Changes made to try to compile with bugs introduced when addign non standard messages to UAS.cc

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 \

qgroundcontrol.pro

@@ -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

@@ -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

@@ -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

@@ -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
     }
 }