Unverified Commit 5c23f138 authored by Don Gagne's avatar Don Gagne Committed by GitHub

Merge pull request #5884 from bluerobotics/pr-input-hold-indicator

Add input hold and rangefinder indicators for Sub vehicles
parents 6ae0542c 236dcbd8
......@@ -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
......
......@@ -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
......
......@@ -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"
}
]
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