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Commit 628d3aa1 authored by Don Gagne's avatar Don Gagne
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Merge pull request #1777 from dogmaphobic/hudOnVideo 

Enabling the option of using Compass and Attitude Widgets or HUD.
parents a9b28845 d06c1906
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Showing with 209 additions and 176 deletions
qgroundcontrol.qrc
View file @ 628d3aa1
......@@ -120,16 +120,16 @@
<file alias="MapDisplay.qml">src/ui/mapdisplay/MapDisplay.qml</file>
<file alias="QGroundControl/FlightControls/QGCAltitudeWidget.qml">src/ui/qmlcommon/QGCAltitudeWidget.qml</file>
<file alias="QGroundControl/FlightControls/QGCArtificialHorizon.qml">src/ui/qmlcommon/QGCArtificialHorizon.qml</file>
<file alias="QGroundControl/FlightControls/QGCAttitudeInstrument.qml">src/ui/qmlcommon/QGCAttitudeInstrument.qml</file>
<file alias="QGroundControl/FlightControls/QGCAttitudeWidget.qml">src/ui/qmlcommon/QGCAttitudeWidget.qml</file>
<file alias="QGroundControl/FlightControls/QGCCompass.qml">src/ui/qmlcommon/QGCCompass.qml</file>
<file alias="QGroundControl/FlightControls/QGCCompassInstrument.qml">src/ui/qmlcommon/QGCCompassInstrument.qml</file>
<file alias="QGroundControl/FlightControls/QGCAttitudeHUD.qml">src/ui/qmlcommon/QGCAttitudeHUD.qml</file>
<file alias="QGroundControl/FlightControls/QGCCompassWidget.qml">src/ui/qmlcommon/QGCCompassWidget.qml</file>
<file alias="QGroundControl/FlightControls/QGCCompassHUD.qml">src/ui/qmlcommon/QGCCompassHUD.qml</file>
<file alias="QGroundControl/FlightControls/QGCCurrentAltitude.qml">src/ui/qmlcommon/QGCCurrentAltitude.qml</file>
<file alias="QGroundControl/FlightControls/QGCCurrentSpeed.qml">src/ui/qmlcommon/QGCCurrentSpeed.qml</file>
<file alias="QGroundControl/FlightControls/QGCHudMessage.qml">src/ui/qmlcommon/QGCHudMessage.qml</file>
<file alias="QGroundControl/FlightControls/QGCMapBackground.qml">src/ui/qmlcommon/QGCMapBackground.qml</file>
<file alias="QGroundControl/FlightControls/QGCMapToolButton.qml">src/ui/qmlcommon/QGCMapToolButton.qml</file>
<file alias="QGroundControl/FlightControls/QGCPitchWidget.qml">src/ui/qmlcommon/QGCPitchWidget.qml</file>
<file alias="QGroundControl/FlightControls/QGCPitchIndicator.qml">src/ui/qmlcommon/QGCPitchIndicator.qml</file>
<file alias="QGroundControl/FlightControls/QGCSlider.qml">src/ui/qmlcommon/QGCSlider.qml</file>
<file alias="QGroundControl/FlightControls/QGCSpeedWidget.qml">src/ui/qmlcommon/QGCSpeedWidget.qml</file>
<file alias="QGroundControl/FlightControls/QGCVideoBackground.qml">src/ui/qmlcommon/QGCVideoBackground.qml</file>
......
src/uas/UAS.cc
View file @ 628d3aa1
......@@ -149,19 +149,19 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
// Initialize HIL sensor noise variances to 0. If user wants corrupted sensor values they will need to set them
// Note variances calculated from flight case from this log: http://dash.oznet.ch/view/MRjW8NUNYQSuSZkbn8dEjY
// TODO: calibrate stand-still pixhawk variances
xacc_var(1.2914),
yacc_var(0.7048),
zacc_var(1.9577),
rollspeed_var(0.8126),
pitchspeed_var(0.6145),
yawspeed_var(0.5852),
xmag_var(0.4786),
ymag_var(0.4566),
zmag_var(0.3333),
abs_pressure_var(1.1604),
diff_pressure_var(1.1604),
pressure_alt_var(1.1604),
temperature_var(1.4290),
xacc_var(1.2914f),
yacc_var(0.7048f),
zacc_var(1.9577f),
rollspeed_var(0.8126f),
pitchspeed_var(0.6145f),
yawspeed_var(0.5852f),
xmag_var(0.4786f),
ymag_var(0.4566f),
zmag_var(0.3333f),
abs_pressure_var(1.1604f),
diff_pressure_var(1.1604f),
pressure_alt_var(1.1604f),
temperature_var(1.4290f),
#ifndef __mobile__
simulation(0),
......@@ -3005,7 +3005,7 @@ float UAS::addZeroMeanNoise(float truth_meas, float noise_var)
/* Calculate normally distributed variable noise with mean = 0 and variance = noise_var. Calculated according to
Box-Muller transform */
static const float epsilon = std::numeric_limits<float>::min(); //used to ensure non-zero uniform numbers
static const float two_pi = 2.0*3.14159265358979323846; // 2*pi
static const float two_pi = 2.0f * 3.14159265358979323846f; // 2*pi
static float z0; //calculated normal distribution random variables with mu = 0, var = 1;
float u1, u2; //random variables generated from c++ rand();
......
src/ui/flightdisplay/FlightDisplay.qml
View file @ 628d3aa1
This diff is collapsed.
src/ui/qmlcommon/QGCAttitudeInstrument.qml → src/ui/qmlcommon/QGCAttitudeHUD.qml
View file @ 628d3aa1
......@@ -23,81 +23,59 @@ This file is part of the QGROUNDCONTROL project
/**
* @file
* @brief QGC Attitude Instrument
* @brief QGC Attitude Widget
* @author Gus Grubba <mavlink@grubba.com>
*/
import QtQuick 2.4
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
QGCMovableItem {
Item {
id: root
property real rollAngle: 0
anchors.centerIn: parent
property real rollAngle : 0
property real pitchAngle: 0
property bool showPitch: true
property real size
width: size
height: size
//----------------------------------------------------
//-- Artificial Horizon
QGCArtificialHorizon {
rollAngle: root.rollAngle
pitchAngle: root.pitchAngle
anchors.fill: parent
}
//----------------------------------------------------
//-- Pointer
Image {
id: pointer
source: "/qmlimages/attitudePointer.svg"
id: rollDial
anchors { bottom: root.verticalCenter; horizontalCenter: parent.horizontalCenter}
source: "/qmlimages/rollDialWhite.svg"
mipmap: true
width: parent.width
fillMode: Image.PreserveAspectFit
anchors.fill: parent
transform: Rotation {
origin.x: rollDial.width / 2
origin.y: rollDial.height
angle: -rollAngle
}
}
//----------------------------------------------------
//-- Instrument Dial
Image {
id: instrumentDial
source: "/qmlimages/attitudeDial.svg"
id: pointer
anchors { bottom: root.verticalCenter; horizontalCenter: parent.horizontalCenter}
source: "/qmlimages/rollPointerWhite.svg"
mipmap: true
width: rollDial.width
fillMode: Image.PreserveAspectFit
anchors.fill: parent
transform: Rotation {
origin.x: root.width / 2
origin.y: root.height / 2
angle: -rollAngle
}
}
//----------------------------------------------------
//-- Pitch
QGCPitchWidget {
id: pitchWidget
visible: root.showPitch
size: root.size * 0.65
anchors.verticalCenter: parent.verticalCenter
pitchAngle: root.pitchAngle
rollAngle: root.rollAngle
color: Qt.rgba(0,0,0,0)
}
//----------------------------------------------------
//-- Cross Hair
Image {
id: crossHair
anchors.centerIn: parent
source: "/qmlimages/crossHair.svg"
mipmap: true
width: size * 0.75
width: parent.width
fillMode: Image.PreserveAspectFit
}
//----------------------------------------------------
//-- Instrument Pannel
Image {
id: pannel
source: "/qmlimages/attitudeInstrument.svg"
mipmap: true
fillMode: Image.PreserveAspectFit
anchors.fill: parent
QGCPitchIndicator {
id: pitchIndicator
anchors.verticalCenter: parent.verticalCenter
visible: root.showPitch
pitchAngle: root.pitchAngle
rollAngle: root.rollAngle
color: Qt.rgba(0,0,0,0)
size: ScreenTools.defaultFontPixelSize * (10)
}
}
src/ui/qmlcommon/QGCAttitudeWidget.qml
View file @ 628d3aa1
......@@ -23,48 +23,81 @@ This file is part of the QGROUNDCONTROL project
/**
* @file
* @brief QGC Attitude Widget
* @brief QGC Attitude Instrument
* @author Gus Grubba <mavlink@grubba.com>
*/
import QtQuick 2.4
import QGroundControl.ScreenTools 1.0
import QGroundControl.Controls 1.0
Item {
QGCMovableItem {
id: root
anchors.centerIn: parent
property real rollAngle : 0
property real rollAngle: 0
property real pitchAngle: 0
property bool showPitch: true
property real size
width: size
height: size
//----------------------------------------------------
//-- Artificial Horizon
QGCArtificialHorizon {
rollAngle: root.rollAngle
pitchAngle: root.pitchAngle
anchors.fill: parent
}
//----------------------------------------------------
//-- Pointer
Image {
id: rollDial
anchors { bottom: root.verticalCenter; horizontalCenter: parent.horizontalCenter}
source: "/qmlimages/rollDialWhite.svg"
id: pointer
source: "/qmlimages/attitudePointer.svg"
mipmap: true
width: parent.width
fillMode: Image.PreserveAspectFit
transform: Rotation {
origin.x: rollDial.width / 2
origin.y: rollDial.height
angle: -rollAngle
}
anchors.fill: parent
}
//----------------------------------------------------
//-- Instrument Dial
Image {
id: pointer
anchors { bottom: root.verticalCenter; horizontalCenter: parent.horizontalCenter}
source: "/qmlimages/rollPointerWhite.svg"
id: instrumentDial
source: "/qmlimages/attitudeDial.svg"
mipmap: true
width: rollDial.width
fillMode: Image.PreserveAspectFit
anchors.fill: parent
transform: Rotation {
origin.x: root.width / 2
origin.y: root.height / 2
angle: -rollAngle
}
}
//----------------------------------------------------
//-- Pitch
QGCPitchIndicator {
id: pitchWidget
visible: root.showPitch
size: root.size * 0.65
anchors.verticalCenter: parent.verticalCenter
pitchAngle: root.pitchAngle
rollAngle: root.rollAngle
color: Qt.rgba(0,0,0,0)
}
//----------------------------------------------------
//-- Cross Hair
Image {
id: crossHair
anchors.centerIn: parent
source: "/qmlimages/crossHair.svg"
mipmap: true
width: parent.width
width: size * 0.75
fillMode: Image.PreserveAspectFit
}
//----------------------------------------------------
//-- Instrument Pannel
Image {
id: pannel
source: "/qmlimages/attitudeInstrument.svg"
mipmap: true
fillMode: Image.PreserveAspectFit
anchors.fill: parent
}
}
src/ui/qmlcommon/QGCCompass.qml → src/ui/qmlcommon/QGCCompassHUD.qml
View file @ 628d3aa1
......@@ -23,7 +23,7 @@ This file is part of the QGROUNDCONTROL project
/**
* @file
* @brief QGC Compass
* @brief QGC Compass HUD
* @author Gus Grubba <mavlink@grubba.com>
*/
......@@ -70,5 +70,3 @@ Item {
}
}
}
src/ui/qmlcommon/QGCCompassInstrument.qml → src/ui/qmlcommon/QGCCompassWidget.qml
View file @ 628d3aa1
......@@ -23,7 +23,7 @@ This file is part of the QGROUNDCONTROL project
/**
* @file
* @brief QGC Compass
* @brief QGC Compass Widget
* @author Gus Grubba <mavlink@grubba.com>
*/
......
src/ui/qmlcommon/qmldir
View file @ 628d3aa1
Module QGroundControl.FlightControls
QGCAltitudeWidget 1.0 QGCAltitudeWidget.qml
QGCArtificialHorizon 1.0 QGCArtificialHorizon.qml
QGCAttitudeHUD 1.0 QGCAttitudeHUD.qml
QGCAttitudeWidget 1.0 QGCAttitudeWidget.qml
QGCCompass 1.0 QGCCompass.qml
QGCCompassHUD 1.0 QGCCompassHUD.qml
QGCCompassWidget 1.0 QGCCompassWidget.qml
QGCCurrentAltitude 1.0 QGCCurrentAltitude.qml
QGCCurrentSpeed 1.0 QGCCurrentSpeed.qml
QGCHudMessage 1.0 QGCHudMessage.qml
QGCMapBackground 1.0 QGCMapBackground.qml
QGCPitchWidget 1.0 QGCPitchWidget.qml
QGCSpeedWidget 1.0 QGCSpeedWidget.qml
QGCSlider 1.0 QGCSlider.qml
QGCWaypointEditor 1.0 QGCWaypointEditor.qml
QGCMapToolButton 1.0 QGCMapToolButton.qml
QGCAttitudeInstrument 1.0 QGCAttitudeInstrument.qml
QGCCompassInstrument 1.0 QGCCompassInstrument.qml
QGCArtificialHorizon 1.0 QGCArtificialHorizon.qml
QGCWaypoint 1.0 QGCWaypoint.qml
QGCHudMessage 1.0 QGCHudMessage.qml
QGCPitchIndicator 1.0 QGCPitchIndicator.qml
QGCSlider 1.0 QGCSlider.qml
QGCSpeedWidget 1.0 QGCSpeedWidget.qml
QGCVideoBackground 1.0 QGCVideoBackground.qml
QGCWaypoint 1.0 QGCWaypoint.qml
QGCWaypointEditor 1.0 QGCWaypointEditor.qml
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