Merge branch 'master' of https://github.com/mavlink/qgroundcontrol

.gitignore

@@ -14,6 +14,7 @@ bin/*.exe
 bin/*.txt
 bin/mac
 *pro.user*
+.qmake.stash
 qrc_*.cpp
 *.Debug
 *.Release

qgroundcontrol.pro

@@ -269,9 +269,6 @@ FORMS += \
     src/ui/QMap3D.ui \
     src/ui/QGCWebView.ui \
     src/ui/map3D/QGCGoogleEarthView.ui \
-    src/ui/SlugsDataSensorView.ui \
-    src/ui/SlugsHilSim.ui \
-    src/ui/SlugsPadCameraControl.ui \
     src/ui/uas/QGCUnconnectedInfoWidget.ui \
     src/ui/designer/QGCToolWidget.ui \
     src/ui/designer/QGCParamSlider.ui \
@@ -407,7 +404,6 @@ HEADERS += \
     src/ui/QGCParamWidget.h \
     src/ui/QGCSensorSettingsWidget.h \
     src/ui/linechart/Linecharts.h \
-    src/uas/SlugsMAV.h \
     src/uas/PxQuadMAV.h \
     src/uas/ArduPilotMegaMAV.h \
     src/uas/senseSoarMAV.h \
@@ -431,9 +427,6 @@ HEADERS += \
     src/comm/QGCMAVLink.h \
     src/ui/QGCWebView.h \
     src/ui/map3D/QGCWebPage.h \
-    src/ui/SlugsDataSensorView.h \
-    src/ui/SlugsHilSim.h \
-    src/ui/SlugsPadCameraControl.h \
     src/ui/QGCMainWindowAPConfigurator.h \
     src/comm/MAVLinkSwarmSimulationLink.h \
     src/ui/uas/QGCUnconnectedInfoWidget.h \
@@ -601,7 +594,6 @@ SOURCES += \
     src/ui/QGCParamWidget.cc \
     src/ui/QGCSensorSettingsWidget.cc \
     src/ui/linechart/Linecharts.cc \
-    src/uas/SlugsMAV.cc \
     src/uas/PxQuadMAV.cc \
     src/uas/ArduPilotMegaMAV.cc \
     src/uas/senseSoarMAV.cpp \
@@ -624,9 +616,6 @@ SOURCES += \
     src/ui/RadioCalibration/RadioCalibrationData.cc \
     src/ui/QGCWebView.cc \
     src/ui/map3D/QGCWebPage.cc \
-    src/ui/SlugsDataSensorView.cc \
-    src/ui/SlugsHilSim.cc \
-    src/ui/SlugsPadCameraControl.cpp \
     src/ui/QGCMainWindowAPConfigurator.cc \
     src/comm/MAVLinkSwarmSimulationLink.cc \
     src/ui/uas/QGCUnconnectedInfoWidget.cc \
@@ -767,7 +756,8 @@ HEADERS += \
 	src/qgcunittest/FlightModeConfigTest.h \
 	src/qgcunittest/FlightGearTest.h \
 	src/qgcunittest/TCPLinkTest.h \
-	src/qgcunittest/TCPLoopBackServer.h
+	src/qgcunittest/TCPLoopBackServer.h \
+	src/qgcunittest/QGCUASFileManagerTest.h
 
 SOURCES += \
 	src/qgcunittest/UASUnitTest.cc \
@@ -779,4 +769,5 @@ SOURCES += \
 	src/qgcunittest/FlightModeConfigTest.cc \
 	src/qgcunittest/FlightGearTest.cc \
 	src/qgcunittest/TCPLinkTest.cc \
-	src/qgcunittest/TCPLoopBackServer.cc
+	src/qgcunittest/TCPLoopBackServer.cc \
+	src/qgcunittest/QGCUASFileManagerTest.cc

src/comm/MAVLinkProtocol.cc

@@ -24,7 +24,6 @@
 #include "UASManager.h"
 #include "UASInterface.h"
 #include "UAS.h"
-#include "SlugsMAV.h"
 #include "PxQuadMAV.h"
 #include "ArduPilotMegaMAV.h"
 #include "configuration.h"

src/qgcunittest/MockMavlinkFileServer.cc

@@ -281,7 +281,7 @@ void MockMavlinkFileServer::_emitResponse(QGCUASFileManager::Request* request)
     
     request->hdr.crc32 = QGCUASFileManager::crc32(request);
     
-    mavlink_msg_encapsulated_data_pack(250, 0, &mavlinkMessage, 0 /*_encdata_seq*/, (uint8_t*)request);
+    mavlink_msg_encapsulated_data_pack(250, MAV_COMP_ID_IMU, &mavlinkMessage, 0 /*_encdata_seq*/, (uint8_t*)request);
     
     emit messageReceived(NULL, mavlinkMessage);
 }

src/qgcunittest/MultiSignalSpy.cc

@@ -96,6 +96,7 @@ bool MultiSignalSpy::checkSignalByMask(quint16 mask)
             Q_ASSERT(spy != NULL);
             
             if (spy->count() !=  1) {
+                _printSignalState();
                 return false;
             }
         }
@@ -114,10 +115,12 @@ bool MultiSignalSpy::checkOnlySignalByMask(quint16 mask)
 
         if ((1 << i) & mask) {
             if (spy->count() != 1) {
+                _printSignalState();
                 return false;
             }
         } else {
             if (spy->count() != 0) {
+                _printSignalState();
                 return false;
             }
         }
@@ -135,6 +138,7 @@ bool MultiSignalSpy::checkNoSignalByMask(quint16 mask)
             Q_ASSERT(spy != NULL);
 
             if (spy->count() != 0) {
+                _printSignalState();
                 return false;
             }
         }
@@ -232,3 +236,12 @@ bool MultiSignalSpy::waitForSignalByIndex(
 
     return spy->count() != 0;
 }
+
+void MultiSignalSpy::_printSignalState(void)
+{
+    for (size_t i=0; i<_cSignals; i++) {
+        QSignalSpy* spy = _rgSpys[i];
+        Q_ASSERT(spy != NULL);
+        qDebug() << "Signal index:" << i << "count:" << spy->count();
+    }
+}

src/qgcunittest/MultiSignalSpy.h

@@ -59,6 +59,8 @@ public:
 private:
     // QObject overrides
     void timerEvent(QTimerEvent * event);
+    
+    void _printSignalState(void);
 
     QObject*        _signalEmitter;
     const char**    _rgSignals;

src/qgcunittest/QGCUASFileManagerTest.cc

@@ -53,6 +53,7 @@ void QGCUASFileManagerUnitTest::init(void)
     
     bool connected = connect(&_mockFileServer, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), _fileManager, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
     Q_ASSERT(connected);
+    Q_UNUSED(connected);    // Silent release build compiler warning
 
     connected = connect(_fileManager, SIGNAL(statusMessage(const QString&)), this, SLOT(statusMessage(const QString&)));
     Q_ASSERT(connected);

src/qgcunittest/TCPLinkTest.cc

@@ -150,7 +150,7 @@ void TCPLinkUnitTest::_connectSucceed_test(void)
     QCOMPARE(_link->connect(), true);
     
     // Make sure we get the two different connected signals
-    QCOMPARE(_multiSpy->waitForSignalByIndex(connectedSignalIndex, 1000), true);
+    QCOMPARE(_multiSpy->waitForSignalByIndex(connectedSignalIndex, 10000), true);
     QCOMPARE(_multiSpy->checkOnlySignalByMask(connectedSignalMask | connected2SignalMask), true);
     QList<QVariant> arguments = _multiSpy->getSpyByIndex(connected2SignalIndex)->takeFirst();
     QCOMPARE(arguments.at(0).toBool(), true);

src/uas/QGCMAVLinkUASFactory.cc

@@ -67,20 +67,6 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
         uas = px4;
     }
     break;
-    case MAV_AUTOPILOT_SLUGS:
-    {
-        SlugsMAV* mav = new SlugsMAV(mavlink, worker, sysid);
-        // Set the system type
-        mav->setSystemType((int)heartbeat->type);
-
-        // Connect this robot to the UAS object
-        // it is IMPORTANT here to use the right object type,
-        // else the slot of the parent object is called (and thus the special
-        // packets never reach their goal)
-        connect(mavlink, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
-        uas = mav;
-    }
-    break;
     case MAV_AUTOPILOT_ARDUPILOTMEGA:
     {
         ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(mavlink, worker, sysid);

src/uas/QGCMAVLinkUASFactory.h

@@ -10,7 +10,6 @@
 
 // INCLUDE ALL MAV/UAS CLASSES USING MAVLINK
 #include "UAS.h"
-#include "SlugsMAV.h"
 #include "PxQuadMAV.h"
 #include "senseSoarMAV.h"
 #include "ArduPilotMegaMAV.h"

src/uas/SlugsMAV.cc

-#include "SlugsMAV.h"
-
-#include <QDebug>
-
-SlugsMAV::SlugsMAV(MAVLinkProtocol* mavlink, QThread* thread, int id) :
-    UAS(mavlink, thread, id)
-{
-    widgetTimer = new QTimer (this);
-    widgetTimer->setInterval(SLUGS_UPDATE_RATE);
-
-    connect (widgetTimer, SIGNAL(timeout()), this, SLOT(emitSignals()));
-    widgetTimer->start();
-    memset(&mlRawImuData ,0, sizeof(mavlink_raw_imu_t));// clear all the state structures
-
-#ifdef MAVLINK_ENABLED_SLUGS
-
-
-    memset(&mlGpsData, 0, sizeof(mavlink_gps_raw_t));
-    memset(&mlCpuLoadData, 0, sizeof(mavlink_cpu_load_t));
-    memset(&mlAirData, 0, sizeof(mavlink_air_data_t));
-    memset(&mlSensorBiasData, 0, sizeof(mavlink_sensor_bias_t));
-    memset(&mlDiagnosticData, 0, sizeof(mavlink_diagnostic_t));
-    memset(&mlBoot ,0, sizeof(mavlink_boot_t));
-    memset(&mlGpsDateTime ,0, sizeof(mavlink_gps_date_time_t));
-    memset(&mlApMode ,0, sizeof(mavlink_set_mode_t));
-    memset(&mlNavigation ,0, sizeof(mavlink_slugs_navigation_t));
-    memset(&mlDataLog ,0, sizeof(mavlink_data_log_t));
-    memset(&mlPassthrough ,0, sizeof(mavlink_ctrl_srfc_pt_t));
-    memset(&mlActionAck,0, sizeof(mavlink_action_ack_t));
-    memset(&mlAction ,0, sizeof(mavlink_slugs_action_t));
-
-    memset(&mlScaled ,0, sizeof(mavlink_scaled_imu_t));
-    memset(&mlServo ,0, sizeof(mavlink_servo_output_raw_t));
-    memset(&mlChannels ,0, sizeof(mavlink_rc_channels_raw_t));
-
-    updateRoundRobin = 0;
-    uasId = id;
-#endif
-}
-
-/**
- * This function is called by MAVLink once a complete, uncorrupted (CRC check valid)
- * mavlink packet is received.
- *
- * @param link Hardware link the message came from (e.g. /dev/ttyUSB0 or UDP port).
- *             messages can be sent back to the system via this link
- * @param message MAVLink message, as received from the MAVLink protocol stack
- */
-void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
-{
-    UAS::receiveMessage(link, message);// Let UAS handle the default message set
-
-    if (message.sysid == uasId) {
-#ifdef MAVLINK_ENABLED_SLUGS// Handle your special messages mavlink_message_t* msg = &message;
-
-        switch (message.msgid) {
-        case MAVLINK_MSG_ID_RAW_IMU:
-            mavlink_msg_raw_imu_decode(&message, &mlRawImuData);
-            break;
-
-        case MAVLINK_MSG_ID_BOOT:
-            mavlink_msg_boot_decode(&message,&mlBoot);
-            emit slugsBootMsg(uasId, mlBoot);
-            break;
-
-        case MAVLINK_MSG_ID_ATTITUDE:
-            mavlink_msg_attitude_decode(&message, &mlAttitude);
-            break;
-
-        case MAVLINK_MSG_ID_GPS_RAW:
-            mavlink_msg_gps_raw_decode(&message, &mlGpsData);
-            break;
-
-        case MAVLINK_MSG_ID_CPU_LOAD:       //170
-            mavlink_msg_cpu_load_decode(&message,&mlCpuLoadData);
-            break;
-
-        case MAVLINK_MSG_ID_AIR_DATA:       //171
-            mavlink_msg_air_data_decode(&message,&mlAirData);
-            break;
-
-        case MAVLINK_MSG_ID_SENSOR_BIAS:    //172
-            mavlink_msg_sensor_bias_decode(&message,&mlSensorBiasData);
-            break;
-
-        case MAVLINK_MSG_ID_DIAGNOSTIC:     //173
-            mavlink_msg_diagnostic_decode(&message,&mlDiagnosticData);
-            break;
-
-        case MAVLINK_MSG_ID_SLUGS_NAVIGATION://176
-            mavlink_msg_slugs_navigation_decode(&message,&mlNavigation);
-            break;
-
-        case MAVLINK_MSG_ID_DATA_LOG:       //177
-            mavlink_msg_data_log_decode(&message,&mlDataLog);
-            break;
-
-        case MAVLINK_MSG_ID_GPS_DATE_TIME:    //179
-            mavlink_msg_gps_date_time_decode(&message,&mlGpsDateTime);
-            break;
-
-        case MAVLINK_MSG_ID_MID_LVL_CMDS:     //180
-            mavlink_msg_mid_lvl_cmds_decode(&message, &mlMidLevelCommands);
-            break;
-
-        case MAVLINK_MSG_ID_CTRL_SRFC_PT:     //181
-            mavlink_msg_ctrl_srfc_pt_decode(&message, &mlPassthrough);
-            break;
-
-        case MAVLINK_MSG_ID_SLUGS_ACTION:     //183
-            mavlink_msg_slugs_action_decode(&message, &mlAction);
-            break;
-
-        case MAVLINK_MSG_ID_SCALED_IMU:
-            mavlink_msg_scaled_imu_decode(&message, &mlScaled);
-            break;
-
-        case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
-            mavlink_msg_servo_output_raw_decode(&message, &mlServo);
-            break;
-
-        case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
-            mavlink_msg_rc_channels_raw_decode(&message, &mlChannels);
-            break;
-
-            switch (mlAction.actionId) {
-            case SLUGS_ACTION_EEPROM:
-                if (mlAction.actionVal == SLUGS_ACTION_FAIL) {
-                    emit textMessageReceived(message.sysid, message.compid, MAV_SEVERITY_ERROR, "EEPROM Write Fail, Data was not saved in Memory!");
-                }
-                break;
-
-            case SLUGS_ACTION_PT_CHANGE:
-                if (mlAction.actionVal == SLUGS_ACTION_SUCCESS) {
-                    emit textMessageReceived(message.sysid, message.compid, MAV_SEVERITY_INFO, "Passthrough Succesfully Changed");
-                }
-                break;
-
-            case SLUGS_ACTION_MLC_CHANGE:
-                if (mlAction.actionVal == SLUGS_ACTION_SUCCESS) {
-                    emit textMessageReceived(message.sysid, message.compid, MAV_SEVERITY_INFO, "Mid-level Commands Succesfully Changed");
-                }
-                break;
-            }
-
-            //break;
-
-        default:
-            //        qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
-            break;
-        }
-#endif
-    }
-}
-
-
-
-void SlugsMAV::emitSignals (void)
-{
-#ifdef MAVLINK_ENABLED_SLUGS
-    switch(updateRoundRobin) {
-    case 1:
-        emit slugsCPULoad(uasId, mlCpuLoadData);
-        emit slugsSensorBias(uasId,mlSensorBiasData);
-        break;
-
-    case 2:
-        emit slugsAirData(uasId, mlAirData);
-        emit slugsDiagnostic(uasId,mlDiagnosticData);
-
-        break;
-
-    case 3:
-        emit slugsNavegation(uasId, mlNavigation);
-        emit slugsDataLog(uasId, mlDataLog);
-        break;
-
-    case 4:
-        emit slugsGPSDateTime(uasId, mlGpsDateTime);
-
-        break;
-
-    case 5:
-        emit slugsActionAck(uasId,mlActionAck);
-        emit emitGpsSignals();
-        break;
-
-    case 6:
-        emit slugsChannels(uasId, mlChannels);
-        emit slugsServo(uasId, mlServo);
-        emit slugsScaled(uasId, mlScaled);
-
-        break;
-    }
-
-    emit slugsAttitude(uasId, mlAttitude);
-    emit attitudeChanged(this,
-                         mlAttitude.roll,
-                         mlAttitude.pitch,
-                         mlAttitude.yaw,
-                         0.0);
-#endif
-
-    emit slugsRawImu(uasId, mlRawImuData);
-
-
-    // wrap around
-    updateRoundRobin = updateRoundRobin > 10? 1: updateRoundRobin + 1;
-
-
-}
-
-#ifdef MAVLINK_ENABLED_SLUGS
-void SlugsMAV::emitGpsSignals (void)
-{
-
-    // qDebug()<<"After Emit GPS Signal"<<mlGpsData.fix_type;
-
-
-    //ToDo Uncomment if. it was comment only to test
-
-// if (mlGpsData.fix_type > 0){
-    emit globalPositionChanged(this,
-                               mlGpsData.lon,
-                               mlGpsData.lat,
-                               mlGpsData.alt,
-                               0.0);
-
-    emit slugsGPSCogSog(uasId,mlGpsData.hdg, mlGpsData.v);
-
-}
-
-
-
-#endif // MAVLINK_ENABLED_SLUGS

src/uas/SlugsMAV.h

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-    QGROUNDCONTROL is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    QGROUNDCONTROL is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-#ifndef SLUGSMAV_H
-#define SLUGSMAV_H
-
-#include "UAS.h"
-#include "mavlink.h"
-#include <QTimer>
-
-#define SLUGS_UPDATE_RATE   200   // in ms
-class SlugsMAV : public UAS
-{
-    Q_OBJECT
-    Q_INTERFACES(UASInterface)
-
-    enum SLUGS_ACTION {
-        SLUGS_ACTION_NONE,
-        SLUGS_ACTION_SUCCESS,
-        SLUGS_ACTION_FAIL,
-        SLUGS_ACTION_EEPROM,
-        SLUGS_ACTION_MODE_CHANGE,
-        SLUGS_ACTION_MODE_REPORT,
-        SLUGS_ACTION_PT_CHANGE,
-        SLUGS_ACTION_PT_REPORT,
-        SLUGS_ACTION_PID_CHANGE,
-        SLUGS_ACTION_PID_REPORT,
-        SLUGS_ACTION_WP_CHANGE,
-        SLUGS_ACTION_WP_REPORT,
-        SLUGS_ACTION_MLC_CHANGE,
-        SLUGS_ACTION_MLC_REPORT
-    };
-
-
-public:
-    SlugsMAV(MAVLinkProtocol* mavlink, QThread* thread, int id = 0);
-
-public slots:
-    /** @brief Receive a MAVLink message from this MAV */
-    void receiveMessage(LinkInterface* link, mavlink_message_t message);
-
-    void emitSignals (void);
-
-signals:
-
-    void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData);
-    void slugsGPSCogSog(int uasId, double cog, double sog);
-
-#ifdef MAVLINK_ENABLED_SLUGS
-
-    void slugsCPULoad(int systemId, const mavlink_cpu_load_t& cpuLoad);
-    void slugsAirData(int systemId, const mavlink_air_data_t& airData);
-    void slugsSensorBias(int systemId, const mavlink_sensor_bias_t& sensorBias);
-    void slugsDiagnostic(int systemId, const mavlink_diagnostic_t& diagnostic);
-    void slugsNavegation(int systemId, const mavlink_slugs_navigation_t& slugsNavigation);
-    void slugsDataLog(int systemId, const mavlink_data_log_t& dataLog);
-    void slugsGPSDateTime(int systemId, const mavlink_gps_date_time_t& gpsDateTime);
-    void slugsActionAck(int systemId, const mavlink_action_ack_t& actionAck);
-
-    void slugsBootMsg(int uasId, mavlink_boot_t& boot);
-    void slugsAttitude(int uasId, mavlink_attitude_t& attitude);
-
-    void slugsScaled(int uasId, const mavlink_scaled_imu_t& scaled);
-    void slugsServo(int uasId, const mavlink_servo_output_raw_t& servo);
-    void slugsChannels(int uasId, const mavlink_rc_channels_raw_t& channels);
-
-#endif
-
-protected:
-    unsigned char updateRoundRobin;
-    QTimer* widgetTimer;
-    mavlink_raw_imu_t mlRawImuData;
-
-#ifdef MAVLINK_ENABLED_SLUGS
-    mavlink_gps_raw_t mlGpsData;
-    mavlink_attitude_t mlAttitude;
-    mavlink_cpu_load_t mlCpuLoadData;
-    mavlink_air_data_t mlAirData;
-    mavlink_sensor_bias_t mlSensorBiasData;
-    mavlink_diagnostic_t mlDiagnosticData;
-    mavlink_boot_t mlBoot;
-    mavlink_gps_date_time_t mlGpsDateTime;
-    mavlink_mid_lvl_cmds_t mlMidLevelCommands;
-    mavlink_set_mode_t mlApMode;
-
-    mavlink_slugs_navigation_t mlNavigation;
-    mavlink_data_log_t mlDataLog;
-    mavlink_ctrl_srfc_pt_t mlPassthrough;
-    mavlink_action_ack_t mlActionAck;
-
-    mavlink_slugs_action_t mlAction;
-
-    mavlink_scaled_imu_t mlScaled;
-    mavlink_servo_output_raw_t mlServo;
-    mavlink_rc_channels_raw_t mlChannels;
-
-
-    // Standart messages MAVLINK used by SLUGS
-private:
-
-
-    void emitGpsSignals (void);
-    void emitPidSignal(void);
-
-    int uasId;
-
-#endif // if SLUGS
-
-};
-
-#endif // SLUGSMAV_H

src/ui/MainWindow.cc

@@ -85,7 +85,6 @@ This file is part of the QGROUNDCONTROL project
 
 // FIXME Move
 #include "PxQuadMAV.h"
-#include "SlugsMAV.h"
 
 #include "LogCompressor.h"
 

src/ui/MainWindow.h

@@ -65,12 +65,8 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCGoogleEarthView.h"
 #endif
 #include "QGCToolBar.h"
-#include "SlugsDataSensorView.h"
 #include "LogCompressor.h"
 
-#include "SlugsHilSim.h"
-
-#include "SlugsPadCameraControl.h"
 #include "UASControlParameters.h"
 #include "QGCMAVLinkInspector.h"
 #include "QGCMAVLinkLogPlayer.h"
@@ -463,9 +459,6 @@ protected:
     QPointer<QDockWidget> hsiDockWidget;
     QPointer<QDockWidget> rcViewDockWidget;
     QPointer<QDockWidget> hudDockWidget;
-    QPointer<QDockWidget> slugsDataWidget;
-    QPointer<QDockWidget> slugsHilSimWidget;
-    QPointer<QDockWidget> slugsCamControlWidget;
 
     QPointer<QGCToolBar> toolBar;
     QPointer<QGCStatusBar> customStatusBar;

src/ui/SlugsDataSensorView.h

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-    QGROUNDCONTROL is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    QGROUNDCONTROL is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Grpahical presentation of SLUGS generated data
- *
- *   @author Juan F. Robles  <jfroblesc@gmail.com>
- *
- */
-
-#ifndef SLUGSDATASENSORVIEW_H
-#define SLUGSDATASENSORVIEW_H
-
-#include <QWidget>
-
-#include "UASInterface.h"
-#include "SlugsMAV.h"
-#include "mavlink.h"
-
-
-namespace Ui
-{
-class SlugsDataSensorView;
-}
-
-class SlugsDataSensorView : public QWidget
-{
-    Q_OBJECT
-
-public:
-    explicit SlugsDataSensorView(QWidget *parent = 0);
-    ~SlugsDataSensorView();
-
-public slots:
-    /**
-         * @brief Adds the UAS for data display
-         *
-         * Adds the UAS and makes all the correct connections for data display on the Widgets. If
-         * there is no current UAS active, it sets it as active.
-
-         * @param uas The UAS being added
-    */
-    void addUAS(UASInterface* uas);
-
-    /**
-         * @brief Sets the UAS as active
-         *
-         * @param uas The UAS being set as active
-    */
-    void setActiveUAS(UASInterface* uas);
-
-
-    /**
-         * @brief Updates the Raw Data widget
-    */
-    void slugRawDataChanged (int uasId, const mavlink_raw_imu_t& rawData);
-
-#ifdef MAVLINK_ENABLED_SLUGS
-    /**
-         * @brief Adds the UAS for data display
-         *
-         * Adds the UAS and makes all the correct connections for data display on the Widgets
-    */
-    void slugLocalPositionChanged(UASInterface* uas,
-                                  double x,
-                                  double y,
-                                  double z,
-                                  quint64 time);
-    /**
-         * @brief Adds the UAS for data display
-         *
-         * Adds the UAS and makes all the correct connections for data display on the Widgets
-    */
-    void slugSpeedLocalPositionChanged(UASInterface* uas,
-                                       double vx,
-                                       double vy,
-                                       double vz,
-                                       quint64 time);
-    /**
-         * @brief Adds the UAS for data display
-         *
-         * Adds the UAS and makes all the correct connections for data display on the Widgets
-    */
-    void slugAttitudeChanged(UASInterface* uas,
-                             double slugroll,
-                             double slugpitch,
-                             double slugyaw,
-                             quint64 time);
-
-    /**
-         * @brief Adds the UAS for data display
-         *
-         * Adds the UAS and makes all the correct connections for data display on the Widgets
-    */
-    void slugsGlobalPositionChanged(UASInterface* uas,
-                                    double lat,
-                                    double lon,
-                                    double alt,
-                                    quint64 time);
-
-    /**
-         * @brief set COG and SOG values
-         *
-         * COG and SOG GPS display on the Widgets
-    */
-    void slugsGPSCogSog(int systemId,
-                        double cog,
-                        double sog);
-
-
-
-    /**
-         * @brief Updates the CPU load widget - 170
-    */
-    void slugsCpuLoadChanged(int systemId,
-                             const mavlink_cpu_load_t& cpuLoad);
-
-    /**
-         * @brief Updates the air data widget - 171
-    */
-    void slugsAirDataChanged(int systemId,
-                             const mavlink_air_data_t& airData);
-
-    /**
-         * @brief Updates the sensor bias widget - 172
-    */
-    void slugsSensorBiasChanged(int systemId,
-                                const mavlink_sensor_bias_t& sensorBias);
-
-    /**
-         * @brief Updates the diagnostic widget - 173
-    */
-    void slugsDiagnosticMessageChanged(int systemId,
-                                       const mavlink_diagnostic_t& diagnostic);
-
-
-    /**
-         * @brief Updates the Navigation widget - 176
-    */
-    void slugsNavegationChanged(int systemId,
-                                const mavlink_slugs_navigation_t& slugsNavigation);
-
-    /**
-         * @brief Updates the Data Log widget - 177
-    */
-    void  slugsDataLogChanged(int systemId,
-                              const mavlink_data_log_t& dataLog);
-
-//   /**
-//        * @brief Updates the PWM Commands widget - 175
-//   */
-//   void slugsPWMChanged(int systemId,
-//                        const mavlink_servo_output_raw_t& pwmCommands);
-
-    /**
-         * @brief Updates the filtered sensor measurements widget - 178
-    */
-    void slugsFilteredDataChanged(int systemId,
-                                  const mavlink_scaled_imu_t& filteredData);
-
-
-    /**
-         * @brief Updates the gps Date Time widget - 179
-    */
-    void slugsGPSDateTimeChanged(int systemId,
-                                 const mavlink_gps_date_time_t& gpsDateTime);
-
-
-    void slugsRCRawChannels(int systemId,
-                            const mavlink_rc_channels_raw_t& gpsDateTime);
-
-    void slugsRCServo(int systemId,
-                      const mavlink_servo_output_raw_t& gpsDateTime);
-
-
-#endif // MAVLINK_ENABLED_SLUGS
-
-protected:
-    UASInterface* activeUAS;
-
-private:
-    Ui::SlugsDataSensorView *ui;
-
-
-
-
-
-
-
-};
-
-#endif // SLUGSDATASENSORVIEW_H

src/ui/SlugsHilSim.h

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-    QGROUNDCONTROL is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    QGROUNDCONTROL is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Definition of the configuration Window for Slugs' HIL Simulator
- *   @author Mariano Lizarraga <malife@gmail.com>
- */
-
-#ifndef SLUGSHILSIM_H
-#define SLUGSHILSIM_H
-
-#include <stdint.h>
-
-#include <QWidget>
-#include <QHostAddress>
-#include <QUdpSocket>
-#include <QMessageBox>
-#include <QByteArray>
-
-
-#include "LinkInterface.h"
-#include "UAS.h"
-#include "LinkManager.h"
-#include "SlugsMAV.h"
-
-
-namespace Ui
-{
-class SlugsHilSim;
-}
-
-class SlugsHilSim : public QWidget
-{
-    Q_OBJECT
-
-public:
-    explicit SlugsHilSim(QWidget *parent = 0);
-    ~SlugsHilSim();
-
-
-
-protected:
-    LinkInterface* hilLink;
-    QHostAddress* simulinkIp;
-    QUdpSocket* txSocket;
-    QUdpSocket* rxSocket;
-    UAS* activeUas;
-
-    mavlink_local_position_ned_t tmpLocalPositionData;
-    mavlink_attitude_t tmpAttitudeData;
-    mavlink_raw_imu_t tmpRawImuData;
-#ifdef MAVLINK_ENABLED_SLUGS
-    mavlink_air_data_t tmpAirData;
-#endif
-    mavlink_gps_raw_int_t tmpGpsData;
-#ifdef MAVLINK_ENABLED_SLUGS
-    mavlink_gps_date_time_t tmpGpsTime;
-#endif
-
-public slots:
-
-    /**
-     * @brief Adds a link to the combo box listing so the user can select a link
-     *
-     * Populates the Combo box that allows the user to select the link with which Slugs will
-     * receive the simulated sensor data from Simulink
-     *
-     * @param theLink the link that is being added to the combo box
-     */
-    void addToCombo(LinkInterface* theLink);
-
-    /**
-     * @brief Puts Slugs in HIL Mode
-     *
-     * Sends the required messages through the main communication link to set Slugs in HIL Mode
-     *
-     */
-    void putInHilMode(void);
-
-    /**
-     * @brief Receives a datagram from Simulink containing the sensor data.
-     *
-     * Receives a datagram from Simulink containing the simulated sensor data. This data is then
-     * forwarded to Slugs to use as input to the attitude estimation and navigation algorithms.
-     *
-     */
-    void readDatagram(void);
-
-    /**
-     * @brief Called when the a new UAS is set to active.
-     *
-     * Called when the a new UAS is set to active.
-     *
-     * @param uas The new active UAS
-     */
-    void activeUasSet(UASInterface* uas);
-
-    /**
-     * @brief Called when the Link combobox selects a new link.
-     *
-     * @param uas The new index of the selected link
-     */
-    void linkSelected (int cbIndex);
-
-public slots:
-
-
-
-private:
-
-    typedef union _tFloatToChar {
-        unsigned char   chData[4];
-        float   		flData;
-    } tFloatToChar;
-
-    typedef union _tUint16ToChar {
-        unsigned char   chData[2];
-        uint16_t   		uiData;
-    } tUint16ToChar;
-
-    Ui::SlugsHilSim *ui;
-
-    QHash <int, LinkInterface*> linksAvailable;
-
-    void processHilDatagram (const QByteArray* datagram);
-    float getFloatFromDatagram (const QByteArray* datagram, unsigned char * i);
-    uint16_t getUint16FromDatagram (const QByteArray* datagram, unsigned char * i);
-    void setUInt16ToDatagram(QByteArray& datagram, unsigned char* pos, uint16_t value);
-
-
-    void sendMessageToSlugs();
-
-    void commandDatagramToSimulink();
-
-};
-
-#endif // SLUGSHILSIM_H

src/ui/SlugsHilSim.ui

-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>SlugsHilSim</class>
- <widget class="QWidget" name="SlugsHilSim">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>337</width>
-    <height>278</height>
-   </rect>
-  </property>
-  <property name="minimumSize">
-   <size>
-    <width>320</width>
-    <height>252</height>
-   </size>
-  </property>
-  <property name="maximumSize">
-   <size>
-    <width>450</width>
-    <height>278</height>
-   </size>
-  </property>
-  <property name="font">
-   <font>
-    <pointsize>10</pointsize>
-   </font>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout_2">
-     <item>
-      <layout class="QGridLayout" name="gridLayout">
-       <item row="0" column="0">
-        <widget class="QLabel" name="label_2">
-         <property name="font">
-          <font>
-           <pointsize>10</pointsize>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
-         </property>
-         <property name="layoutDirection">
-          <enum>Qt::LeftToRight</enum>
-         </property>
-         <property name="text">
-          <string>IP Address</string>
-         </property>
-        </widget>
-       </item>
-       <item row="0" column="1">
-        <widget class="QLineEdit" name="ed_ipAdress">
-         <property name="minimumSize">
-          <size>
-           <width>60</width>
-           <height>18</height>
-          </size>
-         </property>
-         <property name="maximumSize">
-          <size>
-           <width>80</width>
-           <height>18</height>
-          </size>
-         </property>
-        </widget>
-       </item>
-       <item row="1" column="0" colspan="2">
-        <widget class="Line" name="line">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-        </widget>
-       </item>
-       <item row="2" column="0">
-        <widget class="QLabel" name="label">
-         <property name="font">
-          <font>
-           <pointsize>10</pointsize>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
-         </property>
-         <property name="layoutDirection">
-          <enum>Qt::LeftToRight</enum>
-         </property>
-         <property name="text">
-          <string>Receive Port</string>
-         </property>
-        </widget>
-       </item>
-       <item row="2" column="1">
-        <widget class="QLineEdit" name="ed_rxPort">
-         <property name="minimumSize">
-          <size>
-           <width>60</width>
-           <height>18</height>
-          </size>
-         </property>
-         <property name="maximumSize">
-          <size>
-           <width>80</width>
-           <height>18</height>
-          </size>
-         </property>
-        </widget>
-       </item>
-       <item row="3" column="0">
-        <widget class="QLabel" name="label_3">
-         <property name="font">
-          <font>
-           <pointsize>10</pointsize>
-           <weight>75</weight>
-           <bold>true</bold>
-          </font>
-         </property>
-         <property name="layoutDirection">
-          <enum>Qt::LeftToRight</enum>
-         </property>
-         <property name="text">
-          <string>Send Port</string>
-         </property>
-        </widget>
-       </item>
-       <item row="3" column="1">
-        <widget class="QLineEdit" name="ed_txPort">
-         <property name="minimumSize">
-          <size>
-           <width>60</width>
-           <height>18</height>
-          </size>
-         </property>
-         <property name="maximumSize">
-          <size>
-           <width>80</width>
-           <height>18</height>
-          </size>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer_2">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-    </layout>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout_3">
-     <item>
-      <widget class="QLabel" name="label_4">
-       <property name="font">
-        <font>
-         <pointsize>10</pointsize>
-         <weight>75</weight>
-         <bold>true</bold>
-        </font>
-       </property>
-       <property name="layoutDirection">
-        <enum>Qt::RightToLeft</enum>
-       </property>
-       <property name="text">
-        <string>Slugs HIL Link</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer_3">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item>
-      <widget class="QComboBox" name="cb_mavlinkLinks">
-       <property name="minimumSize">
-        <size>
-         <width>171</width>
-         <height>26</height>
-        </size>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout">
-     <item>
-      <spacer name="horizontalSpacer">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-     <item>
-      <widget class="QPushButton" name="bt_startHil">
-       <property name="text">
-        <string>Set Slugs in HIL Mode</string>
-       </property>
-       <property name="checkable">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout_4">
-     <item>
-      <widget class="QLabel" name="label_7">
-       <property name="font">
-        <font>
-         <pointsize>10</pointsize>
-         <weight>75</weight>
-         <bold>true</bold>
-        </font>
-       </property>
-       <property name="layoutDirection">
-        <enum>Qt::LeftToRight</enum>
-       </property>
-       <property name="text">
-        <string>Count</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QLineEdit" name="ed_count">
-       <property name="minimumSize">
-        <size>
-         <width>60</width>
-         <height>18</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>80</width>
-         <height>18</height>
-        </size>
-       </property>
-       <property name="readOnly">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer_4">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-    </layout>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout_5">
-     <item>
-      <widget class="QLineEdit" name="ed_1">
-       <property name="minimumSize">
-        <size>
-         <width>60</width>
-         <height>18</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>80</width>
-         <height>18</height>
-        </size>
-       </property>
-       <property name="readOnly">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QLineEdit" name="ed_2">
-       <property name="minimumSize">
-        <size>
-         <width>60</width>
-         <height>18</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>80</width>
-         <height>18</height>
-        </size>
-       </property>
-       <property name="readOnly">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QLineEdit" name="ed_3">
-       <property name="minimumSize">
-        <size>
-         <width>60</width>
-         <height>18</height>
-        </size>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>80</width>
-         <height>18</height>
-        </size>
-       </property>
-       <property name="readOnly">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout_6">
-     <item>
-      <widget class="QLineEdit" name="tbA"/>
-     </item>
-     <item>
-      <widget class="QLineEdit" name="tbB"/>
-     </item>
-     <item>
-      <widget class="QLineEdit" name="tbC"/>
-     </item>
-    </layout>
-   </item>
-  </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>

src/ui/SlugsPadCameraControl.cpp

-#include "SlugsPadCameraControl.h"
-#include "ui_SlugsPadCameraControl.h"
-
-SlugsPadCameraControl::SlugsPadCameraControl(QWidget *parent) :
-    QWidget(parent),
-    ui(new Ui::SlugsPadCameraControl),
-    dragging(0)
-{
-    ui->setupUi(this);
-    x1= 0;
-    y1 = 0;
-    motion = NONE;
-}
-
-SlugsPadCameraControl::~SlugsPadCameraControl()
-{
-    delete ui;
-}
-
-void SlugsPadCameraControl::activeUasSet(UASInterface *uas)
-{
-    if(uas) {
-        this->activeUAS= uas;
-    }
-}
-
-void SlugsPadCameraControl::mouseMoveEvent(QMouseEvent *event)
-{
-    Q_UNUSED(event);
-
-    if(dragging) {
-        getDeltaPositionPad(event->x(), event->y());
-    }
-}
-
-void SlugsPadCameraControl::mousePressEvent(QMouseEvent *event)
-{
-    if(!dragging) {
-        dragging = true;
-        x1 = event->x();
-        y1 = event->y();
-    }
-}
-
-void SlugsPadCameraControl::mouseReleaseEvent(QMouseEvent *event)
-{
-    if(dragging) {
-        dragging = false;
-        getDeltaPositionPad(event->x(), event->y());
-
-        xFin = event->x();
-        yFin = event->y();
-    }
-}
-
-void SlugsPadCameraControl::getDeltaPositionPad(int x2, int y2)
-{
-    QPointF localMeasures = ObtenerMarcacionDistanciaPixel(y1,x1,y2,x2);
-
-    if(localMeasures.y()>10) {
-        QString dir = "nd";
-
-        double bearing = localMeasures.x();
-
-        bearing = bearing +90;
-
-        if(bearing>= 360) {
-            bearing = bearing - 360;
-        }
-
-        if(bearing >337.5 || bearing <=22.5) {
-            motion= UP;
-            movePad = QPoint(0, 1);
-            dir = "UP";
-        } else if(bearing >22.5 && bearing <=67.5) {
-            motion= RIGHT_UP;
-            movePad = QPoint(1, 1);
-            dir = "RIGHT UP";
-        } else if(bearing >67.5 && bearing <=112.5) {
-            motion= RIGHT;
-            movePad = QPoint(1, 0);
-            dir = "RIGHT";
-        } else if(bearing >112.5 && bearing <= 157.5) {
-            motion= RIGHT_DOWN;
-            movePad = QPoint(1, -1);
-            dir = "RIGHT DOWN";
-        } else if(bearing >157.5 && bearing <=202.5) {
-            motion= DOWN;
-            movePad = QPoint(0, -1);
-            dir = "DOWN";
-        } else if(bearing >202.5 && bearing <=247.5) {
-            motion= LEFT_DOWN;
-            movePad = QPoint(-1, -1);
-            dir = "LEFT DOWN";
-        } else if(bearing >247.5 && bearing <=292.5) {
-            motion= LEFT;
-            movePad = QPoint(-1, 0);
-            dir = "LEFT";
-        } else if(bearing >292.5 && bearing <=337.5) {
-            motion= LEFT_UP;
-            movePad = QPoint(-1, 1);
-            dir = "LEFT UP";
-        }
-
-        emit changeMotionCamera(motion);
-
-        ui->lbPixel->setText(QString::number(localMeasures.y()));
-        ui->lbDirection->setText(dir);
-
-        //qDebug()<<dir;
-        update();
-    }
-}
-
-QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, double lat1,
-        double lon2, double lat2)
-{
-    double cateto_opuesto,cateto_adyacente, hipotenusa;//, distancia;
-    double marcacion = 0.0;
-
-    //latitude and longitude first point
-
-    if(lat1<0) lat1= lat1*(-1);
-    if(lat2<0) lat2= lat2*(-1);
-    if(lon1<0) lon1= lon1*(-1);
-    if(lon2<0) lon1= lon1*(-1);
-
-    cateto_opuesto = abs((lat1-lat2));
-    cateto_adyacente = abs((lon1-lon2));
-
-    hipotenusa = sqrt(pow(cateto_opuesto,2) + pow(cateto_adyacente,2));
-    //distancia = hipotenusa*60.0;
-
-
-    if ((lat1 < lat2) && (lon1 > lon2)) //primer cuadrante
-        marcacion = 360 -((asin(cateto_adyacente/hipotenusa))/ 0.017453292);
-    else if ((lat1 < lat2) && (lon1 < lon2)) //segundo cuadrante
-        marcacion = (asin(cateto_adyacente/hipotenusa))/ 0.017453292;
-    else if((lat1 > lat2) && (lon1 < lon2)) //tercer cuadrante
-        marcacion = 180 -((asin(cateto_adyacente/hipotenusa))/ 0.017453292);
-    else if((lat1 > lat2) && (lon1 > lon2)) //cuarto cuadrante
-        marcacion = 180 +((asin(cateto_adyacente/hipotenusa))/ 0.017453292);
-    else if((lat1 < lat2) && (lon1 == lon2)) //360
-        marcacion = 360;
-    else if((lat1 == lat2) && (lon1 > lon2)) //270
-        marcacion = 270;
-    else if((lat1 > lat2) && (lon1 == lon2)) //180
-        marcacion = 180;
-    else if((lat1 == lat2) && (lon1 < lon2)) //90
-        marcacion =90;
-    else if((lat1 == lat2) && (lon1 == lon2)) //0
-        marcacion = 0.0;
-
-    return QPointF(marcacion,hipotenusa);// distancia);
-}
-
-void SlugsPadCameraControl::keyPressEvent(QKeyEvent *event)
-{
-    switch (event->key()) {
-    case Qt::Key_Left:
-        emit changeMotionCamera(LEFT);
-        break;
-
-    case Qt::Key_Right:
-        emit changeMotionCamera(RIGHT);
-        break;
-
-    case Qt::Key_Down:
-        emit changeMotionCamera(DOWN);
-        break;
-
-    case Qt::Key_Up:
-        emit changeMotionCamera(UP);
-        break;
-
-    default:
-        QWidget::keyPressEvent(event);
-    }
-}

src/ui/SlugsPadCameraControl.h

-#ifndef SLUGSPADCAMERACONTROL_H
-#define SLUGSPADCAMERACONTROL_H
-
-#include <QWidget>
-#include <QGraphicsView>
-#include <QMouseEvent>
-#include <QKeyEvent>
-#include <QDebug>
-#include <qmath.h>
-#include <QPainter>
-#include "UASManager.h"
-
-namespace Ui
-{
-class SlugsPadCameraControl;
-}
-
-class SlugsPadCameraControl : public QWidget //QGraphicsView//
-{
-    Q_OBJECT
-
-public:
-    explicit SlugsPadCameraControl(QWidget *parent = 0);
-
-    ~SlugsPadCameraControl();
-
-    enum MotionCamera {
-        UP,
-        DOWN,
-        LEFT,
-        RIGHT,
-        RIGHT_UP,
-        RIGHT_DOWN,
-        LEFT_UP,
-        LEFT_DOWN,
-        NONE
-    };
-
-public slots:
-    void getDeltaPositionPad(int x, int y);
-    QPointF ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2);
-    void activeUasSet(UASInterface *uas);
-
-signals:
-    void changeMotionCamera(MotionCamera);
-
-protected:
-    void mousePressEvent(QMouseEvent* event);
-    void mouseReleaseEvent(QMouseEvent* event);
-    void mouseMoveEvent(QMouseEvent* event);
-    void keyPressEvent(QKeyEvent *event);
-    //void paintEvent(QPaintEvent *pe);
-
-
-private:
-    Ui::SlugsPadCameraControl *ui;
-    bool dragging;
-    int x1;
-    int y1;
-    int xFin;
-    int yFin;
-    QString directionPad;
-    MotionCamera motion;
-    UASInterface* activeUAS;
-    QPoint movePad;
-
-};
-
-#endif // SLUGSPADCAMERACONTROL_H

src/ui/SlugsPadCameraControl.ui

-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>SlugsPadCameraControl</class>
- <widget class="QWidget" name="SlugsPadCameraControl">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>200</width>
-    <height>200</height>
-   </rect>
-  </property>
-  <property name="minimumSize">
-   <size>
-    <width>200</width>
-    <height>200</height>
-   </size>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <property name="styleSheet">
-   <string notr="true">background-color: rgb(255, 170, 0);</string>
-  </property>
-  <layout class="QGridLayout" name="gridLayout">
-   <property name="margin">
-    <number>1</number>
-   </property>
-   <property name="spacing">
-    <number>1</number>
-   </property>
-   <item row="0" column="0">
-    <widget class="QFrame" name="frame">
-     <property name="minimumSize">
-      <size>
-       <width>200</width>
-       <height>200</height>
-      </size>
-     </property>
-     <property name="mouseTracking">
-      <bool>true</bool>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: rgb(135, 206, 235);</string>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
-     </property>
-     <property name="frameShadow">
-      <enum>QFrame::Raised</enum>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_2">
-      <item row="0" column="0">
-       <spacer name="verticalSpacer">
-        <property name="orientation">
-         <enum>Qt::Vertical</enum>
-        </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>20</width>
-          <height>156</height>
-         </size>
-        </property>
-       </spacer>
-      </item>
-      <item row="1" column="0">
-       <layout class="QHBoxLayout" name="horizontalLayout">
-        <item>
-         <widget class="QLabel" name="lbPixel">
-          <property name="styleSheet">
-           <string notr="true"/>
-          </property>
-          <property name="text">
-           <string>----</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QLabel" name="lbDirection">
-          <property name="text">
-           <string>----</string>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </item>
-     </layout>
-    </widget>
-   </item>
-  </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>

src/ui/SlugsVideoCamControl.cpp

-#include "SlugsVideoCamControl.h"
-#include "ui_SlugsVideoCamControl.h"
-
-#include <QGraphicsScene>
-#include <QGraphicsTextItem>
-#include <QTextStream>
-#include <QScrollBar>
-#include <QMouseEvent>
-#include <QWheelEvent>
-#include <QDebug>
-#include <qmath.h>
-#include <QPainter>
-#include <QGridLayout>
-#include <QVBoxLayout>
-#include <QHBoxLayout>
-#include <QPushButton>
-#include "SlugsPadCameraControl.h"
-
-
-SlugsVideoCamControl::SlugsVideoCamControl(QWidget *parent) :
-    QWidget(parent),
-    ui(new Ui::SlugsVideoCamControl)
-{
-    ui->setupUi(this);
-//   x1= 0;
-//   y1 = 0;
-
-    connect(ui->viewCamBordeatMap_checkBox,SIGNAL(clicked(bool)),this,SLOT(changeViewCamBorderAtMapStatus(bool)));
-    padCamera = new SlugsPadCameraControl(this);
-
-    ui->gridLayout->addWidget(padCamera);
-
-    //connect(padCamera,SIGNAL(mouseMoveCoord(int,int)),this,SLOT(mousePadMoveEvent(int,int)));
-    //connect(padCamera,SIGNAL(mousePressCoord(int,int)),this,SLOT(mousePadPressEvent(int,int)));
-    //connect(padCamera,SIGNAL(mouseReleaseCoord(int,int)),this,SLOT(mousePadReleaseEvent(int,int)));
-    //connect(padCamera,SIGNAL(changeCursorPosition(double,double,QString)),this,SLOT(getDeltaPositionPad(double,double,QString)));
-
-
-}
-
-SlugsVideoCamControl::~SlugsVideoCamControl()
-{
-    delete ui;
-}
-
-//void SlugsVideoCamControl::mouseMoveEvent(QMouseEvent *event)
-//{
-//     Q_UNUSED(event);
-
-//}
-
-
-//void SlugsVideoCamControl::mousePressEvent(QMouseEvent *evnt)
-//{
-//  Q_UNUSED(evnt);
-
-//}
-
-//void SlugsVideoCamControl::mouseReleaseEvent(QMouseEvent *evnt)
-//{
-//    Q_UNUSED(evnt);
-
-//}
-
-
-//void SlugsVideoCamControl::mousePadMoveEvent(int x, int y)
-//{
-
-//}
-
-//void SlugsVideoCamControl::mousePadPressEvent(int x, int y)
-//{
-
-//}
-
-//void SlugsVideoCamControl::mousePadReleaseEvent(int x, int y)
-//{
-
-
-//}
-
-void SlugsVideoCamControl::changeViewCamBorderAtMapStatus(bool status)
-{
-    emit viewCamBorderAtMap(status);
-}
-
-void SlugsVideoCamControl::getDeltaPositionPad(double bearing, double distance, QString dirText)
-{
-    ui->label_dir->setText(dirText);
-    ui->label_x->setText("Distancia= " + QString::number(distance));
-    ui->label_y->setText("Bearing= " + QString::number(bearing));
-
-    //emit changeCamPosition(20, bearing, dirText);
-}
-

src/ui/dongfang-scrapyard.txt

-
-    /* This information is at least for the time not shown here but rather in some always visible bar.
-    void updateBattery(UASInterface*, double, double, double, int);
-    void receiveHeartbeat(UASInterface*);
-    void updateMode(int id,QString mode, QString description);
-    void updateLoad(UASInterface*, double);
-    void updateState(UASInterface*,QString);
-    void updateGPSFixType(UASInterface*,int);
-    void updateSatelliteCount(double count,QString sth);
-    void updateThrust(UASInterface*, double);
-    void updateLocalPosition(UASInterface*,double,double,double,quint64);
-    void updateGlobalPosition(UASInterface*,double,double,double,quint64);
-    void selectWaypoint(int uasId, int id);
-    */
-
-    /*
-    bool uavIsArmed;
-    QString mode;
-    QString state;
-    float load;
-
-    double batteryVoltage;
-    double batteryCurrent;
-    double batteryCharge;
-
-    int GPSFixType;
-    int satelliteCount;
-    */
-
-
-
-
-    batteryVoltage(UNKNOWN_BATTERY),
-    batteryCurrent(UNKNOWN_BATTERY),
-    batteryCharge(UNKNOWN_BATTERY),
-
-    GPSFixType(UNKNOWN_GPSFIXTYPE),
-    satelliteCount(UNKNOWN_COUNT),
-
-
-    uavIsArmed(false),      // TODO: This is an assumption. We have no idea!
-    mode("-"),
-    state("-"),
-    load(0),
-
-void PrimaryFlightDisplay::updateBattery(UASInterface* uas, double voltage, double current, double percent, int seconds)
-{
-    Q_UNUSED(uas);
-    Q_UNUSED(seconds);
-
-    batteryVoltage = voltage;
-    batteryCurrent = current;
-    batteryCharge = percent;
-}
-
-void PrimaryFlightDisplay::updateGPSFixType(UASInterface* uas, int fixType) {
-    Q_UNUSED(uas);
-    this->GPSFixType = fixType;
-}
-
-void PrimaryFlightDisplay::updateSatelliteCount(double count, QString name) {
-    Q_UNUSED(uas)
-    this->satelliteCount = (int)count;
-}
-
-void PrimaryFlightDisplay::receiveHeartbeat(UASInterface*)
-{
-}
-
-void PrimaryFlightDisplay::updateThrust(UASInterface* uas, double thrust)
-{
-    Q_UNUSED(uas);
-    Q_UNUSED(thrust);
-}
-
-/*
- * TODO! Implementation or removal of this.
- * Currently a dummy.
- */
-void PrimaryFlightDisplay::updateLocalPosition(UASInterface* uas,double x,double y,double z,quint64 timestamp)
-{
-    Q_UNUSED(uas);
-    Q_UNUSED(x);
-    Q_UNUSED(y);
-    Q_UNUSED(z);
-    Q_UNUSED(timestamp);
-}
-
-void PrimaryFlightDisplay::updateGlobalPosition(UASInterface* uas,double lat, double lon, double altitude, quint64 timestamp)
-{
-    Q_UNUSED(uas);
-    Q_UNUSED(lat);
-    Q_UNUSED(lon);
-    Q_UNUSED(timestamp);
-
-    // TODO: Examine whether this is really the GPS alt or the mix-alt coming in.
-    GPSAltitude = altitude;
-}
-
-
-void PrimaryFlightDisplay::updateState(UASInterface* uas,QString state)
-{
-    // Only one UAS is connected at a time
-    Q_UNUSED(uas);
-    this->state = state;
-}
-
-void PrimaryFlightDisplay::updateMode(int id, QString mode, QString description)
-{
-    // Only one UAS is connected at a time
-    Q_UNUSED(id);
-    Q_UNUSED(description);
-    this->mode = mode;
-}
-
-void PrimaryFlightDisplay::updateLoad(UASInterface* uas, double load)
-{
-    Q_UNUSED(uas);
-    this->load = load;
-    //updateValue(uas, "load", load, MG::TIME::getGroundTimeNow());
-}
-
-void PrimaryFlightDisplay::selectWaypoint(int uasId, int id) {
-}
-
-void PrimaryFlightDisplay::drawLinkStatsPanel (
-        QPainter& painter,
-        QRectF area) {
-    // UAV Id
-    // Droprates up, down
-    QString s_linkStat("100%");
-    QString s_upTime("01:23:34");
-
-    painter.resetTransform();
-
-    if (style == NO_OVERLAYS)
-        drawInstrumentBackground(painter, area);
-
-    painter.translate(area.center());
-
-    QPen pen;
-    pen.setWidthF(lineWidth);
-    pen.setColor(amberColor);
-    painter.setPen(pen);
-
-    drawTextCenter(painter, s_linkStat, mediumTextSize, 0, -area.height()/6);
-    drawTextCenter(painter, s_upTime, mediumTextSize, 0, area.height()/6);
-}
-
-void PrimaryFlightDisplay::drawMissionStatsPanel (
-        QPainter& painter,
-        QRectF area) {
-    // Flight mode
-    // next WP
-    // next WP dist
-    QString s_flightMode("Auto");
-    QString s_nextWP("1234m\u21924");
-
-    painter.resetTransform();
-
-    if (style == NO_OVERLAYS)
-        drawInstrumentBackground(painter, area);
-
-    painter.translate(area.center());
-
-    QPen pen;
-    pen.setWidthF(lineWidth);
-    pen.setColor(amberColor);
-    painter.setPen(pen);
-    drawTextCenter(painter, s_flightMode, mediumTextSize, 0, -area.height()/6);
-    drawTextCenter(painter, s_nextWP, mediumTextSize, 0, area.height()/6);
-}
-
-void PrimaryFlightDisplay::drawSensorsStatsPanel (
-        QPainter& painter,
-        QRectF area) {
-    // GPS fixmode and #sats
-    // Home alt.?
-    // Groundspeed?
-    QString s_GPS("GPS 3D(8)");
-    QString s_homealt("H.alt 472m");
-
-    painter.resetTransform();
-
-    if (style == NO_OVERLAYS)
-        drawInstrumentBackground(painter, area);
-
-    painter.translate(area.center());
-
-    QPen pen;
-    pen.setWidthF(lineWidth);
-    pen.setColor(amberColor);
-    painter.setPen(pen);
-
-    drawTextCenter(painter, s_GPS, mediumTextSize, 0, -area.height()/6);
-    drawTextCenter(painter, s_homealt, mediumTextSize, 0, area.height()/6);
-}
-void PrimaryFlightDisplay::drawSysStatsPanel (
-        QPainter& painter,
-        QRectF area) {
-    // Timer
-    // Battery
-    // Armed/not
-
-    /*
-    energyStatus = tr("BAT [%1V | %2V%]").arg(voltage, 4, 'f', 1, QChar('0')).arg(percent, 2, 'f', 0, QChar('0'));
-    if (percent < 20.0f) {
-        fuelColor = warningColor;
-    } else if (percent < 10.0f) {
-        fuelColor = criticalColor;
-    } else {
-        fuelColor = infoColor;
-    }
-    */
-
-    QString voltageStatus = batteryVoltage == UNKNOWN_BATTERY ? "-V" :
-            tr("%1V").arg(batteryVoltage, 4, 'f', 1, QChar('0'));
-    QString chargeStatus = batteryCharge == UNKNOWN_BATTERY ? "-%" :
-            tr("%2%").arg(batteryCharge, 2, 'f', 0, QChar('0'));
-    // We ignore current right now.
-
-    QString batteryStatus = voltageStatus.append(" ").append(chargeStatus);
-
-    QString s_arm = uavIsArmed ? "Armed" : "Disarmed";
-
-    painter.resetTransform();
-
-    if (style == NO_OVERLAYS)
-        drawInstrumentBackground(painter, area);
-
-    painter.translate(area.center());
-
-    QPen pen;
-    pen.setWidthF(lineWidth);
-    pen.setColor(amberColor);
-    painter.setPen(pen);
-
-    drawTextCenter(painter, batteryStatus, mediumTextSize, 0, -area.height()/6);
-    pen.setColor(redColor);
-    drawTextCenter(painter, s_arm, mediumTextSize, 0, area.height()/6);
-}
-
-

src/ui/uas/UASControlParameters.cpp

@@ -4,18 +4,6 @@
 #define CONTROL_MODE_LOCKED "MODE LOCKED"
 #define CONTROL_MODE_MANUAL "MODE MANUAL"
 
-#ifdef MAVLINK_ENABLED_SLUGS
-#define CONTROL_MODE_GUIDED "MODE MID-L CMDS"
-#define CONTROL_MODE_AUTO   "MODE WAYPOINT"
-#define CONTROL_MODE_TEST1  "MODE PASST"
-#define CONTROL_MODE_TEST2  "MODE SEL PT"
-#else
-#define CONTROL_MODE_GUIDED "MODE GUIDED"
-#define CONTROL_MODE_AUTO   "MODE AUTO"
-#define CONTROL_MODE_TEST1  "MODE TEST1"
-#define CONTROL_MODE_TEST2  "MODE TEST2"
-#endif
-
 #define CONTROL_MODE_READY  "MODE TEST3"
 #define CONTROL_MODE_RC_TRAINING  "RC SIMULATION"
 
@@ -61,21 +49,6 @@ void UASControlParameters::changedMode(int mode)
     case (uint8_t)MAV_MODE_MANUAL_DISARMED:
         modeTemp = "D/MANUAL MODE";
         break;
-#ifdef MAVLINK_ENABLED_SLUGS
-    case (uint8_t)MAV_MODE_AUTO:
-        modeTemp = "WAYPOINT MODE";
-        break;
-    case (uint8_t)MAV_MODE_GUIDED:
-        modeTemp = "MID-L CMDS MODE";
-        break;
-
-    case (uint8_t)MAV_MODE_TEST1:
-        modeTemp = "PASST MODE";
-        break;
-    case (uint8_t)MAV_MODE_TEST2:
-        modeTemp = "SEL PT MODE";
-        break;
-#endif
     default:
         modeTemp = "UNKNOWN MODE";
         break;
@@ -131,20 +104,6 @@ void UASControlParameters::updateAttitude(UASInterface *uas, double roll, double
 
 void UASControlParameters::setCommands()
 {
-#ifdef MAVLINK_ENABLED_SLUGS
-    if(this->activeUAS) {
-        UAS* myUas= static_cast<UAS*>(this->activeUAS);
-
-        mavlink_message_t msg;
-
-        tempCmds.uCommand = ui->sbAirSpeed->value();
-        tempCmds.hCommand = ui->sbHeight->value();
-        tempCmds.rCommand = ui->sbTurnRate->value();
-
-        mavlink_msg_mid_lvl_cmds_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &this->tempCmds);
-        myUas->sendMessage(msg);
-    }
-#endif
 }
 
 void UASControlParameters::getCommands()
@@ -156,40 +115,6 @@ void UASControlParameters::getCommands()
 
 void UASControlParameters::setPassthrough()
 {
-#ifdef MAVLINK_ENABLED_SLUGS
-    if(this->activeUAS) {
-        UAS* myUas= static_cast<UAS*>(this->activeUAS);
-
-        mavlink_message_t msg;
-
-        int8_t tmpBit=0;
-
-        if(ui->cxdle_c->isChecked()) { //left elevator command
-            tmpBit+=8;
-        }
-        if(ui->cxdr_c->isChecked()) { //rudder command
-            tmpBit+=16;
-        }
-
-        if(ui->cxdla_c->isChecked()) { //left aileron command
-            tmpBit+=64;
-        }
-        if(ui->cxdt_c->isChecked()) { //throttle command
-            tmpBit+=128;
-        }
-
-        generic_16bit r;
-        r.b[1] = 0;
-        r.b[0] = tmpBit;//255;
-
-        tempCtrl.target= this->activeUAS->getUASID();
-        tempCtrl.bitfieldPt= (uint16_t)r.s;
-
-        mavlink_msg_ctrl_srfc_pt_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &this->tempCtrl);
-        myUas->sendMessage(msg);
-        //qDebug()<<tempCtrl.bitfieldPt;
-    }
-#endif
 }
 
 void UASControlParameters::updateMode(int uas,QString mode,QString description)

src/ui/uas/UASControlParameters.h

@@ -3,7 +3,6 @@
 
 #include <QWidget>
 #include "UASManager.h"
-#include "SlugsMAV.h"
 #include <QTimer>
 #include <QTabWidget>
 
@@ -45,10 +44,6 @@ private:
     QString REDcolorStyle;
     QPointer<RadioCalibrationData> radio;
     LinkInterface* hilLink;
-#ifdef MAVLINK_ENABLED_SLUGS
-    mavlink_mid_lvl_cmds_t tempCmds;
-    mavlink_ctrl_srfc_pt_t tempCtrl;
-#endif
 };
 
 #endif // UASCONTROLPARAMETERS_H