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qgroundcontrol
Commit 5cb1ee84 authored by Mariano Lizarraga's avatar Mariano Lizarraga
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Changes made to try to compile with bugs introduced when addign non standard messages to UAS.cc

parent aba75569
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Showing with 52 additions and 14 deletions
qgroundcontrol.pri
View file @ 5cb1ee84
......@@ -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 \
$$BASEDIR/../mavlink/include
LIBS += -framework IOKit \
......
qgroundcontrol.pro
View file @ 5cb1ee84
......@@ -42,9 +42,8 @@ DEPENDPATH += . \
plugins
INCLUDEPATH += . \
lib/QMapControl \
../mavlink/contrib/slugs/include \
MAVLink/contrib/slugs/include \
mavlink/contrib/slugs/include
$$BASEDIR/../mavlink/contrib/slugs/include \
$$BASEDIR/../mavlink/include
# ../mavlink/include \
......
src/comm/MAVLinkSimulationLink.cc
View file @ 5cb1ee84
......@@ -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/uas/SlugsMAV.cc
View file @ 5cb1ee84
......@@ -21,7 +21,6 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
// Let UAS handle the default message set
UAS::receiveMessage(link, message);
// Handle your special messages mavlink_message_t* msg = &message;
switch (message.msgid)
{
......@@ -30,6 +29,9 @@ 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;
......@@ -119,6 +121,8 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
break;
}
#endif
default:
qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
break;
......
src/uas/UAS.cc
View file @ 5cb1ee84
......@@ -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)
......@@ -681,6 +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;
......@@ -701,10 +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;
......@@ -723,10 +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;
......@@ -745,10 +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;
......@@ -767,10 +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;
......@@ -789,10 +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;
......@@ -811,10 +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;
......@@ -833,10 +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;
......@@ -855,10 +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;
......@@ -877,10 +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;
......@@ -899,6 +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)
......@@ -989,12 +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
}
}
......
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