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Commit 63fe5526 authored by pixhawk's avatar pixhawk
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Finished communication settings widget

parent 0042aebd
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Showing with 74 additions and 35 deletions
src/uas/UAS.cc
View file @ 63fe5526
......@@ -513,9 +513,11 @@ int UAS::getCommunicationStatus() const
void UAS::requestWaypoints()
{
mavlink_message_t message;
mavlink_message_t msg;
//messagePackGetWaypoints(MG::SYSTEM::ID, &message); FIXME
sendMessage(message);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
qDebug() << "UAS Request WPs";
}
......@@ -523,6 +525,8 @@ void UAS::requestParameters()
{
mavlink_message_t msg;
mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
......@@ -551,6 +555,8 @@ void UAS::enableAllDataTransmission(bool enabled)
stream.target_component = 0;
// Encode and send the message
mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
......@@ -571,6 +577,8 @@ void UAS::enableRawSensorDataTransmission(bool enabled)
stream.target_component = 0;
// Encode and send the message
mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
......@@ -591,6 +599,8 @@ void UAS::enableExtendedSystemStatusTransmission(bool enabled)
stream.target_component = 0;
// Encode and send the message
mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
......@@ -611,6 +621,8 @@ void UAS::enableRCChannelDataTransmission(bool enabled)
stream.target_component = 0;
// Encode and send the message
mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
......@@ -631,6 +643,8 @@ void UAS::enableRawControllerDataTransmission(bool enabled)
stream.target_component = 0;
// Encode and send the message
mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
......@@ -651,6 +665,8 @@ void UAS::enableRawSensorFusionTransmission(bool enabled)
stream.target_component = 0;
// Encode and send the message
mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
......@@ -692,12 +708,12 @@ void UAS::setParameter(int component, QString id, float value)
**/
void UAS::launch()
{
mavlink_message_t message;
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->getUASID(),(int)MAV_ACTION_LAUNCH);
sendMessage(message);
qDebug() << "UAS LAUNCHED!";
//emit commandSent(LAUNCH);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(int)MAV_ACTION_LAUNCH);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
/**
......@@ -706,10 +722,12 @@ void UAS::launch()
**/
void UAS::enable_motors()
{
mavlink_message_t message;
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->getUASID(),(int)MAV_ACTION_MOTORS_START);
sendMessage(message);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(int)MAV_ACTION_MOTORS_START);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
/**
......@@ -718,10 +736,12 @@ void UAS::enable_motors()
**/
void UAS::disable_motors()
{
mavlink_message_t message;
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->getUASID(),(int)MAV_ACTION_MOTORS_STOP);
sendMessage(message);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(int)MAV_ACTION_MOTORS_STOP);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust)
......@@ -767,20 +787,23 @@ void UAS::receiveButton(int buttonIndex)
void UAS::setWaypoint(Waypoint* wp)
{
mavlink_message_t message;
mavlink_message_t msg;
// FIXME
//messagePackSetWaypoint(MG::SYSTEM::ID, &message, wp->id, wp->x, wp->y, wp->z, wp->yaw, (wp->autocontinue ? 1 : 0));
// mavlink_msg_waypoint_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, wp->name, wp->id,wp->x, wp->y, wp->z, wp->yaw, (wp->autocontinue ? 1 : 0));
sendMessage(message);
qDebug() << "UAS SENT Waypoint " << wp->id;
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
void UAS::setWaypointActive(int id)
{
mavlink_message_t message;
mavlink_message_t msg;
// FIXME
//messagePackChooseWaypoint(MG::SYSTEM::ID, &message, id);
sendMessage(message);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
// TODO This should be not directly emitted, but rather being fed back from the UAS
emit waypointSelected(getUASID(), id);
}
......@@ -788,27 +811,33 @@ void UAS::setWaypointActive(int id)
void UAS::halt()
{
mavlink_message_t message;
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->getUASID(), (int)MAV_ACTION_HALT);
sendMessage(message);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_HALT);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
void UAS::go()
{
mavlink_message_t message;
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->getUASID(), (int)MAV_ACTION_CONTINUE);
sendMessage(message);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_CONTINUE);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
/** Order the robot to return home / to land on the runway **/
void UAS::home()
{
mavlink_message_t message;
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->getUASID(), (int)MAV_ACTION_RETURN);
sendMessage(message);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_RETURN);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
/**
......@@ -817,9 +846,12 @@ void UAS::home()
*/
void UAS::emergencySTOP()
{
mavlink_message_t message;
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->getUASID(), (int)MAV_ACTION_EMCY_LAND);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_EMCY_LAND);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
}
/**
......@@ -845,10 +877,12 @@ bool UAS::emergencyKILL()
if (ret == QMessageBox::Yes)
{
mavlink_message_t message;
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->getUASID(), (int)MAV_ACTION_EMCY_KILL);
sendMessage(message);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_EMCY_KILL);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
result = true;
}
return result;
......@@ -872,10 +906,12 @@ void UAS::shutdown()
if (ret == QMessageBox::Yes)
{
// If the active UAS is set, execute command
mavlink_message_t message;
mavlink_message_t msg;
// TODO Replace MG System ID with static function call and allow to change ID in GUI
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->getUASID(), (int)MAV_ACTION_SHUTDOWN);
sendMessage(message);
mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), (int)MAV_ACTION_SHUTDOWN);
// Send message twice to increase chance of reception
sendMessage(msg);
sendMessage(msg);
result = true;
}
}
......
src/ui/QGCSensorSettingsWidget.ui
View file @ 63fe5526
......@@ -14,6 +14,9 @@
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout_4">
<property name="margin">
<number>0</number>
</property>
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox">
<property name="title">
......
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