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Commit 622283a3 authored by Lorenz Meier's avatar Lorenz Meier
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Completed MAV_CMD enum in button, allowed to directly enter numbers into the form

parent a5d6ae26
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Showing with 66 additions and 35 deletions
src/ui/designer/QGCCommandButton.cc
View file @ 622283a3
...@@ -35,8 +35,6 @@ QGCCommandButton::QGCCommandButton(QWidget *parent) : ...@@ -35,8 +35,6 @@ QGCCommandButton::QGCCommandButton(QWidget *parent) :
ui->editLine2->setStyleSheet("QWidget { border: 1px solid #66666B; border-radius: 3px; padding: 10px 0px 0px 0px; background: #111122; }"); ui->editLine2->setStyleSheet("QWidget { border: 1px solid #66666B; border-radius: 3px; padding: 10px 0px 0px 0px; background: #111122; }");
// Add commands to combo box // Add commands to combo box
ui->editCommandComboBox->addItem("DO: Control Video", MAV_CMD_DO_CONTROL_VIDEO);
ui->editCommandComboBox->addItem("PREFLIGHT: Calibration", MAV_CMD_PREFLIGHT_CALIBRATION);
ui->editCommandComboBox->addItem("CUSTOM 0", 0); ui->editCommandComboBox->addItem("CUSTOM 0", 0);
ui->editCommandComboBox->addItem("CUSTOM 1", 1); ui->editCommandComboBox->addItem("CUSTOM 1", 1);
ui->editCommandComboBox->addItem("CUSTOM 2", 2); ui->editCommandComboBox->addItem("CUSTOM 2", 2);
...@@ -53,21 +51,35 @@ QGCCommandButton::QGCCommandButton(QWidget *parent) : ...@@ -53,21 +51,35 @@ QGCCommandButton::QGCCommandButton(QWidget *parent) :
ui->editCommandComboBox->addItem("CUSTOM 13", 13); ui->editCommandComboBox->addItem("CUSTOM 13", 13);
ui->editCommandComboBox->addItem("CUSTOM 14", 14); ui->editCommandComboBox->addItem("CUSTOM 14", 14);
ui->editCommandComboBox->addItem("CUSTOM 15", 15); ui->editCommandComboBox->addItem("CUSTOM 15", 15);
ui->editCommandComboBox->addItem("NAV_WAYPOINT", 16); ui->editCommandComboBox->addItem("NAV_WAYPOINT", MAV_CMD_NAV_WAYPOINT);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_UNLIM", 17); ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_UNLIM", MAV_CMD_NAV_LOITER_UNLIM);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TURNS", 18); ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TURNS", MAV_CMD_NAV_LOITER_TURNS);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TIME", 19); ui->editCommandComboBox->addItem("MAV_CMD_NAV_LOITER_TIME", MAV_CMD_NAV_LOITER_TIME);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_RETURN_TO_LAUNCH", 20); ui->editCommandComboBox->addItem("MAV_CMD_NAV_RETURN_TO_LAUNCH", MAV_CMD_NAV_RETURN_TO_LAUNCH);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_LAND", 21); ui->editCommandComboBox->addItem("MAV_CMD_NAV_LAND", MAV_CMD_NAV_LAND);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_TAKEOFF", 22); ui->editCommandComboBox->addItem("MAV_CMD_NAV_TAKEOFF", MAV_CMD_NAV_TAKEOFF);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_ROI", 80); ui->editCommandComboBox->addItem("MAV_CMD_NAV_ROI", MAV_CMD_NAV_ROI);
ui->editCommandComboBox->addItem("MAV_CMD_NAV_PATHPLANNING", 81); ui->editCommandComboBox->addItem("MAV_CMD_NAV_PATHPLANNING", MAV_CMD_NAV_PATHPLANNING);
ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_MODE", 176); ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_CHANGE_ALT", MAV_CMD_CONDITION_CHANGE_ALT);
ui->editCommandComboBox->addItem("MAV_CMD_DO_CHANGE_SPEED", 178); ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_DISTANCE", MAV_CMD_CONDITION_DISTANCE);
ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_HOME", 179); ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_YAW", MAV_CMD_CONDITION_YAW);
ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_RELAY", 181); ui->editCommandComboBox->addItem("MAV_CMD_CONDITION_LAST", MAV_CMD_CONDITION_LAST);
ui->editCommandComboBox->addItem("MAV_CMD_DO_REPEAT_RELAY", 182); ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_MODE", MAV_CMD_DO_SET_MODE);
ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_SERVO", 183); ui->editCommandComboBox->addItem("MAV_CMD_DO_JUMP", MAV_CMD_DO_JUMP);
ui->editCommandComboBox->addItem("MAV_CMD_DO_CHANGE_SPEED", MAV_CMD_DO_CHANGE_SPEED);
ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_HOME", MAV_CMD_DO_SET_HOME);
ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_PARAMETER", MAV_CMD_DO_SET_PARAMETER);
ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_RELAY", MAV_CMD_DO_SET_RELAY);
ui->editCommandComboBox->addItem("MAV_CMD_DO_REPEAT_RELAY", MAV_CMD_DO_REPEAT_RELAY);
ui->editCommandComboBox->addItem("MAV_CMD_DO_SET_SERVO", MAV_CMD_DO_SET_SERVO);
ui->editCommandComboBox->addItem("MAV_CMD_DO_REPEAT_SERVO", MAV_CMD_DO_REPEAT_SERVO);
ui->editCommandComboBox->addItem("MAV_CMD_DO_CONTROL_VIDEO", MAV_CMD_DO_CONTROL_VIDEO);
ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_CALIBRATION", MAV_CMD_PREFLIGHT_CALIBRATION);
ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS", MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS);
ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_STORAGE", MAV_CMD_PREFLIGHT_STORAGE);
ui->editCommandComboBox->addItem("MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN", MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN);
ui->editCommandComboBox->addItem("MAV_CMD_OVERRIDE_GOTO", MAV_CMD_OVERRIDE_GOTO);
ui->editCommandComboBox->addItem("MAV_CMD_MISSION_START", MAV_CMD_MISSION_START);
ui->editCommandComboBox->setEditable(true); ui->editCommandComboBox->setEditable(true);
} }
...@@ -78,22 +90,37 @@ QGCCommandButton::~QGCCommandButton() ...@@ -78,22 +90,37 @@ QGCCommandButton::~QGCCommandButton()
void QGCCommandButton::sendCommand() void QGCCommandButton::sendCommand()
{ {
if (QGCToolWidgetItem::uas) { if (QGCToolWidgetItem::uas)
int index = ui->editCommandComboBox->itemData(ui->editCommandComboBox->currentIndex()).toInt(); {
MAV_CMD command = static_cast<MAV_CMD>(index); // Check if command text is a number
int confirm = (ui->editConfirmationCheckBox->isChecked()) ? 1 : 0; bool ok;
float param1 = ui->editParam1SpinBox->value(); int index = 0;
float param2 = ui->editParam2SpinBox->value(); index = ui->editCommandComboBox->currentText().toInt(&ok);
float param3 = ui->editParam3SpinBox->value(); if (!ok)
float param4 = ui->editParam4SpinBox->value(); {
float param5 = ui->editParam5SpinBox->value(); // Command was not a number, assume it was one of the text items
float param6 = ui->editParam6SpinBox->value(); index = ui->editCommandComboBox->itemData(ui->editCommandComboBox->currentIndex()).toInt(&ok);
float param7 = ui->editParam7SpinBox->value(); if (ok)
int component = ui->editComponentSpinBox->value(); {
// Text item found, proceed
QGCToolWidgetItem::uas->executeCommand(command, confirm, param1, param2, param3, param4, param5, param6, param7, component); MAV_CMD command = static_cast<MAV_CMD>(index);
qDebug() << __FILE__ << __LINE__ << "SENDING COMMAND" << index; int confirm = (ui->editConfirmationCheckBox->isChecked()) ? 1 : 0;
} else { float param1 = ui->editParam1SpinBox->value();
float param2 = ui->editParam2SpinBox->value();
float param3 = ui->editParam3SpinBox->value();
float param4 = ui->editParam4SpinBox->value();
float param5 = ui->editParam5SpinBox->value();
float param6 = ui->editParam6SpinBox->value();
float param7 = ui->editParam7SpinBox->value();
int component = ui->editComponentSpinBox->value();
QGCToolWidgetItem::uas->executeCommand(command, confirm, param1, param2, param3, param4, param5, param6, param7, component);
qDebug() << __FILE__ << __LINE__ << "SENDING COMMAND" << index;
}
}
}
else
{
qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING"; qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
} }
} }
......
src/ui/designer/QGCCommandButton.ui
View file @ 622283a3
...@@ -6,7 +6,7 @@ ...@@ -6,7 +6,7 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>882</width> <width>1183</width>
<height>430</height> <height>430</height>
</rect> </rect>
</property> </property>
...@@ -27,7 +27,11 @@ ...@@ -27,7 +27,11 @@
<number>3</number> <number>3</number>
</property> </property>
<item row="7" column="0" colspan="3"> <item row="7" column="0" colspan="3">
<widget class="QComboBox" name="editCommandComboBox"/> <widget class="QComboBox" name="editCommandComboBox">
<property name="editable">
<bool>true</bool>
</property>
</widget>
</item> </item>
<item row="7" column="3"> <item row="7" column="3">
<widget class="QPushButton" name="editFinishButton"> <widget class="QPushButton" name="editFinishButton">
......
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