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qgroundcontrol
Commit 671c1cec authored by lm's avatar lm
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Merge branch 'dev' of github.com:pixhawk/qgroundcontrol into dev

parents 2335b522 b32a518e
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Showing with 133 additions and 86 deletions
src/uas/UAS.cc
View file @ 671c1cec
......@@ -883,7 +883,7 @@ void UAS::readParametersFromStorage()
sendMessage(msg);
}
void UAS::enableAllDataTransmission(bool enabled)
void UAS::enableAllDataTransmission(int rate)
{
// Buffers to write data to
mavlink_message_t msg;
......@@ -893,9 +893,11 @@ void UAS::enableAllDataTransmission(bool enabled)
stream.req_stream_id = MAV_DATA_STREAM_ALL;
// Select the update rate in Hz the message should be send
// All messages will be send with their default rate
// TODO: use 0 to turn off and get rid of enable/disable? will require
// a different magic flag for turning on defaults, possibly something really high like 1111 ?
stream.req_message_rate = 0;
// Start / stop the message
stream.start_stop = (enabled) ? 1 : 0;
stream.start_stop = (rate) ? 1 : 0;
// The system which should take this command
stream.target_system = uasId;
// The component / subsystem which should take this command
......@@ -907,7 +909,7 @@ void UAS::enableAllDataTransmission(bool enabled)
sendMessage(msg);
}
void UAS::enableRawSensorDataTransmission(bool enabled)
void UAS::enableRawSensorDataTransmission(int rate)
{
// Buffers to write data to
mavlink_message_t msg;
......@@ -915,9 +917,9 @@ void UAS::enableRawSensorDataTransmission(bool enabled)
// Select the message to request from now on
stream.req_stream_id = MAV_DATA_STREAM_RAW_SENSORS;
// Select the update rate in Hz the message should be send
stream.req_message_rate = 200;
stream.req_message_rate = rate;
// Start / stop the message
stream.start_stop = (enabled) ? 1 : 0;
stream.start_stop = (rate) ? 1 : 0;
// The system which should take this command
stream.target_system = uasId;
// The component / subsystem which should take this command
......@@ -929,7 +931,7 @@ void UAS::enableRawSensorDataTransmission(bool enabled)
sendMessage(msg);
}
void UAS::enableExtendedSystemStatusTransmission(bool enabled)
void UAS::enableExtendedSystemStatusTransmission(int rate)
{
// Buffers to write data to
mavlink_message_t msg;
......@@ -937,9 +939,9 @@ void UAS::enableExtendedSystemStatusTransmission(bool enabled)
// Select the message to request from now on
stream.req_stream_id = MAV_DATA_STREAM_EXTENDED_STATUS;
// Select the update rate in Hz the message should be send
stream.req_message_rate = 10;
stream.req_message_rate = rate;
// Start / stop the message
stream.start_stop = (enabled) ? 1 : 0;
stream.start_stop = (rate) ? 1 : 0;
// The system which should take this command
stream.target_system = uasId;
// The component / subsystem which should take this command
......@@ -951,7 +953,7 @@ void UAS::enableExtendedSystemStatusTransmission(bool enabled)
sendMessage(msg);
}
void UAS::enableRCChannelDataTransmission(bool enabled)
void UAS::enableRCChannelDataTransmission(int rate)
{
#if defined(MAVLINK_ENABLED_UALBERTA_MESSAGES)
mavlink_message_t msg;
......@@ -963,9 +965,9 @@ void UAS::enableRCChannelDataTransmission(bool enabled)
// Select the message to request from now on
stream.req_stream_id = MAV_DATA_STREAM_RC_CHANNELS;
// Select the update rate in Hz the message should be send
stream.req_message_rate = 200;
stream.req_message_rate = rate;
// Start / stop the message
stream.start_stop = (enabled) ? 1 : 0;
stream.start_stop = (rate) ? 1 : 0;
// The system which should take this command
stream.target_system = uasId;
// The component / subsystem which should take this command
......@@ -978,7 +980,7 @@ void UAS::enableRCChannelDataTransmission(bool enabled)
#endif
}
void UAS::enableRawControllerDataTransmission(bool enabled)
void UAS::enableRawControllerDataTransmission(int rate)
{
// Buffers to write data to
mavlink_message_t msg;
......@@ -986,9 +988,9 @@ void UAS::enableRawControllerDataTransmission(bool enabled)
// Select the message to request from now on
stream.req_stream_id = MAV_DATA_STREAM_RAW_CONTROLLER;
// Select the update rate in Hz the message should be send
stream.req_message_rate = 200;
stream.req_message_rate = rate;
// Start / stop the message
stream.start_stop = (enabled) ? 1 : 0;
stream.start_stop = (rate) ? 1 : 0;
// The system which should take this command
stream.target_system = uasId;
// The component / subsystem which should take this command
......@@ -1000,7 +1002,7 @@ void UAS::enableRawControllerDataTransmission(bool enabled)
sendMessage(msg);
}
void UAS::enableRawSensorFusionTransmission(bool enabled)
void UAS::enableRawSensorFusionTransmission(int rate)
{
// Buffers to write data to
mavlink_message_t msg;
......@@ -1008,9 +1010,9 @@ void UAS::enableRawSensorFusionTransmission(bool enabled)
// Select the message to request from now on
stream.req_stream_id = MAV_DATA_STREAM_RAW_SENSOR_FUSION;
// Select the update rate in Hz the message should be send
stream.req_message_rate = 200;
stream.req_message_rate = rate;
// Start / stop the message
stream.start_stop = (enabled) ? 1 : 0;
stream.start_stop = (rate) ? 1 : 0;
// The system which should take this command
stream.target_system = uasId;
// The component / subsystem which should take this command
......@@ -1022,7 +1024,7 @@ void UAS::enableRawSensorFusionTransmission(bool enabled)
sendMessage(msg);
}
void UAS::enablePositionTransmission(bool enabled)
void UAS::enablePositionTransmission(int rate)
{
// Buffers to write data to
mavlink_message_t msg;
......@@ -1030,9 +1032,9 @@ void UAS::enablePositionTransmission(bool enabled)
// Select the message to request from now on
stream.req_stream_id = MAV_DATA_STREAM_POSITION;
// Select the update rate in Hz the message should be send
stream.req_message_rate = 200;
stream.req_message_rate = rate;
// Start / stop the message
stream.start_stop = (enabled) ? 1 : 0;
stream.start_stop = (rate) ? 1 : 0;
// The system which should take this command
stream.target_system = uasId;
// The component / subsystem which should take this command
......@@ -1044,7 +1046,7 @@ void UAS::enablePositionTransmission(bool enabled)
sendMessage(msg);
}
void UAS::enableExtra1Transmission(bool enabled)
void UAS::enableExtra1Transmission(int rate)
{
// Buffers to write data to
mavlink_message_t msg;
......@@ -1052,9 +1054,9 @@ void UAS::enableExtra1Transmission(bool enabled)
// Select the message to request from now on
stream.req_stream_id = MAV_DATA_STREAM_EXTRA1;
// Select the update rate in Hz the message should be send
stream.req_message_rate = 200;
stream.req_message_rate = rate;
// Start / stop the message
stream.start_stop = (enabled) ? 1 : 0;
stream.start_stop = (rate) ? 1 : 0;
// The system which should take this command
stream.target_system = uasId;
// The component / subsystem which should take this command
......@@ -1066,7 +1068,7 @@ void UAS::enableExtra1Transmission(bool enabled)
sendMessage(msg);
}
void UAS::enableExtra2Transmission(bool enabled)
void UAS::enableExtra2Transmission(int rate)
{
// Buffers to write data to
mavlink_message_t msg;
......@@ -1074,9 +1076,9 @@ void UAS::enableExtra2Transmission(bool enabled)
// Select the message to request from now on
stream.req_stream_id = MAV_DATA_STREAM_EXTRA2;
// Select the update rate in Hz the message should be send
stream.req_message_rate = 200;
stream.req_message_rate = rate;
// Start / stop the message
stream.start_stop = (enabled) ? 1 : 0;
stream.start_stop = (rate) ? 1 : 0;
// The system which should take this command
stream.target_system = uasId;
// The component / subsystem which should take this command
......@@ -1088,7 +1090,7 @@ void UAS::enableExtra2Transmission(bool enabled)
sendMessage(msg);
}
void UAS::enableExtra3Transmission(bool enabled)
void UAS::enableExtra3Transmission(int rate)
{
// Buffers to write data to
mavlink_message_t msg;
......@@ -1096,9 +1098,9 @@ void UAS::enableExtra3Transmission(bool enabled)
// Select the message to request from now on
stream.req_stream_id = MAV_DATA_STREAM_EXTRA3;
// Select the update rate in Hz the message should be send
stream.req_message_rate = 200;
stream.req_message_rate = rate;
// Start / stop the message
stream.start_stop = (enabled) ? 1 : 0;
stream.start_stop = (rate) ? 1 : 0;
// The system which should take this command
stream.target_system = uasId;
// The component / subsystem which should take this command
......
src/uas/UAS.h
View file @ 671c1cec
......@@ -223,16 +223,16 @@ public slots:
/** @brief Read parameters from permanent storage */
void readParametersFromStorage();
void enableAllDataTransmission(bool enabled);
void enableRawSensorDataTransmission(bool enabled);
void enableExtendedSystemStatusTransmission(bool enabled);
void enableRCChannelDataTransmission(bool enabled);
void enableRawControllerDataTransmission(bool enabled);
void enableRawSensorFusionTransmission(bool enabled);
void enablePositionTransmission(bool enabled);
void enableExtra1Transmission(bool enabled);
void enableExtra2Transmission(bool enabled);
void enableExtra3Transmission(bool enabled);
void enableAllDataTransmission(int rate);
void enableRawSensorDataTransmission(int rate);
void enableExtendedSystemStatusTransmission(int rate);
void enableRCChannelDataTransmission(int rate);
void enableRawControllerDataTransmission(int rate);
void enableRawSensorFusionTransmission(int rate);
void enablePositionTransmission(int rate);
void enableExtra1Transmission(int rate);
void enableExtra2Transmission(int rate);
void enableExtra3Transmission(int rate);
/** @brief Update the system state */
void updateState();
......
src/uas/UASInterface.h
View file @ 671c1cec
......@@ -220,12 +220,12 @@ public slots:
*/
virtual void setSelected() = 0;
virtual void enableAllDataTransmission(bool enabled) = 0;
virtual void enableRawSensorDataTransmission(bool enabled) = 0;
virtual void enableExtendedSystemStatusTransmission(bool enabled) = 0;
virtual void enableRCChannelDataTransmission(bool enabled) = 0;
virtual void enableRawControllerDataTransmission(bool enabled) = 0;
virtual void enableRawSensorFusionTransmission(bool enabled) = 0;
virtual void enableAllDataTransmission(int rate) = 0;
virtual void enableRawSensorDataTransmission(int rate) = 0;
virtual void enableExtendedSystemStatusTransmission(int rate) = 0;
virtual void enableRCChannelDataTransmission(int rate) = 0;
virtual void enableRawControllerDataTransmission(int rate) = 0;
virtual void enableRawSensorFusionTransmission(int rate) = 0;
virtual void setLocalPositionSetpoint(float x, float y, float z, float yaw) = 0;
virtual void setLocalPositionOffset(float x, float y, float z, float yaw) = 0;
......
src/ui/QGCSensorSettingsWidget.cc
View file @ 671c1cec
......@@ -37,14 +37,15 @@ QGCSensorSettingsWidget::QGCSensorSettingsWidget(UASInterface* uas, QWidget *par
ui(new Ui::QGCSensorSettingsWidget)
{
ui->setupUi(this);
connect(ui->sendRawCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableRawSensorDataTransmission(bool)));
connect(ui->sendControllerCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableRawControllerDataTransmission(bool)));
connect(ui->sendExtendedCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableExtendedSystemStatusTransmission(bool)));
connect(ui->sendRCCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableRCChannelDataTransmission(bool)));
connect(ui->sendPositionCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enablePositionTransmission(bool)));
connect(ui->sendExtra1CheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableExtra1Transmission(bool)));
connect(ui->sendExtra2CheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableExtra2Transmission(bool)));
connect(ui->sendExtra3CheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableExtra3Transmission(bool)));
// XXX: This might be a bad idea sending a message every time the value changes
connect(ui->spinBox_rawSensor, SIGNAL(valueChanged(int)), mav, SLOT(enableRawSensorDataTransmission(int)));
connect(ui->spinBox_controller, SIGNAL(valueChanged(int)), mav, SLOT(enableRawControllerDataTransmission(int)));
connect(ui->spinBox_extended, SIGNAL(valueChanged(int)), mav, SLOT(enableExtendedSystemStatusTransmission(int)));
connect(ui->spinBox_rc, SIGNAL(valueChanged(int)), mav, SLOT(enableRCChannelDataTransmission(int)));
connect(ui->spinBox_position, SIGNAL(valueChanged(int)), mav, SLOT(enablePositionTransmission(int)));
connect(ui->spinBox_extra1, SIGNAL(valueChanged(int)), mav, SLOT(enableExtra1Transmission(int)));
connect(ui->spinBox_extra2, SIGNAL(valueChanged(int)), mav, SLOT(enableExtra2Transmission(int)));
connect(ui->spinBox_extra3, SIGNAL(valueChanged(int)), mav, SLOT(enableExtra3Transmission(int)));
// Calibration
connect(ui->rcCalButton, SIGNAL(clicked()), mav, SLOT(startRadioControlCalibration()));
......
src/ui/QGCSensorSettingsWidget.ui
View file @ 671c1cec
......@@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>231</width>
<width>237</width>
<height>221</height>
</rect>
</property>
......@@ -75,7 +75,7 @@
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>Activate Extended Output</string>
<string>Data Stream Rates (Hz)</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<property name="leftMargin">
......@@ -97,70 +97,114 @@
<number>2</number>
</property>
<item row="0" column="0">
<widget class="QCheckBox" name="sendRawCheckBox">
<property name="enabled">
<bool>true</bool>
<widget class="QSpinBox" name="spinBox_rawSensor">
<property name="maximum">
<number>10000</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label">
<property name="text">
<string>RAW Sensors</string>
<string>Raw Sensor</string>
</property>
<property name="checked">
<bool>false</bool>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="spinBox_extended">
<property name="maximum">
<number>10000</number>
</property>
<property name="tristate">
<bool>false</bool>
</widget>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="spinBox_position">
<property name="maximum">
<number>10000</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QCheckBox" name="sendRCCheckBox">
<property name="enabled">
<bool>true</bool>
<item row="5" column="0">
<widget class="QSpinBox" name="spinBox_controller">
<property name="maximum">
<number>10000</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_2">
<property name="text">
<string>RC Values</string>
<string>Extended</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="sendPositionCheckBox">
<item row="4" column="1">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Position CTRL</string>
<string>Position</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="sendControllerCheckBox">
<item row="5" column="1">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Attitude CTRL</string>
<string>Controller</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QCheckBox" name="sendExtra1CheckBox">
<item row="0" column="2">
<widget class="QSpinBox" name="spinBox_rc">
<property name="maximum">
<number>10000</number>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="spinBox_extra1">
<property name="maximum">
<number>10000</number>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QSpinBox" name="spinBox_extra2">
<property name="maximum">
<number>10000</number>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QSpinBox" name="spinBox_extra3">
<property name="maximum">
<number>10000</number>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Send Extra1</string>
<string>RC Values</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="sendExtendedCheckBox">
<item row="1" column="3">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Attitude</string>
<string>Extra 1</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QCheckBox" name="sendExtra2CheckBox">
<item row="4" column="3">
<widget class="QLabel" name="label_7">
<property name="text">
<string>Send Extra2</string>
<string>Extra 2</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QCheckBox" name="sendExtra3CheckBox">
<item row="5" column="3">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Send Extra3</string>
<string>Extra 3</string>
</property>
</widget>
</item>
......
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