Fixed scaling factor of Pixhawk Cheetah model.

qgroundcontrol.pro

@@ -347,7 +347,7 @@ contains(DEPENDENCIES_PRESENT, osg) {
         src/ui/map3D/Q3DWidget.h \
         src/ui/map3D/GCManipulator.h \
         src/ui/map3D/ImageWindowGeode.h \
-        src/ui/map3D/PixhawkCheetahGeode.h \
+        src/ui/map3D/PixhawkCheetahNode.h \
         src/ui/map3D/Pixhawk3DWidget.h \
         src/ui/map3D/Q3DWidgetFactory.h \
         src/ui/map3D/WebImageCache.h \
@@ -492,7 +492,7 @@ contains(DEPENDENCIES_PRESENT, osg) {
         src/ui/map3D/Q3DWidget.cc \
         src/ui/map3D/ImageWindowGeode.cc \
         src/ui/map3D/GCManipulator.cc \
-        src/ui/map3D/PixhawkCheetahGeode.cc \
+        src/ui/map3D/PixhawkCheetahNode.cc \
         src/ui/map3D/Pixhawk3DWidget.cc \
         src/ui/map3D/Q3DWidgetFactory.cc \
         src/ui/map3D/WebImageCache.cc \

src/uas/UAS.cc

@@ -249,9 +249,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
         switch (message.compid)
         {
-        case MAV_COMP_ID_IMU:
+        case MAV_COMP_ID_IMU_2:
             // Prefer IMU 2 over IMU 1 (FIXME)
-            componentID[message.msgid] = MAV_COMP_ID_IMU;
+            componentID[message.msgid] = MAV_COMP_ID_IMU_2;
             break;
         default:
             // Do nothing

src/ui/map3D/Pixhawk3DWidget.cc

@@ -41,7 +41,7 @@
 #include <osgText/Text>
 
 #include "../MainWindow.h"
-#include "PixhawkCheetahGeode.h"
+#include "PixhawkCheetahNode.h"
 #include "TerrainParamDialog.h"
 #include "UASManager.h"
 
@@ -1304,7 +1304,7 @@ Pixhawk3DWidget::addModels(QVector< osg::ref_ptr<osg::Node> >& models,
     QStringList files = directory.entryList(QStringList("*.osg"), QDir::Files);
 
     // add Pixhawk Bravo model
-    models.push_back(PixhawkCheetahGeode::create(systemColor));
+    models.push_back(PixhawkCheetahNode::create(systemColor));
 
     // add sphere of 0.05m radius
     osg::ref_ptr<osg::Sphere> sphere = new osg::Sphere(osg::Vec3f(0.0f, 0.0f, 0.0f), 0.05f);

src/ui/map3D/PixhawkCheetahGeode.cc → src/ui/map3D/PixhawkCheetahNode.cc

@@ -23,7 +23,7 @@ This file is part of the QGROUNDCONTROL project
 
 /**
  * @file
- *   @brief Generates a OpenSceneGraph geode which renders a
+ *   @brief Generates a OpenSceneGraph node which renders a
  *          Pixhawk Cheetah MAV.
  *
  *   @author Lionel Heng <hengli@student.ethz.ch>
@@ -31,7 +31,9 @@ This file is part of the QGROUNDCONTROL project
  */
 
 #include <osg/Geometry>
-#include "PixhawkCheetahGeode.h"
+#include <osg/PositionAttitudeTransform>
+
+#include "PixhawkCheetahNode.h"
 
 struct sample_MATERIAL {
     GLfloat ambient[3];
@@ -59335,15 +59337,15 @@ void SelectMaterial(int i)
 
 };
 
-osg::ref_ptr<osg::Geode> PixhawkCheetahGeode::mInstance;
+osg::ref_ptr<osg::Node> PixhawkCheetahNode::mInstance;
 
-PixhawkCheetahGeode::PixhawkCheetahGeode()
+PixhawkCheetahNode::PixhawkCheetahNode()
 {
 
 }
 
-osg::ref_ptr<osg::Geode>
-PixhawkCheetahGeode::instance(void)
+osg::ref_ptr<osg::Node>
+PixhawkCheetahNode::instance(void)
 {
     if (!mInstance.valid())
     {
@@ -59354,13 +59356,18 @@ PixhawkCheetahGeode::instance(void)
     return mInstance;
 }
 
-osg::ref_ptr<osg::Geode>
-PixhawkCheetahGeode::create(const QColor& color)
+osg::ref_ptr<osg::Node>
+PixhawkCheetahNode::create(const QColor& color)
 {
+    osg::ref_ptr<osg::PositionAttitudeTransform> pat(new osg::PositionAttitudeTransform);
+    pat->setScale(osg::Vec3(0.5f, 0.5f, 0.5f));
+
     osg::ref_ptr<osg::Geode> geode(new osg::Geode());
     geode->setName("Pixhawk Bravo");
     osg::ref_ptr<osg::Geometry> geometry(new osg::Geometry());
-    geode->addDrawable(geometry.get());
+    geode->addDrawable(geometry);
+
+    pat->addChild(geode);
 
     osg::ref_ptr<osg::Vec3Array> osgVertices(new osg::Vec3Array);
     osg::ref_ptr<osg::Vec3Array> osgNormals(new osg::Vec3Array);
@@ -59392,18 +59399,18 @@ PixhawkCheetahGeode::create(const QColor& color)
             face->push_back(i * 3 + j);
         }
 
-        geometry->addPrimitiveSet(face.get());
+        geometry->addPrimitiveSet(face);
     }
 
-    geometry->setVertexArray(osgVertices.get());
-    geometry->setNormalArray(osgNormals.get());
-    geometry->setTexCoordArray(0, osgTextures.get());
+    geometry->setVertexArray(osgVertices);
+    geometry->setNormalArray(osgNormals);
+    geometry->setTexCoordArray(0, osgTextures);
 
     osg::ref_ptr<osg::Vec4Array> colors(new osg::Vec4Array);
     colors->push_back(osg::Vec4(color.redF(), color.greenF(), color.blueF(), 1.0f));
 
-    geometry->setColorArray(colors.get());
+    geometry->setColorArray(colors);
     geometry->setColorBinding(osg::Geometry::BIND_OVERALL);
 
-    return geode;
+    return pat;
 };

src/ui/map3D/PixhawkCheetahGeode.h → src/ui/map3D/PixhawkCheetahNode.h

@@ -23,48 +23,48 @@ This file is part of the QGROUNDCONTROL project
 
 /**
  * @file
- *   @brief Definition of the class PixhawkCheetahGeode.
+ *   @brief Definition of the class PixhawkCheetahNode.
  *
  *   @author Lionel Heng <hengli@student.ethz.ch>
  *
  */
 
-#ifndef PIXHAWKCHEETAHGEODE_H_
-#define PIXHAWKCHEETAHGEODE_H_
+#ifndef PIXHAWKCHEETAHNODE_H_
+#define PIXHAWKCHEETAHNODE_H_
 
 #include <osg/Geode>
 #include <QColor>
 
 /**
- * @brief The PixhawkCheetahGeode class.
- * Generates an OpenSceneGraph geode which renders a Pixhawk Cheetah MAV.
+ * @brief The PixhawkCheetahNode class.
+ * Generates an OpenSceneGraph node which renders a Pixhawk Cheetah MAV.
  **/
 
-class PixhawkCheetahGeode
+class PixhawkCheetahNode
 {
 public:
     /**
      * Constructor.
      */
-    PixhawkCheetahGeode();
+    PixhawkCheetahNode();
 
     /**
-     * Get a single instance of the geode.
+     * Get a single instance of the node.
      */
-    static osg::ref_ptr<osg::Geode> instance(void);
+    static osg::ref_ptr<osg::Node> instance(void);
 
     /**
-     * @brief Creates an OpenSceneGraph geode which renders a Pixhawk Cheetah MAV.
+     * @brief Creates an OpenSceneGraph node which renders a Pixhawk Cheetah MAV.
      * @param red Red intensity of the MAV model.
      * @param green Green intensity of the MAV model.
      * @param blue Blue intensity of the MAV model.
      *
-     * @return A smart pointer to the geode.
+     * @return A smart pointer to the node.
      **/
-    static osg::ref_ptr<osg::Geode> create(const QColor& color);
+    static osg::ref_ptr<osg::Node> create(const QColor& color);
 
 private:
-    static osg::ref_ptr<osg::Geode> mInstance;
+    static osg::ref_ptr<osg::Node> mInstance;
 };
 
 #endif