Skip to content
Projects
Groups
Snippets
Help
Loading...
Help
Support
Submit feedback
Contribute to GitLab
Sign in
Toggle navigation
Q
qgroundcontrol
Project
Project
Details
Activity
Releases
Cycle Analytics
Repository
Repository
Files
Commits
Branches
Tags
Contributors
Graph
Compare
Charts
Issues
0
Issues
0
List
Boards
Labels
Milestones
Merge Requests
0
Merge Requests
0
CI / CD
CI / CD
Pipelines
Jobs
Schedules
Charts
Wiki
Wiki
Snippets
Snippets
Members
Members
Collapse sidebar
Close sidebar
Activity
Graph
Charts
Create a new issue
Jobs
Commits
Issue Boards
Open sidebar
Valentin Platzgummer
qgroundcontrol
Commits
5c23f138
Unverified
Commit
5c23f138
authored
Dec 16, 2017
by
Don Gagne
Committed by
GitHub
Dec 16, 2017
Browse files
Options
Browse Files
Download
Plain Diff
Merge pull request #5884 from bluerobotics/pr-input-hold-indicator
Add input hold and rangefinder indicators for Sub vehicles
parents
6ae0542c
236dcbd8
Changes
3
Show whitespace changes
Inline
Side-by-side
Showing
3 changed files
with
71 additions
and
31 deletions
+71
-31
ArduSubFirmwarePlugin.cc
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
+39
-20
ArduSubFirmwarePlugin.h
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
+19
-11
SubmarineFact.json
src/Vehicle/SubmarineFact.json
+13
-0
No files found.
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
View file @
5c23f138
...
...
@@ -215,6 +215,8 @@ void ArduSubFirmwarePlugin::_handleNamedValueFloat(mavlink_message_t* message)
_infoFactGroup
.
getFact
(
"lights 2"
)
->
setRawValue
(
value
.
value
*
100
);
}
else
if
(
name
==
"PilotGain"
)
{
_infoFactGroup
.
getFact
(
"pilot gain"
)
->
setRawValue
(
value
.
value
*
100
);
}
else
if
(
name
==
"InputHold"
)
{
_infoFactGroup
.
getFact
(
"input hold"
)
->
setRawValue
(
value
.
value
);
}
}
...
...
@@ -223,6 +225,14 @@ void ArduSubFirmwarePlugin::_handleMavlinkMessage(mavlink_message_t* message)
switch
(
message
->
msgid
)
{
case
(
MAVLINK_MSG_ID_NAMED_VALUE_FLOAT
):
_handleNamedValueFloat
(
message
);
break
;
case
(
MAVLINK_MSG_ID_RANGEFINDER
):
{
mavlink_rangefinder_t
msg
;
mavlink_msg_rangefinder_decode
(
message
,
&
msg
);
_infoFactGroup
.
getFact
(
"rangefinder distance"
)
->
setRawValue
(
msg
.
distance
);
break
;
}
}
}
...
...
@@ -241,6 +251,8 @@ const char* APMSubmarineFactGroup::_tetherTurnsFactName = "tether turns";
const
char
*
APMSubmarineFactGroup
::
_lightsLevel1FactName
=
"lights 1"
;
const
char
*
APMSubmarineFactGroup
::
_lightsLevel2FactName
=
"lights 2"
;
const
char
*
APMSubmarineFactGroup
::
_pilotGainFactName
=
"pilot gain"
;
const
char
*
APMSubmarineFactGroup
::
_inputHoldFactName
=
"input hold"
;
const
char
*
APMSubmarineFactGroup
::
_rangefinderDistanceFactName
=
"rangefinder distance"
;
APMSubmarineFactGroup
::
APMSubmarineFactGroup
(
QObject
*
parent
)
:
FactGroup
(
300
,
":/json/Vehicle/SubmarineFact.json"
,
parent
)
...
...
@@ -249,12 +261,16 @@ APMSubmarineFactGroup::APMSubmarineFactGroup(QObject* parent)
,
_lightsLevel1Fact
(
0
,
_lightsLevel1FactName
,
FactMetaData
::
valueTypeDouble
)
,
_lightsLevel2Fact
(
0
,
_lightsLevel2FactName
,
FactMetaData
::
valueTypeDouble
)
,
_pilotGainFact
(
0
,
_pilotGainFactName
,
FactMetaData
::
valueTypeDouble
)
,
_inputHoldFact
(
0
,
_inputHoldFactName
,
FactMetaData
::
valueTypeDouble
)
,
_rangefinderDistanceFact
(
0
,
_rangefinderDistanceFactName
,
FactMetaData
::
valueTypeDouble
)
{
_addFact
(
&
_camTiltFact
,
_camTiltFactName
);
_addFact
(
&
_tetherTurnsFact
,
_tetherTurnsFactName
);
_addFact
(
&
_lightsLevel1Fact
,
_lightsLevel1FactName
);
_addFact
(
&
_lightsLevel2Fact
,
_lightsLevel2FactName
);
_addFact
(
&
_pilotGainFact
,
_pilotGainFactName
);
_addFact
(
&
_inputHoldFact
,
_inputHoldFactName
);
_addFact
(
&
_rangefinderDistanceFact
,
_rangefinderDistanceFactName
);
// Start out as not available "--.--"
_camTiltFact
.
setRawValue
(
std
::
numeric_limits
<
float
>::
quiet_NaN
());
...
...
@@ -262,6 +278,9 @@ APMSubmarineFactGroup::APMSubmarineFactGroup(QObject* parent)
_lightsLevel1Fact
.
setRawValue
(
std
::
numeric_limits
<
float
>::
quiet_NaN
());
_lightsLevel2Fact
.
setRawValue
(
std
::
numeric_limits
<
float
>::
quiet_NaN
());
_pilotGainFact
.
setRawValue
(
std
::
numeric_limits
<
float
>::
quiet_NaN
());
_inputHoldFact
.
setRawValue
(
std
::
numeric_limits
<
float
>::
quiet_NaN
());
_rangefinderDistanceFact
.
setRawValue
(
std
::
numeric_limits
<
float
>::
quiet_NaN
());
}
QString
ArduSubFirmwarePlugin
::
vehicleImageOpaque
(
const
Vehicle
*
vehicle
)
const
...
...
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
View file @
5c23f138
...
...
@@ -40,18 +40,24 @@ public:
Q_PROPERTY
(
Fact
*
lightsLevel1
READ
lightsLevel1
CONSTANT
)
Q_PROPERTY
(
Fact
*
lightsLevel2
READ
lightsLevel2
CONSTANT
)
Q_PROPERTY
(
Fact
*
pilotGain
READ
pilotGain
CONSTANT
)
Q_PROPERTY
(
Fact
*
inputHold
READ
inputHold
CONSTANT
)
Q_PROPERTY
(
Fact
*
rangefinderDistance
READ
rangefinderDistance
CONSTANT
)
Fact
*
camTilt
(
void
)
{
return
&
_camTiltFact
;
}
Fact
*
tetherTurns
(
void
)
{
return
&
_tetherTurnsFact
;
}
Fact
*
lightsLevel1
(
void
)
{
return
&
_lightsLevel1Fact
;
}
Fact
*
lightsLevel2
(
void
)
{
return
&
_lightsLevel2Fact
;
}
Fact
*
pilotGain
(
void
)
{
return
&
_pilotGainFact
;
}
Fact
*
inputHold
(
void
)
{
return
&
_inputHoldFact
;
}
Fact
*
rangefinderDistance
(
void
)
{
return
&
_rangefinderDistanceFact
;
}
static
const
char
*
_camTiltFactName
;
static
const
char
*
_tetherTurnsFactName
;
static
const
char
*
_lightsLevel1FactName
;
static
const
char
*
_lightsLevel2FactName
;
static
const
char
*
_pilotGainFactName
;
static
const
char
*
_inputHoldFactName
;
static
const
char
*
_rangefinderDistanceFactName
;
static
const
char
*
_settingsGroup
;
...
...
@@ -61,6 +67,8 @@ private:
Fact
_lightsLevel1Fact
;
Fact
_lightsLevel2Fact
;
Fact
_pilotGainFact
;
Fact
_inputHoldFact
;
Fact
_rangefinderDistanceFact
;
};
class
APMSubMode
:
public
APMCustomMode
...
...
src/Vehicle/SubmarineFact.json
View file @
5c23f138
...
...
@@ -28,5 +28,18 @@
"shortDescription"
:
"Pilot Gain"
,
"type"
:
"int16"
,
"units"
:
"%"
},
{
"name"
:
"input hold"
,
"shortDescription"
:
"Input Hold"
,
"type"
:
"int16"
,
"enumStrings"
:
"Disabled,Enabled"
,
"enumValues"
:
"0,1"
},
{
"name"
:
"rangefinder distance"
,
"shortDescription"
:
"Rangefinder"
,
"type"
:
"float"
,
"decimalPlaces"
:
2
,
"units"
:
"meters"
}
]
Write
Preview
Markdown
is supported
0%
Try again
or
attach a new file
Attach a file
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment