Merge branch 'master' of http://github.com/malife/qgroundcontrol

qgroundcontrol.pri

@@ -54,10 +54,11 @@ macx {
         message(Building for Mac OS X 64bit/Snow Leopard 10.6 and later)
     }
 
-    QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.5
+    QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.6
 
     DESTDIR = $$BASEDIR/bin/mac
     INCLUDEPATH += -framework SDL \
+        $$BASEDIR/../mavlink/contrib/slugs/include \
         $$BASEDIR/../mavlink/include
 
     LIBS += -framework IOKit \
@@ -120,12 +121,15 @@ win32 {
     
     # Special settings for debug
     #CONFIG += CONSOLE
-    LIBS += -L$$BASEDIR\lib\sdl\win32 \
-        -lmingw32 -lSDLmain -lSDL -mwindows
-    
-    INCLUDEPATH += $$BASEDIR/lib/sdl/include #\
+
+    INCLUDEPATH += $$BASEDIR\lib\sdl\include #\
                    #"C:\Program Files\Microsoft SDKs\Windows\v7.0\Include"
 
+    LIBS += -L$$BASEDIR\lib\sdl\win32 \
+             -lmingw32 -lSDLmain -lSDL -mwindows
+
+
+
     debug {
         DESTDIR = $$BASEDIR/bin
     }

qgroundcontrol.pro

@@ -42,9 +42,13 @@ DEPENDPATH += . \
     plugins
 INCLUDEPATH += . \
     lib/QMapControl \
-    ../mavlink/include \
-    MAVLink/include \
-    mavlink/include
+    $$BASEDIR/../mavlink/contrib/slugs/include \
+    $$BASEDIR/../mavlink/include
+
+
+   # ../mavlink/include \
+    #MAVLink/include \
+    #mavlink/include
 
 # Input
 FORMS += src/ui/MainWindow.ui \

src/comm/MAVLinkSimulationLink.cc

@@ -186,7 +186,9 @@ void MAVLinkSimulationLink::mainloop()
     static float drainRate = 0.025; // x.xx% of the capacity is linearly drained per second
 
     mavlink_attitude_t attitude;
-    mavlink_raw_aux_t rawAuxValues;
+    #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
+      mavlink_raw_aux_t rawAuxValues;
+    #endif
     mavlink_raw_imu_t rawImuValues;
 
     uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
@@ -305,7 +307,7 @@ void MAVLinkSimulationLink::mainloop()
                     {
                         rawImuValues.zgyro = d;
                     }
-
+#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
                     if (keys.value(i, "") == "Pressure")
                     {
                         rawAuxValues.baro = d;
@@ -315,7 +317,7 @@ void MAVLinkSimulationLink::mainloop()
                     {
                         rawAuxValues.vbat = d;
                     }
-
+#endif
                     if (keys.value(i, "") == "roll_IMU")
                     {
                         attitude.roll = d;
@@ -459,7 +461,10 @@ void MAVLinkSimulationLink::mainloop()
         uint8_t visLock = 3;
         uint8_t posLock = qMax(gpsLock, visLock);
 
+        #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
         messageSize = mavlink_msg_control_status_pack(systemId, componentId, &msg, posLock, visLock, gpsLock, attControl, posXYControl, posZControl, posYawControl);
+        #endif
+
         bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
         memcpy(stream+streampointer, buffer, bufferlength);
         streampointer += bufferlength;
@@ -493,7 +498,9 @@ void MAVLinkSimulationLink::mainloop()
         //qDebug() << "BOOT" << "BUF LEN" << bufferlength << "POINTER" << streampointer;
 
         // AUX STATUS
+        #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
         rawAuxValues.vbat = voltage;
+#endif
 
         rate1hzCounter = 1;
     }
@@ -632,14 +639,17 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                     }
                 }
                 break;
-
+#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
             case MAVLINK_MSG_ID_MANUAL_CONTROL:
                 {
+                  #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
                     mavlink_manual_control_t control;
                     mavlink_msg_manual_control_decode(&msg, &control);
                     qDebug() << "\n" << "ROLL:" << control.roll << "PITCH:" << control.pitch;
+                  #endif
                 }
                 break;
+#endif
             case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
                 {
                     qDebug() << "GCS REQUESTED PARAM LIST FROM SIMULATION";

src/main.cc

@@ -33,6 +33,7 @@ This file is part of the PIXHAWK project
 #include "MainWindow.h"
 #include "configuration.h"
 
+
 /* SDL does ugly things to main() */
 #ifdef main
 #	undef main

src/uas/SlugsMAV.cc

@@ -21,7 +21,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
     // Let UAS handle the default message set
     UAS::receiveMessage(link, message);
 
-    // Handle your special messages
+    // Handle your special messages mavlink_message_t* msg = &message;
     switch (message.msgid)
     {
     case MAVLINK_MSG_ID_HEARTBEAT:
@@ -29,6 +29,100 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             qDebug() << "SLUGS RECEIVED HEARTBEAT";
             break;
         }
+
+#ifdef MAVLINK_ENABLED_SLUGS_MESSAGES
+
+    case MAVLINK_MSG_ID_CPU_LOAD:
+        {
+            mavlink_cpu_load_t cpu_load;
+            quint64 time = getUnixTime(0);
+            mavlink_msg_cpu_load_decode(&message,&cpu_load);
+
+                emit valueChanged(uasId, "CPU Load", cpu_load.target, time);
+                emit valueChanged(uasId, "SensorDSC Load", cpu_load.sensLoad, time);
+                emit valueChanged(uasId, "ControlDSC Load", cpu_load.ctrlLoad, time);
+                emit valueChanged(uasId, "Battery Volt", cpu_load.batVolt, time);
+
+            break;
+        }
+    case MAVLINK_MSG_ID_AIR_DATA:
+        {
+            mavlink_air_data_t air_data;
+            quint64 time = getUnixTime(0);
+            mavlink_msg_air_data_decode(&message,&air_data);
+                emit valueChanged(uasId, "Air Data",air_data.target,time);
+                emit valueChanged(uasId, "Presion Dinamica", air_data.dynamicPressure,time);
+                emit valueChanged(uasId, "Presion Estatica",air_data.staticPressure, time);
+                emit valueChanged(uasId, "Temperatura",air_data.temperature,time);
+
+            break;
+        }
+    case MAVLINK_MSG_ID_SENSOR_BIAS:
+        {
+            mavlink_sensor_bias_t sensor_bias;
+            quint64 time = getUnixTime(0);
+            mavlink_msg_sensor_bias_decode(&message,&sensor_bias);
+                emit valueChanged(uasId,"Sensor Bias",sensor_bias.target, time);
+                emit valueChanged(uasId,"Acelerometro X",sensor_bias.axBias, time);
+                emit valueChanged(uasId,"Acelerometro y",sensor_bias.ayBias,time);
+                emit valueChanged(uasId,"Acelerometro Z",sensor_bias.azBias,time);
+                emit valueChanged(uasId,"Gyro X",sensor_bias.gxBias,time);
+                emit valueChanged(uasId,"Gyro Y",sensor_bias.gyBias,time);
+                emit valueChanged(uasId,"Gyro Z",sensor_bias.gzBias,time);
+
+            break;
+        }
+    case MAVLINK_MSG_ID_DIAGNOSTIC:
+        {
+            mavlink_diagnostic_t diagnostic;
+            quint64 time = getUnixTime(0);
+            mavlink_msg_diagnostic_decode(&message,&diagnostic);
+                emit valueChanged(uasId,"Diagnostico",diagnostic.target,time);
+                emit valueChanged(uasId,"Diagnostico F1",diagnostic.diagFl1,time);
+                emit valueChanged(uasId,"Diagnostico F2",diagnostic.diagFl2,time);
+                emit valueChanged(uasId,"Diagnostico F3",diagnostic.diagFl3,time);
+                emit valueChanged(uasId,"Diagnostico S1",diagnostic.diagSh1,time);
+                emit valueChanged(uasId,"Diagnostico S2",diagnostic.diagSh2,time);
+                emit valueChanged(uasId,"Diagnostico S3",diagnostic.diagSh3,time);
+
+            break;
+        }
+    case MAVLINK_MSG_ID_PILOT_CONSOLE:
+        {
+            mavlink_pilot_console_t pilot;
+            quint64 time = getUnixTime(0);
+            mavlink_msg_pilot_console_decode(&message,&pilot);
+                emit valueChanged(uasId,"Mensajes PWM",pilot.target,time);
+                emit valueChanged(uasId,"Aceleracion Consola",pilot.dt,time);
+                emit valueChanged(uasId,"Aleron Izq Consola",pilot.dla,time);
+                emit valueChanged(uasId,"Aleron Der Consola",pilot.dra,time);
+                emit valueChanged(uasId,"Timon Consola",pilot.dr,time);
+                emit valueChanged(uasId,"Elevador Consola",pilot.de,time);
+
+            break;
+        }
+    case MAVLINK_MSG_ID_PWM_COMMANDS:
+        {
+            mavlink_pwm_commands_t pwm;
+            quint64 time = getUnixTime(0);
+            mavlink_msg_pwm_commands_decode(&message,&pwm);
+                emit valueChanged(uasId,"Superficies de Control",pwm.target,time);
+                emit valueChanged(uasId,"Comando Aceleracion PA",pwm.dt_c,time);
+                emit valueChanged(uasId,"Comando Aleron Izq PA",pwm.dla_c,time);
+                emit valueChanged(uasId,"Comando Aleron Der PA",pwm.dra_c,time);
+                emit valueChanged(uasId,"Comando Timon PA",pwm.dr_c,time);
+                emit valueChanged(uasId,"Comando elevador Izq PA",pwm.dle_c,time);
+                emit valueChanged(uasId,"Comando Elevador Der PA",pwm.dre_c,time);
+                emit valueChanged(uasId,"Comando Flap Izq PA",pwm.dlf_c,time);
+                emit valueChanged(uasId,"Comando Flap Der PA",pwm.drf_c,time);
+                emit valueChanged(uasId,"Comando Aux1 PA",pwm.aux1,time);
+                emit valueChanged(uasId,"Comando Aux2 PA",pwm.aux2,time);
+
+
+            break;
+        }
+#endif
+
     default:
         qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
         break;

src/uas/SlugsMAV.h

@@ -6,6 +6,7 @@
 class SlugsMAV : public UAS
 {
     Q_OBJECT
+    Q_INTERFACES(UASInterface)
 public:
     SlugsMAV(MAVLinkProtocol* mavlink, int id = 0);
 

src/uas/UAS.cc

@@ -298,12 +298,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "x", pos.x, time);
                 emit valueChanged(uasId, "y", pos.y, time);
                 emit valueChanged(uasId, "z", pos.z, time);
-                emit valueChanged(uasId, "roll", pos.roll, time);
-                emit valueChanged(uasId, "pitch", pos.pitch, time);
-                emit valueChanged(uasId, "yaw", pos.yaw, time);
+                emit valueChanged(uasId, "Vx", pos.vx, time);
+                emit valueChanged(uasId, "Vy", pos.vy, time);
+                emit valueChanged(uasId, "Vz", pos.vz, time);
                 emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
-                //emit speedChanged(this, pos.roll, pos.pitch, pos.yaw, time);
-                emit attitudeChanged(this, pos.roll, pos.pitch, pos.yaw, time);
+                emit speedChanged(this, pos.vx, pos.vy, pos.vz, time);
+                //emit attitudeChanged(this, pos.roll, pos.pitch, pos.yaw, time);
                 // Set internal state
                 if (!positionLock)
                 {
@@ -502,9 +502,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
 void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
 {
+  #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
     mavlink_message_t msg;
     mavlink_msg_position_control_setpoint_set_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, 0, x, y, z, yaw);
     sendMessage(msg);
+  #endif
 }
 
 quint64 UAS::getUnixTime(quint64 time)
@@ -667,6 +669,7 @@ void UAS::writeParametersToStorage()
     mavlink_message_t msg;
     // TODO Replace MG System ID with static function call and allow to change ID in GUI
     mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_STORAGE_WRITE);
+    //mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(uint8_t)MAV_ACTION_STORAGE_WRITE);
     sendMessage(msg);
 }
 
@@ -680,6 +683,7 @@ void UAS::readParametersFromStorage()
 
 void UAS::enableAllDataTransmission(bool enabled)
 {
+#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -700,10 +704,12 @@ void UAS::enableAllDataTransmission(bool enabled)
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
+#endif
 }
 
 void UAS::enableRawSensorDataTransmission(bool enabled)
 {
+#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -722,10 +728,12 @@ void UAS::enableRawSensorDataTransmission(bool enabled)
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
+#endif
 }
 
 void UAS::enableExtendedSystemStatusTransmission(bool enabled)
 {
+#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -744,10 +752,12 @@ void UAS::enableExtendedSystemStatusTransmission(bool enabled)
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
+#endif
 }
 
 void UAS::enableRCChannelDataTransmission(bool enabled)
 {
+#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -766,10 +776,12 @@ void UAS::enableRCChannelDataTransmission(bool enabled)
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
+#endif
 }
 
 void UAS::enableRawControllerDataTransmission(bool enabled)
 {
+#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -788,10 +800,12 @@ void UAS::enableRawControllerDataTransmission(bool enabled)
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
+#endif
 }
 
 void UAS::enableRawSensorFusionTransmission(bool enabled)
 {
+#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -810,10 +824,12 @@ void UAS::enableRawSensorFusionTransmission(bool enabled)
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
+#endif
 }
 
 void UAS::enablePositionTransmission(bool enabled)
 {
+#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -832,10 +848,12 @@ void UAS::enablePositionTransmission(bool enabled)
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
+#endif
 }
 
 void UAS::enableExtra1Transmission(bool enabled)
 {
+  #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -854,10 +872,12 @@ void UAS::enableExtra1Transmission(bool enabled)
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
+#endif
 }
 
 void UAS::enableExtra2Transmission(bool enabled)
 {
+  #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -876,10 +896,12 @@ void UAS::enableExtra2Transmission(bool enabled)
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
+#endif
 }
 
 void UAS::enableExtra3Transmission(bool enabled)
 {
+  #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
     // Buffers to write data to
     mavlink_message_t msg;
     mavlink_request_data_stream_t stream;
@@ -898,6 +920,7 @@ void UAS::enableExtra3Transmission(bool enabled)
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
+#endif
 }
 
 void UAS::setParameter(int component, QString id, float value)
@@ -988,12 +1011,14 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double
 
     if(mode == (int)MAV_MODE_MANUAL)
     {
+      #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
         mavlink_message_t message;
         mavlink_msg_manual_control_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->uasId, (float)manualRollAngle, (float)manualPitchAngle, (float)manualYawAngle, (float)manualThrust, controlRollManual, controlPitchManual, controlYawManual, controlThrustManual);
         sendMessage(message);
         qDebug() << __FILE__ << __LINE__ << ": SENT MANUAL CONTROL MESSAGE: roll" << manualRollAngle << " pitch: " << manualPitchAngle << " yaw: " << manualYawAngle << " thrust: " << manualThrust;
 
         emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, MG::TIME::getGroundTimeNow());
+      #endif
     }
 }