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qgroundcontrol
Commit 75b86d82 authored by lm's avatar lm
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Added a number of fixes

parent de6731dd
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Showing with 153 additions and 26 deletions
src/comm/MAVLinkSimulationMAV.cc
View file @ 75b86d82
......@@ -317,21 +317,25 @@ void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
mavlink_msg_action_decode(&msg, &action);
if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU))
{
mavlink_action_ack_t ack;
ack.action = action.action;
switch (action.action)
{
case MAV_ACTION_TAKEOFF:
flying = true;
ack.result = 1;
break;
default:
{
mavlink_statustext_t text;
mavlink_message_t r_msg;
sprintf((char*)text.text, "MAV%d ignored unknown action %d", systemid, action.action);
mavlink_msg_statustext_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &text);
link->sendMAVLinkMessage(&r_msg);
ack.result = 0;
}
break;
}
// Give feedback about action
mavlink_message_t r_msg;
mavlink_msg_action_ack_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &ack);
link->sendMAVLinkMessage(&r_msg);
}
}
break;
......
src/uas/UAS.cc
View file @ 75b86d82
......@@ -256,7 +256,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
emit loadChanged(this,state.load/10.0f);
emit valueChanged(uasId, "Load", "%", ((float)state.load)/1000.0f, getUnixTime());
emit valueChanged(uasId, "Load", "%", ((float)state.load)/10.0f, getUnixTime());
if (this->mode != static_cast<unsigned int>(state.mode))
{
......@@ -369,7 +369,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit gpsLocalizationChanged(this, status.gps_fix);
}
break;
#endif // PIXHAWK
#endif // PIXHAWK
case MAVLINK_MSG_ID_RAW_IMU:
{
mavlink_raw_imu_t raw;
......@@ -387,6 +387,23 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, "mag z", "raw", static_cast<double>(raw.zmag), time);
}
break;
case MAVLINK_MSG_ID_SCALED_IMU:
{
mavlink_scaled_imu_t scaled;
mavlink_msg_scaled_imu_decode(&message, &scaled);
quint64 time = getUnixTime(scaled.usec);
emit valueChanged(uasId, "accel x", "g", scaled.xacc/1000.0f, time);
emit valueChanged(uasId, "accel y", "g", scaled.yacc/1000.0f, time);
emit valueChanged(uasId, "accel z", "g", scaled.zacc/1000.0f, time);
emit valueChanged(uasId, "gyro roll", "rad/s", scaled.xgyro/1000.0f, time);
emit valueChanged(uasId, "gyro pitch", "rad/s", scaled.ygyro/1000.0f, time);
emit valueChanged(uasId, "gyro yaw", "rad/s", scaled.zgyro/1000.0f, time);
emit valueChanged(uasId, "mag x", "tesla", scaled.xmag/1000.0f, time);
emit valueChanged(uasId, "mag y", "tesla", scaled.ymag/1000.0f, time);
emit valueChanged(uasId, "mag z", "tesla", scaled.zmag/1000.0f, time);
}
break;
case MAVLINK_MSG_ID_ATTITUDE:
//std::cerr << std::endl;
//std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
......@@ -678,6 +695,19 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
// Emit change
emit parameterChanged(uasId, message.compid, parameterName, val);
emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val);
}
break;
case MAVLINK_MSG_ID_ACTION_ACK:
mavlink_action_ack_t ack;
mavlink_msg_action_ack_decode(&message, &ack);
if (ack.result == 1)
{
emit textMessageReceived(uasId, message.compid, 0, tr("SUCCESS: Executed action: %1").arg(ack.action));
}
else
{
emit textMessageReceived(uasId, message.compid, 0, tr("FAILURE: Rejected action: %1").arg(ack.action));
}
break;
case MAVLINK_MSG_ID_DEBUG:
......
src/uas/UASInterface.h
View file @ 75b86d82
......@@ -369,6 +369,7 @@ signals:
void waypointReached(UASInterface* uas, int id);
void autoModeChanged(bool autoMode);
void parameterChanged(int uas, int component, QString parameterName, float value);
void parameterChanged(int uas, int component, int parameterCount, int parameterId, QString parameterName, float value);
void patternDetected(int uasId, QString patternPath, float confidence, bool detected);
void letterDetected(int uasId, QString letter, float confidence, bool detected);
/**
......
src/ui/QGCParamWidget.cc
View file @ 75b86d82
......@@ -42,14 +42,19 @@ This file is part of the QGROUNDCONTROL project
*/
QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
QWidget(parent),
mav(uas),
components(new QMap<int, QTreeWidgetItem*>()),
paramGroups(),
changedValues(),
parameters()
parameters(),
transmissionListMode(false),
transmissionActive(false),
transmissionStarted(0)
{
// Create tree widget
tree = new QTreeWidget(this);
statusLabel = new QLabel();
tree->setColumnWidth(0, 150);
// Set tree widget as widget onto this component
......@@ -60,42 +65,50 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
horizontalLayout->setMargin(0);
horizontalLayout->setSizeConstraint(QLayout::SetMinimumSize);
// Parameter tree
horizontalLayout->addWidget(tree, 0, 0, 1, 3);
// Status line
statusLabel->setText(tr("Click read to get parameters"));
horizontalLayout->addWidget(statusLabel, 1, 0, 1, 3);
// BUTTONS
QPushButton* refreshButton = new QPushButton(tr("Refresh"));
refreshButton->setToolTip(tr("Load parameters currently in non-permanent memory of aircraft."));
refreshButton->setWhatsThis(tr("Load parameters currently in non-permanent memory of aircraft."));
connect(refreshButton, SIGNAL(clicked()), this, SLOT(requestParameterList()));
horizontalLayout->addWidget(refreshButton, 1, 0);
horizontalLayout->addWidget(refreshButton, 2, 0);
QPushButton* setButton = new QPushButton(tr("Transmit"));
setButton->setToolTip(tr("Set current parameters in non-permanent onboard memory"));
setButton->setWhatsThis(tr("Set current parameters in non-permanent onboard memory"));
connect(setButton, SIGNAL(clicked()), this, SLOT(setParameters()));
horizontalLayout->addWidget(setButton, 1, 1);
horizontalLayout->addWidget(setButton, 2, 1);
QPushButton* writeButton = new QPushButton(tr("Write (ROM)"));
writeButton->setToolTip(tr("Copy current parameters in non-permanent memory of the aircraft to permanent memory. Transmit your parameters first to write these."));
writeButton->setWhatsThis(tr("Copy current parameters in non-permanent memory of the aircraft to permanent memory. Transmit your parameters first to write these."));
connect(writeButton, SIGNAL(clicked()), this, SLOT(writeParameters()));
horizontalLayout->addWidget(writeButton, 1, 2);
QPushButton* readButton = new QPushButton(tr("Read (ROM)"));
readButton->setToolTip(tr("Copy parameters from permanent memory to non-permanent current memory of aircraft. DOES NOT update the parameters in this view, click refresh after copying them to get them."));
readButton->setWhatsThis(tr("Copy parameters from permanent memory to non-permanent current memory of aircraft. DOES NOT update the parameters in this view, click refresh after copying them to get them."));
connect(readButton, SIGNAL(clicked()), this, SLOT(readParameters()));
horizontalLayout->addWidget(readButton, 2, 2);
horizontalLayout->addWidget(writeButton, 2, 2);
QPushButton* loadFileButton = new QPushButton(tr("Load File"));
loadFileButton->setToolTip(tr("Load parameters from a file on this computer in the view. To write them to the aircraft, use transmit after loading them."));
loadFileButton->setWhatsThis(tr("Load parameters from a file on this computer in the view. To write them to the aircraft, use transmit after loading them."));
connect(loadFileButton, SIGNAL(clicked()), this, SLOT(loadParameters()));
horizontalLayout->addWidget(loadFileButton, 2, 0);
horizontalLayout->addWidget(loadFileButton, 3, 0);
QPushButton* saveFileButton = new QPushButton(tr("Save File"));
saveFileButton->setToolTip(tr("Save parameters in this view to a file on this computer."));
saveFileButton->setWhatsThis(tr("Save parameters in this view to a file on this computer."));
connect(saveFileButton, SIGNAL(clicked()), this, SLOT(saveParameters()));
horizontalLayout->addWidget(saveFileButton, 2, 1);
horizontalLayout->addWidget(saveFileButton, 3, 1);
QPushButton* readButton = new QPushButton(tr("Read (ROM)"));
readButton->setToolTip(tr("Copy parameters from permanent memory to non-permanent current memory of aircraft. DOES NOT update the parameters in this view, click refresh after copying them to get them."));
readButton->setWhatsThis(tr("Copy parameters from permanent memory to non-permanent current memory of aircraft. DOES NOT update the parameters in this view, click refresh after copying them to get them."));
connect(readButton, SIGNAL(clicked()), this, SLOT(readParameters()));
horizontalLayout->addWidget(readButton, 3, 2);
// Set layout
this->setLayout(horizontalLayout);
......@@ -113,7 +126,7 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
connect(tree, SIGNAL(itemChanged(QTreeWidgetItem*,int)), this, SLOT(parameterItemChanged(QTreeWidgetItem*,int)));
// New parameters from UAS
connect(uas, SIGNAL(parameterChanged(int,int,QString,float)), this, SLOT(addParameter(int,int,QString,float)));
connect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,float)), this, SLOT(addParameter(int,int,int,int,QString,float)));
}
/**
......@@ -165,6 +178,67 @@ void QGCParamWidget::addComponent(int uas, int component, QString componentName)
}
}
/**
* @param uas System which has the component
* @param component id of the component
* @param parameterName human friendly name of the parameter
*/
void QGCParamWidget::addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, float value)
{
addParameter(uas, component, parameterName, value);
int missCount = 0;
foreach (int key, transmissionMissingPackets.keys())
{
missCount += transmissionMissingPackets.value(key)->count();
}
statusLabel->setText(tr("Got Param #%1/%2: %3 (%4 missing)").arg(paramId).arg(parameterName).arg(value).arg(missCount));
// List mode is different from single parameter transfers
if (transmissionListMode)
{
// Only accept the list size once on the first packet from
// each component
if (!transmissionListSizeKnown.contains(component))
{
// If this was the first packet to announce the list size
// set all packets not received yet as missing to enforce
// retransmission until full list is received
if (!transmissionMissingPackets.contains(component))
{
transmissionMissingPackets.insert(component, new QList<int>());
}
for (int i = 0; i < paramCount; ++i)
{
if (!transmissionMissingPackets.value(component)->contains(i))
{
transmissionMissingPackets.value(component)->append(i);
}
}
transmissionListSizeKnown.insert(component, true);
}
}
// Mark this parameter as received
int index = transmissionMissingPackets.value(component)->indexOf(paramId);
// If the MAV sent the parameter without request, it wont be in missing list
if (index != -1) transmissionMissingPackets.value(component)->removeAt(index);
// Check if last parameter was received
if (transmissionMissingPackets.count() == 0)
{
this->transmissionActive = false;
this->transmissionListMode = false;
transmissionListSizeKnown.clear();
foreach (int key, transmissionMissingPackets.keys())
{
transmissionMissingPackets.value(key)->clear();
}
}
}
/**
* @param uas System which has the component
* @param component id of the component
......@@ -298,6 +372,15 @@ void QGCParamWidget::requestParameterList()
clear();
parameters.clear();
received.clear();
// Clear transmission state
transmissionListMode = true;
transmissionListSizeKnown.clear();
foreach (int key, transmissionMissingPackets.keys())
{
transmissionMissingPackets.value(key)->clear();
}
transmissionActive = true;
transmissionStarted = QGC::groundTimeUsecs();
mav->requestParameters();
}
......@@ -322,12 +405,13 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column)
bool ok;
QString str = current->data(0, Qt::DisplayRole).toString();
float value = current->data(1, Qt::DisplayRole).toDouble(&ok);
// Send parameter to MAV
// Set parameter on changed list to be transmitted to MAV
if (ok)
{
if (ok)
{
qDebug() << "PARAM CHANGED: COMP:" << key << "KEY:" << str << "VALUE:" << value;
statusLabel->setText(tr("Changed Param %1:%2: %3").arg(key).arg(str).arg(value));
//qDebug() << "PARAM CHANGED: COMP:" << key << "KEY:" << str << "VALUE:" << value;
// Changed values list
if (map->contains(str)) map->remove(str);
map->insert(str, value);
......@@ -375,7 +459,7 @@ void QGCParamWidget::saveParameters()
for (j = comp->begin(); j != comp->end(); ++j)
{
QString paramValue("%1");
paramValue = paramValue.arg(j.value(), 18, 'g');
paramValue = paramValue.arg(j.value(), 25, 'g', 12);
in << mav->getUASID() << "\t" << compid << "\t" << j.key() << "\t" << paramValue << "\n";
in.flush();
}
......
src/ui/QGCParamWidget.h
View file @ 75b86d82
......@@ -34,6 +34,7 @@ This file is part of the QGROUNDCONTROL project
#include <QTreeWidget>
#include <QTreeWidgetItem>
#include <QMap>
#include <QLabel>
#include "UASInterface.h"
......@@ -53,6 +54,8 @@ signals:
public slots:
/** @brief Add a component to the list */
void addComponent(int uas, int component, QString componentName);
/** @brief Add a parameter to the list with retransmission / safety checks */
void addParameter(int uas, int component, int paramCount, int paramId, QString parameterName, float value);
/** @brief Add a parameter to the list */
void addParameter(int uas, int component, QString parameterName, float value);
/** @brief Request list of parameters from MAV */
......@@ -75,14 +78,19 @@ public slots:
/** @brief Load parameters from a file */
void loadParameters();
protected:
UASInterface* mav; ///< The MAV this widget is controlling
QTreeWidget* tree; ///< The parameter tree
UASInterface* mav; ///< The MAV this widget is controlling
QTreeWidget* tree; ///< The parameter tree
QLabel* statusLabel; ///< Parameter transmission label
QMap<int, QTreeWidgetItem*>* components; ///< The list of components
QMap<int, QMap<QString, QTreeWidgetItem*>* > paramGroups; ///< Parameter groups
QMap<int, QMap<QString, float>* > changedValues; ///< Changed values
QMap<int, QMap<QString, float>* > parameters; ///< All parameters
QVector<bool> received; ///< Successfully received parameters
QMap<int, QList<int>* > transmissionMissingPackets; ///< Missing packets
bool transmissionListMode; ///< Currently requesting list
QMap<int, bool> transmissionListSizeKnown; ///< List size initialized?
bool transmissionActive; ///< Missing packets, working on list?
quint64 transmissionStarted; ///< Timeout
};
#endif // QGCPARAMWIDGET_H
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