();
+
+    if (style == NO_OVERLAYS)
+        drawInstrumentBackground(painter, area);
+
+    painter.translate(area.center());
+
+    QPen pen;
+    pen.setWidthF(lineWidth);
+    pen.setColor(amberColor);
+    painter.setPen(pen);
+
+    drawTextCenter(painter, s_GPS, mediumTextSize, 0, -area.height()/6);
+    drawTextCenter(painter, s_homealt, mediumTextSize, 0, area.height()/6);
+}
+void PrimaryFlightDisplay::drawSysStatsPanel (
+        QPainter& painter,
+        QRectF area) {
+    // Timer
+    // Battery
+    // Armed/not
+
+    /*
+    energyStatus = tr("BAT [%1V | %2V%]").arg(voltage, 4, 'f', 1, QChar('0')).arg(percent, 2, 'f', 0, QChar('0'));
+    if (percent < 20.0f) {
+        fuelColor = warningColor;
+    } else if (percent < 10.0f) {
+        fuelColor = criticalColor;
+    } else {
+        fuelColor = infoColor;
+    }
+    */
+
+    QString voltageStatus = batteryVoltage == UNKNOWN_BATTERY ? "-V" :
+            tr("%1V").arg(batteryVoltage, 4, 'f', 1, QChar('0'));
+    QString chargeStatus = batteryCharge == UNKNOWN_BATTERY ? "-%" :
+            tr("%2%").arg(batteryCharge, 2, 'f', 0, QChar('0'));
+    // We ignore current right now.
+
+    QString batteryStatus = voltageStatus.append(" ").append(chargeStatus);
+
+    QString s_arm = uavIsArmed ? "Armed" : "Disarmed";
+
+    painter.resetTransform();
+
+    if (style == NO_OVERLAYS)
+        drawInstrumentBackground(painter, area);
+
+    painter.translate(area.center());
+
+    QPen pen;
+    pen.setWidthF(lineWidth);
+    pen.setColor(amberColor);
+    painter.setPen(pen);
+
+    drawTextCenter(painter, batteryStatus, mediumTextSize, 0, -area.height()/6);
+    pen.setColor(redColor);
+    drawTextCenter(painter, s_arm, mediumTextSize, 0, area.height()/6);
+}
+
+