Merge

src/uas/ArduPilotMegaMAV.cc

@@ -27,6 +27,15 @@ This file is part of the QGROUNDCONTROL project
  */
 
 #include "ArduPilotMegaMAV.h"
+
+#ifndef mavlink_mount_configure_t
+#include "ardupilotmega/mavlink_msg_mount_configure.h"
+#endif
+
+#ifndef mavlink_mount_control_t
+#include "ardupilotmega/mavlink_msg_mount_control.h";
+#endif
+
 ArduPilotMegaMAV::ArduPilotMegaMAV(MAVLinkProtocol* mavlink, int id) :
     UAS(mavlink, id)//,
     // place other initializers here

src/uas/UAS.cc

@@ -2026,15 +2026,13 @@ QImage UAS::getImage()
     // RAW greyscale
     if (imageType == MAVLINK_DATA_STREAM_IMG_RAW8U)
     {
-        // TODO FIXME
-        int imgColors = 255;//imageSize/(imageWidth*imageHeight);
-        //const int headerSize = 15;
+        int imgColors = 255;
 
         // Construct PGM header
         QString header("P5\n%1 %2\n%3\n");
         header = header.arg(imageWidth).arg(imageHeight).arg(imgColors);
 
-        QByteArray tmpImage(header.toStdString().c_str(), header.toStdString().size());
+        QByteArray tmpImage(header.toStdString().c_str(), header.toStdString().size() - 1);
         tmpImage.append(imageRecBuffer);
 
         //qDebug() << "IMAGE SIZE:" << tmpImage.size() << "HEADER SIZE: (15):" << header.size() << "HEADER: " << header;
@@ -2047,7 +2045,7 @@ QImage UAS::getImage()
 
         if (!image.loadFromData(tmpImage, "PGM"))
         {
-            qDebug()<< "could not create extracted image";
+            qDebug()<< __FILE__ << __LINE__ << "could not create extracted image";
             return QImage();
         }
 
@@ -2060,7 +2058,7 @@ QImage UAS::getImage()
     {
         if (!image.loadFromData(imageRecBuffer))
         {
-            qDebug() << "Loading data from image buffer failed!";
+            qDebug() << __FILE__ << __LINE__ << "Loading data from image buffer failed!";
         }
     }
     // Restart statemachine

src/ui/HUD.cc

@@ -34,6 +34,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QMenu>
 #include <QDesktopServices>
 #include <QFileDialog>
+#include <QPaintEvent>
 #include <QDebug>
 
 #include <cmath>
@@ -43,15 +44,9 @@ This file is part of the QGROUNDCONTROL project
 #include "UASManager.h"
 #include "UAS.h"
 #include "HUD.h"
-#include "MG.h"
 #include "QGC.h"
 #include "MainWindow.h"
 
-// Fix for some platforms, e.g. windows
-#ifndef GL_MULTISAMPLE
-#define GL_MULTISAMPLE  0x809D
-#endif
-
 /**
  * @warning The HUD widget will not start painting its content automatically
  *          to update the view, start the auto-update by calling HUD::start().
@@ -61,7 +56,7 @@ This file is part of the QGROUNDCONTROL project
  * @param parent
  */
 HUD::HUD(int width, int height, QWidget* parent)
-    : QWidget(parent),
+    : QLabel(parent),
       uas(NULL),
       yawInt(0.0f),
       mode(tr("UNKNOWN MODE")),
@@ -114,12 +109,13 @@ HUD::HUD(int width, int height, QWidget* parent)
       load(0.0f),
       offlineDirectory(""),
       nextOfflineImage(""),
-      HUDInstrumentsEnabled(true),
+      HUDInstrumentsEnabled(false),
       videoEnabled(true),
       xImageFactor(1.0),
       yImageFactor(1.0),
       imageLoggingEnabled(false),
       imageRequested(false)
+    image(NULL)
 {
     // Set auto fill to false
     setAutoFillBackground(false);
@@ -136,18 +132,10 @@ HUD::HUD(int width, int height, QWidget* parent)
 
     // Refresh timer
     refreshTimer->setInterval(updateInterval);
-    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintHUD()));
+    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(repaint()));
 
     // Resize to correct size and fill with image
     QWidget::resize(this->width(), this->height());
-    //glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
-
-    // Set size once
-    //setFixedSize(fill.size());
-    //setMinimumSize(fill.size());
-    //setMaximumSize(fill.size());
-    // Lock down the size
-    //setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
 
     fontDatabase = QFontDatabase();
     const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
@@ -527,10 +515,8 @@ void HUD::paintRollPitchStrips()
 
 void HUD::paintEvent(QPaintEvent *event)
 {
-    // Event is not needed
-    // the event is ignored as this widget
-    // is refreshed automatically
-    Q_UNUSED(event);
+
+    paintHUD();
 }
 
 void HUD::paintHUD()
@@ -611,6 +597,13 @@ void HUD::paintHUD()
 
         }
 
+        QPainter painter;
+        painter.begin(this);
+        painter.setRenderHint(QPainter::Antialiasing, true);
+        painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
+        QPixmap pmap = QPixmap::fromImage(glImage).scaledToWidth(width());
+        painter.drawPixmap(0, (height() - pmap.height()) / 2, pmap);
+
         // END OF OPENGL PAINTING
 
         if (HUDInstrumentsEnabled)
@@ -620,10 +613,7 @@ void HUD::paintHUD()
 
             // QT PAINTING
             //makeCurrent();
-            QPainter painter;
-            painter.begin(this);
-            painter.setRenderHint(QPainter::Antialiasing, true);
-            painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
+
             painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);
 
             // COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET
@@ -784,13 +774,12 @@ void HUD::paintHUD()
                 painter.rotate(-(att.x()/M_PI)* -180.0f);
             }
 
-            painter.end();
-        } else {
-            QPainter painter;
-            painter.begin(this);
-            painter.end();
+
         }
+
+        painter.end();
     }
+
 }
 
 
@@ -1225,7 +1214,8 @@ void HUD::setImageSize(int width, int height, int depth, int channels)
         rawBuffer1 = (unsigned char*)malloc(rawExpectedBytes);
         rawBuffer2 = (unsigned char*)malloc(rawExpectedBytes);
         rawImage = rawBuffer1;
-        // TODO check if old image should be deleted
+        if (image)
+            delete image;
 
         // Set image format
         // 8 BIT GREYSCALE IMAGE
@@ -1399,20 +1389,16 @@ void HUD::setPixels(int imgid, const unsigned char* imageData, int length, int s
 
 void HUD::copyImage()
 {
-    if (isVisible() && HUDInstrumentsEnabled)
+    UAS* u = dynamic_cast<UAS*>(this->uas);
+    if (u)
     {
-        //qDebug() << "HUD::copyImage()";
-        UAS* u = dynamic_cast<UAS*>(this->uas);
-        if (u)
-        {
-            this->glImage = u->getImage();
+        this->glImage = u->getImage();
 
-            // Save to directory if logging is enabled
-            if (imageLoggingEnabled)
-            {
-                u->getImage().save(QString("%1/%2.png").arg(imageLogDirectory).arg(imageLogCounter));
-                imageLogCounter++;
-            }
+        // Save to directory if logging is enabled
+        if (imageLoggingEnabled)
+        {
+            u->getImage().save(QString("%1/%2.png").arg(imageLogDirectory).arg(imageLogCounter));
+            imageLogCounter++;
         }
     }
 }

src/ui/HUD.h

@@ -34,6 +34,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QImage>
 #include <QWidget>
+#include <QLabel>
 #include <QPainter>
 #include <QFontDatabase>
 #include <QTimer>
@@ -48,7 +49,7 @@ This file is part of the QGROUNDCONTROL project
  * It can superimpose the HUD over the current live image stream (any arriving image stream will be auto-
  * matically used as background), or it draws the classic blue-brown background known from instruments.
  */
-class HUD : public QWidget
+class HUD : public QLabel
 {
     Q_OBJECT
 public:
@@ -139,7 +140,7 @@ protected:
     void contextMenuEvent (QContextMenuEvent* event);
     void createActions();
 
-    static const int updateInterval = 40;
+    static const int updateInterval = 100;
 
     QImage* image; ///< Double buffer image
     QImage glImage; ///< The background / camera image

src/ui/MAVLinkDecoder.cc

@@ -17,8 +17,9 @@ MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
     }
 
     // Fill filter
-    messageFilter.insert(MAVLINK_MSG_ID_HEARTBEAT, false);
-    messageFilter.insert(MAVLINK_MSG_ID_SYS_STATUS, false);
+    // Allow system status
+//    messageFilter.insert(MAVLINK_MSG_ID_HEARTBEAT, false);
+//    messageFilter.insert(MAVLINK_MSG_ID_SYS_STATUS, false);
     messageFilter.insert(MAVLINK_MSG_ID_STATUSTEXT, false);
     messageFilter.insert(MAVLINK_MSG_ID_COMMAND_LONG, false);
     messageFilter.insert(MAVLINK_MSG_ID_COMMAND_ACK, false);
@@ -200,7 +201,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
 
     // Add field tree widget item
     uint8_t msgid = msg->msgid;
-    //if (messageFilter.contains(msgid)) return;
+    if (messageFilter.contains(msgid)) return;
     QString fieldName(messageInfo[msgid].fields[fieldid].name);
     QString fieldType;
     uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8;

src/ui/MainWindow.cc

@@ -482,11 +482,7 @@ void MainWindow::buildCommonWidgets()
     {
         pilotView = new SubMainWindow(this);
         pilotView->setObjectName("VIEW_FLIGHT");
-        //pilotView->setCentralWidget(new HUD(320,240,this));
         pilotView->setCentralWidget(new QGCMapTool(this));
-        //hudWidget         = new HUD(320, 240, this);
-        //addCentralWidget(hudWidget, tr("Head Up Display"));
-        //mapWidget = new QGCMapTool(this);
         addCentralWidget(pilotView, "Pilot");
     }
     if (!configView)
@@ -586,18 +582,9 @@ void MainWindow::buildCommonWidgets()
         connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
     }
 
-    // createDockWidget(simView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
+    createDockWidget(engineeringView,new HUD(320,240,this),tr("Video Downlink"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea,this->width()/1.5);
     createDockWidget(simView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
 
-    //createDockWidget(pilotView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_FLIGHT,Qt::RightDockWidgetArea);
-//    createDockWidget(pilotView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
-    //createDockWidget(pilotView,new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
-
-    //UASQuickView *quickview = new UASQuickView(this);
-    //quickview->addSource(mavlinkDecoder);
-
-
-    //createDockWidget(pilotView,quickview,tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
     createDockWidget(pilotView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
 
     QGCTabbedInfoView *infoview = new QGCTabbedInfoView(this);

src/ui/QGCVehicleConfig.cc

@@ -60,16 +60,11 @@ QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
     connect(ui->generalMenuButton,SIGNAL(clicked()),this,SLOT(generalMenuButtonClicked()));
     connect(ui->advancedMenuButton,SIGNAL(clicked()),this,SLOT(advancedMenuButtonClicked()));
 
-
-    requestCalibrationRC();
-    if (mav) mav->requestParameter(0, "RC_TYPE");
-
     ui->rcModeComboBox->setCurrentIndex((int)rc_mode - 1);
 
     ui->rcCalibrationButton->setCheckable(true);
     connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool)));
     connect(ui->setButton, SIGNAL(clicked()), this, SLOT(writeParameters()));
-    connect(ui->refreshButton,SIGNAL(clicked()),mav,SLOT(requestParameters()));
     connect(ui->rcModeComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(setRCModeIndex(int)));
     //connect(ui->setTrimButton, SIGNAL(clicked()), this, SLOT(setTrimPositions()));
 
@@ -798,6 +793,21 @@ void QGCVehicleConfig::loadConfig()
 
 void QGCVehicleConfig::setActiveUAS(UASInterface* active)
 {
+    // Hide items if NULL and abort
+    if (!active) {
+        ui->setButton->setEnabled(false);
+        ui->refreshButton->setEnabled(false);
+        ui->readButton->show();
+        ui->readButton->setEnabled(false);
+        ui->writeButton->show();
+        ui->writeButton->setEnabled(false);
+        ui->loadFileButton->setEnabled(false);
+        ui->saveFileButton->setEnabled(false);
+
+        return;
+    }
+
+
     // Do nothing if system is the same
     if (mav == active) return;
 
@@ -808,6 +818,7 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
                    SLOT(remoteControlChannelRawChanged(int,float)));
         disconnect(mav, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
                    SLOT(parameterChanged(int,int,QString,QVariant)));
+        disconnect(ui->refreshButton,SIGNAL(clicked()),mav,SLOT(requestParameters()));
 
         // Delete all children from all fixed tabs.
         foreach(QWidget* child, ui->generalLeftContents->findChildren<QWidget*>())
@@ -846,67 +857,59 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
         paramTooltips.clear();
     }
 
+    // Connect new system
+    mav = active;
+
     // Reset current state
     resetCalibrationRC();
 
+    requestCalibrationRC();
+    mav->requestParameter(0, "RC_TYPE");
+
     chanCount = 0;
 
     // Connect new system
-    mav = active;
-    if (mav)
-    {
-        connect(active, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
-                   SLOT(remoteControlChannelRawChanged(int,float)));
-        connect(active, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
-                   SLOT(parameterChanged(int,int,QString,QVariant)));
+    connect(active, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
+               SLOT(remoteControlChannelRawChanged(int,float)));
+    connect(active, SIGNAL(parameterChanged(int,int,QString,QVariant)), this,
+               SLOT(parameterChanged(int,int,QString,QVariant)));
+    connect(ui->refreshButton, SIGNAL(clicked()), active, SLOT(requestParameters()));
 
-        if (systemTypeToParamMap.contains(mav->getSystemTypeName()))
-        {
-            paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()];
-        }
-        else
-        {
-            //Indication that we have no meta data for this system type.
-            qDebug() << "No parameters defined for system type:" << mav->getSystemTypeName();
-            paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()];
-        }
+    if (systemTypeToParamMap.contains(mav->getSystemTypeName()))
+    {
+        paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()];
+    }
+    else
+    {
+        //Indication that we have no meta data for this system type.
+        qDebug() << "No parameters defined for system type:" << mav->getSystemTypeName();
+        paramToWidgetMap = systemTypeToParamMap[mav->getSystemTypeName()];
+    }
 
-        if (!paramTooltips.isEmpty())
-        {
-               mav->getParamManager()->setParamInfo(paramTooltips);
-        }
+    if (!paramTooltips.isEmpty())
+    {
+           mav->getParamManager()->setParamInfo(paramTooltips);
+    }
 
-        qDebug() << "CALIBRATION!! System Type Name:" << mav->getSystemTypeName();
+    qDebug() << "CALIBRATION!! System Type Name:" << mav->getSystemTypeName();
 
-        //Load configuration after 1ms. This allows it to go into the event loop, and prevents application hangups due to the
-        //amount of time it actually takes to load the configuration windows.
-        QTimer::singleShot(1,this,SLOT(loadConfig()));
+    //Load configuration after 1ms. This allows it to go into the event loop, and prevents application hangups due to the
+    //amount of time it actually takes to load the configuration windows.
+    QTimer::singleShot(1,this,SLOT(loadConfig()));
 
-        updateStatus(QString("Reading from system %1").arg(mav->getUASName()));
+    updateStatus(QString("Reading from system %1").arg(mav->getUASName()));
 
-        // Since a system is now connected, enable the VehicleConfig UI.
-        ui->setButton->setEnabled(true);
-        ui->refreshButton->setEnabled(true);
-        ui->readButton->setEnabled(true);
-        ui->writeButton->setEnabled(true);
-        ui->loadFileButton->setEnabled(true);
-        ui->saveFileButton->setEnabled(true);
-        if (mav->getAutopilotTypeName() == "ARDUPILOTMEGA")
-        {
-            ui->readButton->hide();
-            ui->writeButton->hide();
-        }
-    }
-    else
+    // Since a system is now connected, enable the VehicleConfig UI.
+    ui->setButton->setEnabled(true);
+    ui->refreshButton->setEnabled(true);
+    ui->readButton->setEnabled(true);
+    ui->writeButton->setEnabled(true);
+    ui->loadFileButton->setEnabled(true);
+    ui->saveFileButton->setEnabled(true);
+    if (mav->getAutopilotTypeName() == "ARDUPILOTMEGA")
     {
-        ui->setButton->setEnabled(false);
-        ui->refreshButton->setEnabled(false);
-        ui->readButton->show();
-        ui->readButton->setEnabled(false);
-        ui->writeButton->show();
-        ui->writeButton->setEnabled(false);
-        ui->loadFileButton->setEnabled(false);
-        ui->saveFileButton->setEnabled(false);
+        ui->readButton->hide();
+        ui->writeButton->hide();
     }
 }