Skip to content

Q
qgroundcontrol
Commit 76c8b7cf authored by oberion's avatar oberion
Browse files
Options

Merge remote-tracking branch 'remotes/pixhawk/master' into dev_sensSoarNew 

Conflicts:
	images/earth.html
	thirdParty/mavlink/include/common/common.h
	thirdParty/mavlink/include/common/mavlink.h
parents 64627ffd 8bd61d71
Expand all Hide whitespace changes
Inline Side-by-side
Showing with 9306 additions and 2151 deletions
.gitignore
View file @ 76c8b7cf
......@@ -8,6 +8,7 @@ Info.plist
obj
*.log
*~
*~.skp
bin/*.exe
bin/*.txt
bin/mac
......
README
View file @ 76c8b7cf
......@@ -78,11 +78,39 @@ Done.
Windows
=======
DETAILED STEPS BELOW THE VISUAL STUDIO 2010 NOTES.
GNU GCC / MINGW IS UNTESTED, COULD WORK
VISUAL STUDIO 2008 / 2010 EXPRESS EDITION IS FREE!
-------------------------------------------------------------------------------------
VISUAL STUDIO 2010 NOTES (VS 2008 runs out-of-the-box, just follow the steps below):
For use of Qt 4x with Visual Studio 2010 Add-in.
Visual studio adds automatically certain defines that are wrong and cause errors.
To resolve this, execute these steps:
In the projects properties -> C/C++ ->preprocessor change:
in DEBUG:
delete QT_NO_DEBUG
in both (DEBUG / RELEASE):
delete QT_NO_DYNAMIC_CAST
-------------------------------------------------------------------------------------
Steps for Visual Studio 2008 / 2010. (VS 2008 is easier, VS 2010 only recommended for
expert developers)
Windows XP/7:
1) Download and install the QT SDK for Windows from http://qt.nokia.com/downloads/ (Visual Studio 2008 version)
1) Download and install the Qt SDK for Windows from http://qt.nokia.com/downloads/ (Visual Studio 2008 version) OR download Qt source and compile with VS 2010
2) Download and install Visual Studio 2008 Express Edition (free)
2) Download and install Visual Studio 2008 Express Edition (free) OR VS 2010 Express Edition
3) Go to the QGroundControl folder and then to thirdParty -> libxbee
......
flightgear/connector_flightgear_uav.xml 0 → 100644
View file @ 76c8b7cf
<PropertyList>
<generic>
<output>
<line_separator>newline</line_separator>
<var_separator>,</var_separator>
<chunk>
<name>lat</name>
<type>float</type>
<format>%+1.8f</format>
<node>/position/latitude-deg</node>
</chunk>
<chunk>
<name>lon</name>
<type>float</type>
<format>%+1.8f</format>
<node>/position/longitude-deg</node>
</chunk>
<chunk>
<name>alt</name>
<type>float</type>
<format>%+1.4f</format>
<node>/position/altitude-ft</node>
</chunk>
<chunk>
<name>speed</name>
<type>float</type>
<format>%2.3f</format>
<node>/velocities/groundspeed-kt</node>
</chunk>
<chunk>
<name>airspeed</name>
<type>float</type>
<format>%2.3f</format>
<node>/velocities/airspeed-kt</node>
</chunk>
<chunk>
<name>pitch</name>
<type>float</type>
<format>%+1.3f</format>
<node>/orientation/pitch-deg</node>
</chunk>
<chunk>
<name>roll</name>
<type>float</type>
<format>%+1.3f</format>
<node>/orientation/roll-deg</node>
</chunk>
<chunk>
<name>heading</name>
<type>float</type>
<format>%+1.3f</format>
<node>/orientation/heading-deg</node>
</chunk>
<chunk>
<name>v_n</name>
<type>float</type>
<format>%2.3f</format>
<node>/velocities/speed-north-fps</node>
</chunk>
<chunk>
<name>v_e</name>
<type>float</type>
<format>%2.3f</format>
<node>/velocities/speed-east-fps</node>
</chunk>
<chunk>
<name>v_d</name>
<type>float</type>
<format>%2.3f</format>
<node>/velocities/speed-down-fps</node>
</chunk>
<chunk>
<name>rate_phi</name>
<type>float</type>
<format>%2.3f</format>
<node>/orientation/roll-rate-degps</node>
</chunk>
<chunk>
<name>rate_theta</name>
<type>float</type>
<format>%2.3f</format>
<node>/orientation/pitch-rate-degps</node>
</chunk>
<chunk>
<name>rate_psi</name>
<type>float</type>
<format>%2.3f</format>
<node>/orientation/yaw-rate-degps</node>
</chunk>
</output>
<input>
<line_separator>newline</line_separator>
<var_separator>,</var_separator>
<chunk>
<name>pitch</name>
<type>float</type>
<format>%+1.3f</format>
<node>/autopilot/settings/target-pitch-deg</node>
</chunk>
<chunk>
<name>roll</name>
<type>float</type>
<format>%+1.3f</format>
<node>/autopilot/settings/target-roll-deg</node>
</chunk>
<chunk>
<name>throttle</name>
<type>float</type>
<format>%+1.3f</format>
<node>/controls/engines/engine/throttle</node>
</chunk>
<chunk>
<name>lat</name>
<type>float</type>
<format>%+1.8f</format>
<node>/sim/view/target/latitude-deg</node>
</chunk>
<chunk>
<name>lon</name>
<type>float</type>
<format>%+1.8f</format>
<node>/sim/view/target/longitude-deg</node>
</chunk>
<chunk>
<name>alt</name>
<type>float</type>
<format>%+1.4f</format>
<node>/sim/view/target/alt</node>
</chunk>
</input>
</generic>
</PropertyList>
images/earth.html
View file @ 76c8b7cf
This diff is collapsed.
models/ascent-park-glider.skp
View file @ 76c8b7cf
B໿SketchUp Model૿{8.0.4810}Ƕ『時҆✱闊ÿ主乁￿ 噃牥楳湯慍ｰ￾䌉䄀爀挀䌀甀爀瘀攀Ā＀￾䌊䄀琀琀爀椀戀甀琀攀＀￾䌓䄀琀琀爀椀戀甀琀攀䌀漀渀琀愀椀渀攀爀＀￾䌏䄀琀琀爀椀戀甀琀攀一愀洀攀搀Ā＀￾䌐䈀愀挀欀最爀漀甀渀搀䤀洀愀最攀਀＀￾䌇䌀愀洀攀爀愀Ԁ＀￾䌊䌀漀洀瀀漀渀攀渀琀଀＀￾䌒䌀漀洀瀀漀渀攀渀琀䈀攀栀愀瘀椀漀爀Ԁ＀￾䌔䌀漀洀瀀漀渀攀渀琀䐀攀昀椀渀椀琀椀漀渀਀＀￾䌒䌀漀洀瀀漀渀攀渀琀䤀渀猀琀愀渀挀攀Ѐ＀￾䌕䌀漀渀猀琀爀甀挀琀椀漀渀䜀攀漀洀攀琀爀礀＀￾䌑䌀漀渀猀琀爀甀挀琀椀漀渀䰀椀渀攀Ā＀￾䌒䌀漀渀猀琀爀甀挀琀椀漀渀倀漀椀渀琀＀￾䌆䌀甀爀瘀攀Ѐ＀￾䌏䐀攀昀椀渀椀琀椀漀渀䰀椀猀琀＀￾䌄䐀椀戀̀＀￾䌊䐀椀洀攀渀猀椀漀渀Ā＀￾䌐䐀椀洀攀渀猀椀漀渀䰀椀渀攀愀爀؀＀￾䌐䐀椀洀攀渀猀椀漀渀刀愀搀椀愀氀Ȁ＀￾䌏䐀椀洀攀渀猀椀漀渀匀琀礀氀攀Ѐ＀￾䌏䐀爀愀眀椀渀最䔀氀攀洀攀渀琀ऀ＀￾䌅䔀搀最攀Ȁ＀￾䌈䔀搀最攀唀猀攀Ā＀￾䌇䔀渀琀椀琀礀̀＀￾䌅䘀愀挀攀̀＀￾䌒䘀愀挀攀吀攀砀琀甀爀攀䌀漀漀爀搀猀Ѐ＀￾䌌䘀漀渀琀䴀愀渀愀最攀爀＀￾䌆䜀爀漀甀瀀Ā＀￾䌆䤀洀愀最攀Ā＀￾䌆䰀愀礀攀爀Ȁ＀￾䌍䰀愀礀攀爀䴀愀渀愀最攀爀Ѐ＀￾䌅䰀漀漀瀀Ā＀￾䌉䴀愀琀攀爀椀愀氀ఀ＀￾䌐䴀愀琀攀爀椀愀氀䴀愀渀愀最攀爀Ѐ＀￾䌉倀愀最攀䰀椀猀琀Ā＀￾䌋倀漀氀礀氀椀渀攀㌀搀＀￾䌍刀攀氀愀琀椀漀渀猀栀椀瀀＀￾䌐刀攀氀愀琀椀漀渀猀栀椀瀀䴀愀瀀＀￾䌑刀攀渀搀攀爀椀渀最伀瀀琀椀漀渀猀␀＀￾䌍匀攀挀琀椀漀渀倀氀愀渀攀Ȁ＀￾䌋匀栀愀搀漀眀䤀渀昀漀܀＀￾䌇匀欀䘀漀渀琀Ā＀￾䌉匀欀攀琀挀栀䌀匀＀￾䌎匀欀攀琀挀栀唀瀀䴀漀搀攀氀ᘀ＀￾䌍匀欀攀琀挀栀唀瀀倀愀最攀Ā＀￾䌉匀欀瀀匀琀礀氀攀Ā＀￾䌐匀欀瀀匀琀礀氀攀䴀愀渀愀最攀爀Ȁ＀￾䌅吀攀砀琀ऀ＀￾䌊吀攀砀琀匀琀礀氀攀Ԁ＀￾䌈吀攀砀琀甀爀攀؀＀￾䌊吀栀甀洀戀渀愀椀氀Ā＀￾䌇嘀攀爀琀攀砀＀￾䌉嘀椀攀眀倀愀最攀ఀ＀￾䌊圀愀琀攀爀洀愀爀欀Ā＀￾䌑圀愀琀攀爀洀愀爀欀䴀愀渀愀最攀爀Ȁ＀￾䔒渀搀ⴀ伀昀ⴀ嘀攀爀猀椀漀渀ⴀ䴀愀瀀Ȁ뀀Ā＀ϿЀ䌀楄Ѣꨀ褀乐േᨊ
......
models/multiplex-twinstar.skp
View file @ 76c8b7cf
B໿SketchUp Model૿{8.0.4810}∳꛺䧕灁骨鎠讠ÿ侘乁￿ 噃牥楳湯慍ｰ￾䌉䄀爀挀䌀甀爀瘀攀Ā＀￾䌊䄀琀琀爀椀戀甀琀攀＀￾䌓䄀琀琀爀椀戀甀琀攀䌀漀渀琀愀椀渀攀爀＀￾䌏䄀琀琀爀椀戀甀琀攀一愀洀攀搀Ā＀￾䌐䈀愀挀欀最爀漀甀渀搀䤀洀愀最攀਀＀￾䌇䌀愀洀攀爀愀Ԁ＀￾䌊䌀漀洀瀀漀渀攀渀琀଀＀￾䌒䌀漀洀瀀漀渀攀渀琀䈀攀栀愀瘀椀漀爀Ԁ＀￾䌔䌀漀洀瀀漀渀攀渀琀䐀攀昀椀渀椀琀椀漀渀਀＀￾䌒䌀漀洀瀀漀渀攀渀琀䤀渀猀琀愀渀挀攀Ѐ＀￾䌕䌀漀渀猀琀爀甀挀琀椀漀渀䜀攀漀洀攀琀爀礀＀￾䌑䌀漀渀猀琀爀甀挀琀椀漀渀䰀椀渀攀Ā＀￾䌒䌀漀渀猀琀爀甀挀琀椀漀渀倀漀椀渀琀＀￾䌆䌀甀爀瘀攀Ѐ＀￾䌏䐀攀昀椀渀椀琀椀漀渀䰀椀猀琀＀￾䌄䐀椀戀̀＀￾䌊䐀椀洀攀渀猀椀漀渀Ā＀￾䌐䐀椀洀攀渀猀椀漀渀䰀椀渀攀愀爀؀＀￾䌐䐀椀洀攀渀猀椀漀渀刀愀搀椀愀氀Ȁ＀￾䌏䐀椀洀攀渀猀椀漀渀匀琀礀氀攀Ѐ＀￾䌏䐀爀愀眀椀渀最䔀氀攀洀攀渀琀ऀ＀￾䌅䔀搀最攀Ȁ＀￾䌈䔀搀最攀唀猀攀Ā＀￾䌇䔀渀琀椀琀礀̀＀￾䌅䘀愀挀攀̀＀￾䌒䘀愀挀攀吀攀砀琀甀爀攀䌀漀漀爀搀猀Ѐ＀￾䌌䘀漀渀琀䴀愀渀愀最攀爀＀￾䌆䜀爀漀甀瀀Ā＀￾䌆䤀洀愀最攀Ā＀￾䌆䰀愀礀攀爀Ȁ＀￾䌍䰀愀礀攀爀䴀愀渀愀最攀爀Ѐ＀￾䌅䰀漀漀瀀Ā＀￾䌉䴀愀琀攀爀椀愀氀ఀ＀￾䌐䴀愀琀攀爀椀愀氀䴀愀渀愀最攀爀Ѐ＀￾䌉倀愀最攀䰀椀猀琀Ā＀￾䌋倀漀氀礀氀椀渀攀㌀搀＀￾䌍刀攀氀愀琀椀漀渀猀栀椀瀀＀￾䌐刀攀氀愀琀椀漀渀猀栀椀瀀䴀愀瀀＀￾䌑刀攀渀搀攀爀椀渀最伀瀀琀椀漀渀猀␀＀￾䌍匀攀挀琀椀漀渀倀氀愀渀攀Ȁ＀￾䌋匀栀愀搀漀眀䤀渀昀漀܀＀￾䌇匀欀䘀漀渀琀Ā＀￾䌉匀欀攀琀挀栀䌀匀＀￾䌎匀欀攀琀挀栀唀瀀䴀漀搀攀氀ᘀ＀￾䌍匀欀攀琀挀栀唀瀀倀愀最攀Ā＀￾䌉匀欀瀀匀琀礀氀攀Ā＀￾䌐匀欀瀀匀琀礀氀攀䴀愀渀愀最攀爀Ȁ＀￾䌅吀攀砀琀ऀ＀￾䌊吀攀砀琀匀琀礀氀攀Ԁ＀￾䌈吀攀砀琀甀爀攀؀＀￾䌊吀栀甀洀戀渀愀椀氀Ā＀￾䌇嘀攀爀琀攀砀＀￾䌉嘀椀攀眀倀愀最攀ఀ＀￾䌊圀愀琀攀爀洀愀爀欀Ā＀￾䌑圀愀琀攀爀洀愀爀欀䴀愀渀愀最攀爀Ȁ＀￾䔒渀搀ⴀ伀昀ⴀ嘀攀爀猀椀漀渀ⴀ䴀愀瀀Ȁ뀀Ā＀ϿЀ䌀楄Ѣ⼀褀乐േᨊ
price.txt deleted 100644 → 0
View file @ 64627ffd
price quantity
210 81
250 73
280 64
300 61
320 50
340 46
360 45
380 44
400 43
420 39
440 36
qgroundcontrol.pro
View file @ 76c8b7cf
......@@ -246,6 +246,7 @@ HEADERS += src/MG.h \
src/comm/ProtocolInterface.h \
src/comm/MAVLinkProtocol.h \
src/comm/AS4Protocol.h \
src/comm/QGCFlightGearLink.h \
src/ui/CommConfigurationWindow.h \
src/ui/SerialConfigurationWindow.h \
src/ui/MainWindow.h \
......@@ -376,6 +377,7 @@ SOURCES += src/main.cc \
src/comm/SerialSimulationLink.cc \
src/comm/MAVLinkProtocol.cc \
src/comm/AS4Protocol.cc \
src/comm/QGCFlightGearLink.cc \
src/ui/CommConfigurationWindow.cc \
src/ui/SerialConfigurationWindow.cc \
src/ui/MainWindow.cc \
......
src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.cc 0 → 100644
View file @ 76c8b7cf
This diff is collapsed.
src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.h 0 → 100644
View file @ 76c8b7cf
/*=====================================================================
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 class MAVLinkXMLParserV10
* @author Lorenz Meier <mail@qgroundcontrol.org>
*/
#ifndef MAVLINKXMLPARSERV10_H
#define MAVLINKXMLPARSERV10_H
#include <QObject>
#include <QDomDocument>
#include <QString>
/**
* @brief MAVLink micro air vehicle protocol generator
*
* MAVLink is a generic communication protocol for micro air vehicles.
* for more information, please see the official website.
* @ref http://pixhawk.ethz.ch/software/mavlink/
**/
class MAVLinkXMLParserV10 : public QObject
{
Q_OBJECT
public:
MAVLinkXMLParserV10(QDomDocument* document, QString outputDirectory, QObject* parent=0);
MAVLinkXMLParserV10(QString document, QString outputDirectory, QObject* parent=0);
~MAVLinkXMLParserV10();
public slots:
/** @brief Parse XML and generate C files */
bool generate();
signals:
/** @brief Status message on the parsing */
void parseState(QString message);
protected:
QDomDocument* doc;
QString outputDirName;
QString fileName;
};
#endif // MAVLINKXMLPARSERV10_H
src/apps/mavlinkgen/mavlinkgen.pri
View file @ 76c8b7cf
......@@ -29,6 +29,7 @@ FORMS += ui/XMLCommProtocolWidget.ui
HEADERS += \
ui/XMLCommProtocolWidget.h \
generator/MAVLinkXMLParser.h \
generator/MAVLinkXMLParserV10.h \
ui/DomItem.h \
ui/DomModel.h \
ui/QGCMAVLinkTextEdit.h
......@@ -37,6 +38,7 @@ SOURCES += \
ui/DomItem.cc \
ui/DomModel.cc \
generator/MAVLinkXMLParser.cc \
generator/MAVLinkXMLParserV10.cc \
ui/QGCMAVLinkTextEdit.cc
RESOURCES += mavlinkgen.qrc
src/apps/mavlinkgen/ui/XMLCommProtocolWidget.cc
View file @ 76c8b7cf
......@@ -6,6 +6,7 @@
#include "XMLCommProtocolWidget.h"
#include "ui_XMLCommProtocolWidget.h"
#include "MAVLinkXMLParser.h"
#include "MAVLinkXMLParserV10.h"
#include <QDebug>
#include <iostream>
......@@ -131,18 +132,37 @@ void XMLCommProtocolWidget::generate()
// Syntax check already gives output
return;
}
MAVLinkXMLParser* parser = new MAVLinkXMLParser(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed());
connect(parser, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString)));
bool result = parser->generate();
if (result) {
MAVLinkXMLParser* parser = NULL;
MAVLinkXMLParserV10* parserV10 = NULL;
bool result = false;
if (m_ui->versionComboBox->currentIndex() == 0)
{
MAVLinkXMLParser* parser = new MAVLinkXMLParser(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed());
connect(parser, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString)));
result = parser->generate();
}
else if (m_ui->versionComboBox->currentIndex() == 1)
{
MAVLinkXMLParserV10* parserV10 = new MAVLinkXMLParserV10(m_ui->fileNameLabel->text().trimmed(), m_ui->outputDirNameLabel->text().trimmed());
connect(parserV10, SIGNAL(parseState(QString)), m_ui->compileLog, SLOT(appendHtml(QString)));
result = parserV10->generate();
}
if (result)
{
QMessageBox msgBox;
msgBox.setText(QString("The C code / headers have been generated in folder\n%1").arg(m_ui->outputDirNameLabel->text().trimmed()));
msgBox.exec();
} else {
}
else
{
QMessageBox::critical(this, tr("C code generation failed, please see the compile log for further information"), QString("The C code / headers could not be written to folder\n%1").arg(m_ui->outputDirNameLabel->text().trimmed()), QMessageBox::Ok);
}
delete parser;
if (parser) delete parser;
if (parserV10) delete parserV10;
}
void XMLCommProtocolWidget::save()
......
src/apps/mavlinkgen/ui/XMLCommProtocolWidget.ui
View file @ 76c8b7cf
......@@ -13,7 +13,7 @@
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout" rowstretch="1,1,100,1,1,1" columnstretch="1,1,1,100">
<layout class="QGridLayout" name="gridLayout" rowstretch="1,1,100,1,1,1,0" columnstretch="1,1,1,100">
<property name="topMargin">
<number>6</number>
</property>
......@@ -51,12 +51,12 @@
<string>Select input file</string>
</property>
<property name="icon">
<iconset resource="../mavlinkgen.qrc">
<iconset resource="../../../../qgroundcontrol.qrc">
<normaloff>:/images/status/folder-open.svg</normaloff>:/images/status/folder-open.svg</iconset>
</property>
</widget>
</item>
<item row="0" column="3" rowspan="6">
<item row="0" column="3" rowspan="7">
<widget class="QGCMAVLinkTextEdit" name="xmlTextView">
<property name="minimumSize">
<size>
......@@ -97,49 +97,70 @@
<string>Select directory</string>
</property>
<property name="icon">
<iconset resource="../mavlinkgen.qrc">
<iconset resource="../../../../qgroundcontrol.qrc">
<normaloff>:/images/status/folder-open.svg</normaloff>:/images/status/folder-open.svg</iconset>
</property>
</widget>
</item>
<item row="2" column="0" colspan="3">
<item row="3" column="0" colspan="3">
<widget class="QTreeView" name="xmlTreeView"/>
</item>
<item row="3" column="0" colspan="2">
<item row="4" column="0" colspan="2">
<widget class="QLabel" name="label">
<property name="text">
<string>Compile Output</string>
</property>
</widget>
</item>
<item row="4" column="0" colspan="3">
<item row="5" column="0" colspan="3">
<widget class="QPlainTextEdit" name="compileLog"/>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QLabel" name="validXMLLabel">
<property name="text">
<string>No file loaded</string>
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QPushButton" name="saveButton">
<property name="text">
<string>Save file</string>
</property>
</widget>
</item>
<item row="5" column="2">
<item row="6" column="2">
<widget class="QPushButton" name="generateButton">
<property name="text">
<string>Save and generate</string>
</property>
<property name="icon">
<iconset resource="../mavlinkgen.qrc">
<iconset resource="../../../../qgroundcontrol.qrc">
<normaloff>:/images/categories/applications-system.svg</normaloff>:/images/categories/applications-system.svg</iconset>
</property>
</widget>
</item>
<item row="2" column="0" colspan="2">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Select MAVLink Version</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QComboBox" name="versionComboBox">
<item>
<property name="text">
<string>MAVLink v0.9 (-Aug'10)</string>
</property>
</item>
<item>
<property name="text">
<string>MAVLink v1.0 (Sept'10+)</string>
</property>
</item>
</widget>
</item>
</layout>
</widget>
<customwidgets>
......@@ -150,7 +171,7 @@
</customwidget>
</customwidgets>
<resources>
<include location="../mavlinkgen.qrc"/>
<include location="../../../../qgroundcontrol.qrc"/>
</resources>
<connections/>
</ui>
src/comm/MAVLinkProtocol.cc
View file @ 76c8b7cf
......@@ -17,7 +17,6 @@
#include <QSettings>
#include <QDesktopServices>
//#include "MG.h"
#include "MAVLinkProtocol.h"
#include "UASInterface.h"
#include "UASManager.h"
......@@ -28,7 +27,6 @@
#include "ArduPilotMegaMAV.h"
#include "configuration.h"
#include "LinkManager.h"
//#include "MainWindow.h"
#include "QGCMAVLink.h"
#include "QGCMAVLinkUASFactory.h"
#include "QGC.h"
......@@ -182,14 +180,14 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
unsigned int decodeState = mavlink_parse_char(link->getId(), (uint8_t)(b.at(position)), &message, &status);
if (decodeState == 1) {
#ifdef MAVLINK_MESSAGE_LENGTHS
const uint8_t message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
if (message.msgid >= sizeof(message_lengths) ||
message.len != message_lengths[message.msgid]) {
qDebug() << "MAVLink message " << message.msgid << " length incorrect (was " << message.len << " expected " << message_lengths[message.msgid] << ")";
continue;
}
#endif
//#ifdef MAVLINK_MESSAGE_LENGTHS
// const uint8_t message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
// if (message.msgid >= sizeof(message_lengths) ||
// message.len != message_lengths[message.msgid]) {
// qDebug() << "MAVLink message " << message.msgid << " length incorrect (was " << message.len << " expected " << message_lengths[message.msgid] << ")";
// continue;
// }
//#endif
// Log data
if (m_loggingEnabled && m_logfile) {
const int len = MAVLINK_MAX_PACKET_LEN+sizeof(quint64);
......
src/comm/MAVLinkSimulationLink.cc
View file @ 76c8b7cf
......@@ -36,7 +36,7 @@ This file is part of the QGROUNDCONTROL project
#include <QTime>
#include <QImage>
#include <QDebug>
#include "MG.h"
#include <QFileInfo>
#include "LinkManager.h"
#include "MAVLinkProtocol.h"
#include "MAVLinkSimulationLink.h"
......@@ -78,7 +78,7 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile
simulationHeader = simulationFile->readLine();
}
receiveFile = new QFile(writeFile, this);
lastSent = MG::TIME::getGroundTimeNow() * 1000;
lastSent = QGC::groundTimeMilliseconds();
if (simulationFile->exists()) {
this->name = "Simulation: " + QFileInfo(simulationFile->fileName()).fileName();
......@@ -118,7 +118,7 @@ void MAVLinkSimulationLink::run()
static quint64 last = 0;
if (MG::TIME::getGroundTimeNow() - last >= rate) {
if (QGC::groundTimeMilliseconds() - last >= rate) {
if (_isConnected) {
mainloop();
......@@ -132,7 +132,7 @@ void MAVLinkSimulationLink::run()
readBytes();
}
last = MG::TIME::getGroundTimeNow();
last = QGC::groundTimeMilliseconds();
}
QGC::SLEEP::msleep(3);
......@@ -265,9 +265,6 @@ void MAVLinkSimulationLink::mainloop()
double d = QString(parts.at(i)).toDouble(&res);
if (!res) d = 0;
//qDebug() << "TIME" << time << "VALUE" << d;
//emit valueChanged(220, keys.at(i), d, MG::TIME::getGroundTimeNow());
if (keys.value(i, "") == "Accel._X") {
rawImuValues.xacc = d;
}
......@@ -345,7 +342,7 @@ void MAVLinkSimulationLink::mainloop()
//qDebug() << "ATTITUDE" << "BUF LEN" << bufferlength << "POINTER" << streampointer;
//qDebug() << "REALTIME" << MG::TIME::getGroundTimeNow() << "ONBOARDTIME" << attitude.msec << "ROLL" << attitude.roll;
//qDebug() << "REALTIME" << QGC::groundTimeMilliseconds() << "ONBOARDTIME" << attitude.msec << "ROLL" << attitude.roll;
}
......@@ -667,11 +664,6 @@ qint64 MAVLinkSimulationLink::bytesAvailable()
void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
{
//qDebug() << "Simulation received " << size << " bytes from groundstation: ";
// Increase write counter
//bitsSentTotal += size * 8;
// Parse bytes
mavlink_message_t msg;
mavlink_status_t comm;
......
src/comm/MAVLinkSimulationMAV.cc
View file @ 76c8b7cf
......@@ -23,20 +23,20 @@ MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int sy
yaw(0.0),
globalNavigation(true),
firstWP(false),
// previousSPX(8.548056),
// previousSPY(47.376389),
// previousSPZ(550),
// previousSPYaw(0.0),
// nextSPX(8.548056),
// nextSPY(47.376389),
// nextSPZ(550),
previousSPX(37.480391),
previousSPY(122.282883),
previousSPZ(550),
previousSPYaw(0.0),
nextSPX(37.480391),
nextSPY(122.282883),
nextSPZ(550),
// previousSPX(8.548056),
// previousSPY(47.376389),
// previousSPZ(550),
// previousSPYaw(0.0),
// nextSPX(8.548056),
// nextSPY(47.376389),
// nextSPZ(550),
previousSPX(37.480391),
previousSPY(122.282883),
previousSPZ(550),
previousSPYaw(0.0),
nextSPX(37.480391),
nextSPY(122.282883),
nextSPZ(550),
nextSPYaw(0.0),
sys_mode(MAV_MODE_READY),
sys_state(MAV_STATE_STANDBY),
......
src/comm/MAVLinkSimulationWaypointPlanner.cc
View file @ 76c8b7cf
......@@ -450,7 +450,7 @@ MAVLinkSimulationWaypointPlanner::MAVLinkSimulationWaypointPlanner(MAVLinkSimula
timestamp_last_send_setpoint(0),
systemid(sysid),
compid(MAV_COMP_ID_WAYPOINTPLANNER),
setpointDelay(10),
setpointDelay(1000),
yawTolerance(0.4f),
verbose(true),
debug(false),
......@@ -553,7 +553,7 @@ void MAVLinkSimulationWaypointPlanner::send_setpoint(uint16_t seq)
emit messageSent(msg);
}
uint64_t now = QGC::groundTimeUsecs()/1000;
uint64_t now = QGC::groundTimeMilliseconds();
timestamp_last_send_setpoint = now;
}
}
......@@ -699,7 +699,7 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
//qDebug() << "MAV: %d WAYPOINTPLANNER GOT MESSAGE" << systemid;
uint64_t now = QGC::groundTimeUsecs()/1000;
uint64_t now = QGC::groundTimeMilliseconds();
if (now-protocol_timestamp_lastaction > protocol_timeout && current_state != PX_WPP_IDLE) {
if (verbose) qDebug() << "Last operation (state=%u) timed out, changing state to PX_WPP_IDLE" << current_state;
current_state = PX_WPP_IDLE;
......
src/comm/QGCFlightGearLink.cc 0 → 100644
View file @ 76c8b7cf
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2011 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 UDP connection (server) for unmanned vehicles
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QTimer>
#include <QList>
#include <QDebug>
#include <QMutexLocker>
#include <iostream>
#include "QGCFlightGearLink.h"
#include "QGC.h"
#include <QHostInfo>
QGCFlightGearLink::QGCFlightGearLink(QString remoteHost, QHostAddress host, quint16 port)
{
this->host = host;
this->port = port;
this->connectState = false;
this->currentPort = 49000;
// Set unique ID and add link to the list of links
this->name = tr("FlightGear Link (port:%1)").arg(port);
setRemoteHost(remoteHost);
connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
refreshTimer.start(20); // 50 Hz UAV -> Simulation update rate
}
QGCFlightGearLink::~QGCFlightGearLink()
{
disconnect();
}
/**
* @brief Runs the thread
*
**/
void QGCFlightGearLink::run()
{
// forever
// {
// QGC::SLEEP::msleep(5000);
// }
exec();
}
void QGCFlightGearLink::setPort(int port)
{
this->port = port;
disconnectSimulation();
connectSimulation();
}
/**
* @param host Hostname in standard formatting, e.g. localhost:14551 or 192.168.1.1:14551
*/
void QGCFlightGearLink::setRemoteHost(const QString& host)
{
//qDebug() << "UDP:" << "ADDING HOST:" << host;
if (host.contains(":"))
{
//qDebug() << "HOST: " << host.split(":").first();
QHostInfo info = QHostInfo::fromName(host.split(":").first());
if (info.error() == QHostInfo::NoError)
{
// Add host
QList<QHostAddress> hostAddresses = info.addresses();
QHostAddress address;
for (int i = 0; i < hostAddresses.size(); i++)
{
// Exclude loopback IPv4 and all IPv6 addresses
if (!hostAddresses.at(i).toString().contains(":"))
{
address = hostAddresses.at(i);
}
}
currentHost = address;
//qDebug() << "Address:" << address.toString();
// Set port according to user input
currentPort = host.split(":").last().toInt();
}
}
else
{
QHostInfo info = QHostInfo::fromName(host);
if (info.error() == QHostInfo::NoError)
{
// Add host
currentHost = info.addresses().first();
}
}
}
void QGCFlightGearLink::updateGlobalPosition(quint64 time, double lat, double lon, double alt)
{
}
void QGCFlightGearLink::sendUAVUpdate()
{
// 37.613548,-122.357246,-9999.000000,0.000000,0.424000,297.899994,0.000000\n
// magnetos,aileron,elevator,rudder,throttle\n
float magnetos = 3.0f;
float aileron = 0.0f;
float elevator = 0.0f;
float rudder = 0.0f;
float throttle = 90.0f;
QString state("%1,%2,%3,%4,%5\n");
state = state.arg(magnetos).arg(aileron).arg(elevator).arg(rudder).arg(throttle);
writeBytes(state.toAscii().constData(), state.length());
}
void QGCFlightGearLink::writeBytes(const char* data, qint64 size)
{
//#define QGCFlightGearLink_DEBUG
#ifdef QGCFlightGearLink_DEBUG
QString bytes;
QString ascii;
for (int i=0; i<size; i++)
{
unsigned char v = data[i];
bytes.append(QString().sprintf("%02x ", v));
if (data[i] > 31 && data[i] < 127)
{
ascii.append(data[i]);
}
else
{
ascii.append(219);
}
}
qDebug() << "Sent" << size << "bytes to" << currentHost.toString() << ":" << currentPort << "data:";
qDebug() << bytes;
qDebug() << "ASCII:" << ascii;
#endif
socket->writeDatagram(data, size, currentHost, currentPort);
}
/**
* @brief Read a number of bytes from the interface.
*
* @param data Pointer to the data byte array to write the bytes to
* @param maxLength The maximum number of bytes to write
**/
void QGCFlightGearLink::readBytes()
{
const qint64 maxLength = 65536;
static char data[maxLength];
QHostAddress sender;
quint16 senderPort;
unsigned int s = socket->pendingDatagramSize();
if (s > maxLength) std::cerr << __FILE__ << __LINE__ << " UDP datagram overflow, allowed to read less bytes than datagram size" << std::endl;
socket->readDatagram(data, maxLength, &sender, &senderPort);
// FIXME TODO Check if this method is better than retrieving the data by individual processes
QByteArray b(data, s);
//emit bytesReceived(this, b);
// Print string
qDebug() << "FG LINK GOT:" << QString(b);
// // Echo data for debugging purposes
// std::cerr << __FILE__ << __LINE__ << "Received datagram:" << std::endl;
// int i;
// for (i=0; i<s; i++)
// {
// unsigned int v=data[i];
// fprintf(stderr,"%02x ", v);
// }
// std::cerr << std::endl;
}
/**
* @brief Get the number of bytes to read.
*
* @return The number of bytes to read
**/
qint64 QGCFlightGearLink::bytesAvailable()
{
return socket->pendingDatagramSize();
}
/**
* @brief Disconnect the connection.
*
* @return True if connection has been disconnected, false if connection couldn't be disconnected.
**/
bool QGCFlightGearLink::disconnectSimulation()
{
delete socket;
socket = NULL;
connectState = false;
emit flightGearDisconnected();
emit flightGearConnected(false);
return !connectState;
}
/**
* @brief Connect the connection.
*
* @return True if connection has been established, false if connection couldn't be established.
**/
bool QGCFlightGearLink::connectSimulation()
{
socket = new QUdpSocket(this);
//Check if we are using a multicast-address
// bool multicast = false;
// if (host.isInSubnet(QHostAddress("224.0.0.0"),4))
// {
// multicast = true;
// connectState = socket->bind(port, QUdpSocket::ShareAddress);
// }
// else
// {
connectState = socket->bind(host, port);
// }
//Provides Multicast functionality to UdpSocket
/* not working yet
if (multicast)
{
int sendingFd = socket->socketDescriptor();
if (sendingFd != -1)
{
// set up destination address
struct sockaddr_in sendAddr;
memset(&sendAddr,0,sizeof(sendAddr));
sendAddr.sin_family=AF_INET;
sendAddr.sin_addr.s_addr=inet_addr(HELLO_GROUP);
sendAddr.sin_port=htons(port);
// set TTL
unsigned int ttl = 1; // restricted to the same subnet
if (setsockopt(sendingFd, IPPROTO_IP, IP_MULTICAST_TTL, (unsigned int*)&ttl, sizeof(ttl) ) < 0)
{
std::cout << "TTL failed\n";
}
}
}
*/
//QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readPendingDatagrams()));
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
emit flightGearConnected(connectState);
if (connectState) {
emit flightGearConnected();
connectionStartTime = QGC::groundTimeUsecs()/1000;
}
start(HighPriority);
return connectState;
}
/**
* @brief Check if connection is active.
*
* @return True if link is connected, false otherwise.
**/
bool QGCFlightGearLink::isConnected()
{
return connectState;
}
QString QGCFlightGearLink::getName()
{
return name;
}
void QGCFlightGearLink::setName(QString name)
{
this->name = name;
// emit nameChanged(this->name);
}
src/comm/QGCFlightGearLink.h 0 → 100644
View file @ 76c8b7cf
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2011 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 UDP connection (server) for unmanned vehicles
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef QGCFLIGHTGEARLINK_H
#define QGCFLIGHTGEARLINK_H
#include <QString>
#include <QList>
#include <QMap>
#include <QMutex>
#include <QUdpSocket>
#include <QTimer>
#include <LinkInterface.h>
#include <configuration.h>
class QGCFlightGearLink : public QThread
{
Q_OBJECT
//Q_INTERFACES(QGCFlightGearLinkInterface:LinkInterface)
public:
QGCFlightGearLink(QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005);
~QGCFlightGearLink();
bool isConnected();
qint64 bytesAvailable();
int getPort() const {
return port;
}
/**
* @brief The human readable port name
*/
QString getName();
void run();
public slots:
// void setAddress(QString address);
void setPort(int port);
/** @brief Add a new host to broadcast messages to */
void setRemoteHost(const QString& host);
void updateGlobalPosition(quint64 time, double lat, double lon, double alt);
void sendUAVUpdate();
// /** @brief Remove a host from broadcasting messages to */
// void removeHost(const QString& host);
// void readPendingDatagrams();
void readBytes();
/**
* @brief Write a number of bytes to the interface.
*
* @param data Pointer to the data byte array
* @param size The size of the bytes array
**/
void writeBytes(const char* data, qint64 length);
bool connectSimulation();
bool disconnectSimulation();
protected:
QString name;
QHostAddress host;
QHostAddress currentHost;
quint16 currentPort;
quint16 port;
int id;
QUdpSocket* socket;
bool connectState;
quint64 bitsSentTotal;
quint64 bitsSentCurrent;
quint64 bitsSentMax;
quint64 bitsReceivedTotal;
quint64 bitsReceivedCurrent;
quint64 bitsReceivedMax;
quint64 connectionStartTime;
QMutex statisticsMutex;
QMutex dataMutex;
QTimer refreshTimer;
void setName(QString name);
signals:
/**
* @brief This signal is emitted instantly when the link is connected
**/
void flightGearConnected();
/**
* @brief This signal is emitted instantly when the link is disconnected
**/
void flightGearDisconnected();
/**
* @brief This signal is emitted instantly when the link status changes
**/
void flightGearConnected(bool connected);
};
#endif // QGCFLIGHTGEARLINK_H
src/comm/UDPLink.cc
View file @ 76c8b7cf
......@@ -86,7 +86,8 @@ void UDPLink::setPort(int port)
void UDPLink::addHost(const QString& host)
{
//qDebug() << "UDP:" << "ADDING HOST:" << host;
if (host.contains(":")) {
if (host.contains(":"))
{
//qDebug() << "HOST: " << host.split(":").first();
QHostInfo info = QHostInfo::fromName(host.split(":").first());
if (info.error() == QHostInfo::NoError)
......@@ -129,14 +130,18 @@ void UDPLink::removeHost(const QString& hostname)
QHostInfo info = QHostInfo::fromName(host);
QHostAddress address;
QList<QHostAddress> hostAddresses = info.addresses();
for (int i = 0; i < hostAddresses.size(); i++) {
for (int i = 0; i < hostAddresses.size(); i++)
{
// Exclude loopback IPv4 and all IPv6 addresses
if (!hostAddresses.at(i).toString().contains(":")) {
if (!hostAddresses.at(i).toString().contains(":"))
{
address = hostAddresses.at(i);
}
}
for (int i = 0; i < hosts.count(); ++i) {
if (hosts.at(i) == address) {
for (int i = 0; i < hosts.count(); ++i)
{
if (hosts.at(i) == address)
{
hosts.removeAt(i);
ports.removeAt(i);
}
......@@ -154,7 +159,8 @@ void UDPLink::writeBytes(const char* data, qint64 size)
#ifdef UDPLINK_DEBUG
QString bytes;
QString ascii;
for (int i=0; i<size; i++) {
for (int i=0; i<size; i++)
{
unsigned char v = data[i];
bytes.append(QString().sprintf("%02x ", v));
if (data[i] > 31 && data[i] < 127)
......@@ -183,7 +189,7 @@ void UDPLink::writeBytes(const char* data, qint64 size)
void UDPLink::readBytes()
{
const qint64 maxLength = 65536;
char data[maxLength];
static char data[maxLength];
QHostAddress sender;
quint16 senderPort;
......@@ -207,11 +213,14 @@ void UDPLink::readBytes()
// Add host to broadcast list if not yet present
if (!hosts.contains(sender)) {
if (!hosts.contains(sender))
{
hosts.append(sender);
ports.append(senderPort);
// ports->insert(sender, senderPort);
} else {
}
else
{
int index = hosts.indexOf(sender);
ports.replace(index, senderPort);
}
......
src/main.cc
View file @ 76c8b7cf
......@@ -2,7 +2,7 @@
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
......
src/uas/PxQuadMAV.cc
View file @ 76c8b7cf
......@@ -120,9 +120,48 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, "vicon x", "m", pos.x, time);
emit valueChanged(uasId, "vicon y", "m", pos.y, time);
emit valueChanged(uasId, "vicon z", "m", pos.z, time);
emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
//emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
}
break;
case MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE: {
mavlink_vision_speed_estimate_t speed;
mavlink_msg_vision_speed_estimate_decode(&message, &speed);
quint64 time = getUnixTime(speed.usec);
emit valueChanged(uasId, "vis. speed x", "m/s", speed.x, time);
emit valueChanged(uasId, "vis. speed y", "m/s", speed.y, time);
emit valueChanged(uasId, "vis. speed z", "m/s", speed.z, time);
}
break;
case MAVLINK_MSG_ID_CONTROL_STATUS:
{
mavlink_control_status_t status;
mavlink_msg_control_status_decode(&message, &status);
// Emit control status vector
emit attitudeControlEnabled(static_cast<bool>(status.control_att));
emit positionXYControlEnabled(static_cast<bool>(status.control_pos_xy));
emit positionZControlEnabled(static_cast<bool>(status.control_pos_z));
emit positionYawControlEnabled(static_cast<bool>(status.control_pos_yaw));
// Emit localization status vector
emit localizationChanged(this, status.position_fix);
emit visionLocalizationChanged(this, status.vision_fix);
emit gpsLocalizationChanged(this, status.gps_fix);
}
break;
case MAVLINK_MSG_ID_VISUAL_ODOMETRY:
{
mavlink_visual_odometry_t pos;
mavlink_msg_visual_odometry_decode(&message, &pos);
quint64 time = getUnixTime(pos.frame1_time_us);
//emit valueChanged(uasId, "vis. time", pos.usec, time);
emit valueChanged(uasId, "vis-o. roll", "rad", pos.roll, time);
emit valueChanged(uasId, "vis-o. pitch", "rad", pos.pitch, time);
emit valueChanged(uasId, "vis-o. yaw", "rad", pos.yaw, time);
emit valueChanged(uasId, "vis-o. x", "m", pos.x, time);
emit valueChanged(uasId, "vis-o. y", "m", pos.y, time);
emit valueChanged(uasId, "vis-o. z", "m", pos.z, time);
}
break;
case MAVLINK_MSG_ID_AUX_STATUS: {
mavlink_aux_status_t status;
mavlink_msg_aux_status_decode(&message, &status);
......
src/uas/UAS.cc
View file @ 76c8b7cf
This diff is collapsed.
src/uas/UAS.h
View file @ 76c8b7cf
......@@ -204,6 +204,8 @@ protected: //COMMENTS FOR TEST UNIT
QGCUASParamManager* paramManager; ///< Parameter manager class
QString shortStateText; ///< Short textual state description
QString shortModeText; ///< Short textual mode description
bool attitudeStamped; ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
quint64 lastAttitude; ///< Timestamp of last attitude measurement
public:
/** @brief Set the current battery type */
......@@ -403,6 +405,8 @@ signals:
protected:
/** @brief Get the UNIX timestamp in milliseconds */
quint64 getUnixTime(quint64 time=0);
/** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
quint64 getUnixReferenceTime(quint64 time);
protected slots:
/** @brief Write settings to disk */
......
src/uas/UASInterface.h
View file @ 76c8b7cf
......@@ -472,6 +472,9 @@ signals:
/** @brief Core specifications have changed */
void systemSpecsChanged(int uasId);
/** @brief Object detected */
void objectDetected(unsigned int time, int id, int type, const QString& name, int quality, float bearing, float distance);
// HOME POSITION / ORIGIN CHANGES
void homePositionChanged(int uas, double lat, double lon, double alt);
......
src/ui/HDDisplay.ui
View file @ 76c8b7cf
......@@ -14,6 +14,9 @@
<string>Form</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="QGraphicsView" name="view"/>
</item>
......
src/ui/HSIDisplay.cc
View file @ 76c8b7cf
......@@ -119,8 +119,8 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
// Add interaction elements
QHBoxLayout* layout = new QHBoxLayout(this);
layout->setMargin(2);
layout->setSpacing(0);
layout->setMargin(0);
layout->setSpacing(12);
QDoubleSpinBox* spinBox = new QDoubleSpinBox(this);
spinBox->setMinimum(0.1);
spinBox->setMaximum(9999);
......@@ -453,6 +453,23 @@ void HSIDisplay::updatePositionZControllerEnabled(bool enabled)
zControlKnown = true;
}
void HSIDisplay::updateObjectPosition(unsigned int time, int id, int type, const QString& name, int quality, float bearing, float distance)
{
// FIXME add multi-object support
QPainter painter(this);
QColor color(Qt::yellow);
float radius = vwidth / 20.0f;
QPen pen(color);
pen.setWidthF(refLineWidthToPen(0.4f));
pen.setColor(color);
painter.setPen(pen);
painter.setBrush(Qt::NoBrush);
QPointF in(cos(bearing)-sin(bearing)*distance, sin(bearing)+cos(bearing)*distance);
// Scale from metric to screen reference coordinates
QPointF p = metricBodyToRef(in);
drawCircle(p.x(), p.y(), radius, 0.4f, color, &painter);
}
QPointF HSIDisplay::metricWorldToBody(QPointF world)
{
// First translate to body-centered coordinates
......@@ -554,6 +571,7 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
disconnect(this->uas, SIGNAL(visionLocalizationChanged(UASInterface*,int)), this, SLOT(updateVisionLocalization(UASInterface*,int)));
disconnect(this->uas, SIGNAL(gpsLocalizationChanged(UASInterface*,int)), this, SLOT(updateGpsLocalization(UASInterface*,int)));
disconnect(this->uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
disconnect(this->uas, SIGNAL(objectDetected(uint,int,int,QString,int,float,float)), this, SLOT(updateObjectPosition(uint,int,int,QString,int,float,float)));
}
connect(uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
......@@ -573,6 +591,7 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
connect(uas, SIGNAL(visionLocalizationChanged(UASInterface*,int)), this, SLOT(updateVisionLocalization(UASInterface*,int)));
connect(uas, SIGNAL(gpsLocalizationChanged(UASInterface*,int)), this, SLOT(updateGpsLocalization(UASInterface*,int)));
connect(uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
connect(uas, SIGNAL(objectDetected(uint,int,int,QString,int,float,float)), this, SLOT(updateObjectPosition(uint,int,int,QString,int,float,float)));
this->uas = uas;
......
src/ui/HSIDisplay.h
View file @ 76c8b7cf
......@@ -65,6 +65,7 @@ public slots:
void updateAttitudeControllerEnabled(bool enabled);
void updatePositionXYControllerEnabled(bool enabled);
void updatePositionZControllerEnabled(bool enabled);
void updateObjectPosition(unsigned int time, int id, int type, const QString& name, int quality, float bearing, float distance);
/** @brief Heading control enabled/disabled */
void updatePositionYawControllerEnabled(bool enabled);
......@@ -132,6 +133,11 @@ protected:
QPointF metricBodyToRef(QPointF &metric);
/** @brief Metric body coordinates to screen coordinates */
QPointF metricBodyToScreen(QPointF metric);
QMap<int, QString> objectNames;
QMap<int, int> objectTypes;
QMap<int, float> objectQualities;
QMap<int, float> objectBearings;
QMap<int, float> objectDistances;
/**
* @brief Private data container class to be used within the HSI widget
......
src/ui/MainWindow.cc
View file @ 76c8b7cf
......@@ -157,6 +157,11 @@ MainWindow::MainWindow(QWidget *parent):
joystickWidget = 0;
joystick = new JoystickInput();
// Connect flighgear test link
// FIXME MOVE INTO UAV OBJECT
fgLink = new QGCFlightGearLink();
fgLink->connectSimulation();
// Load Toolbar
toolBar = new QGCToolBar(this);
this->addToolBar(toolBar);
......@@ -2117,4 +2122,4 @@ void MainWindow::arrangeSenseSoarCenterStack()
void MainWindow::connectSenseSoarActions()
{
}
\ No newline at end of file
}
src/ui/MainWindow.h
View file @ 76c8b7cf
......@@ -76,6 +76,7 @@ This file is part of the QGROUNDCONTROL project
#include "SlugsPadCameraControl.h"
#include "UASControlParameters.h"
#include "QGCFlightGearLink.h"
class QGCMapTool;
......@@ -453,6 +454,7 @@ protected:
QGC_MAINWINDOW_STYLE currentStyle;
Qt::WindowStates windowStateVal;
bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
QGCFlightGearLink* fgLink;
private:
Ui::MainWindow ui;
......
src/ui/QGCToolBar.cc
View file @ 76c8b7cf
......@@ -55,6 +55,7 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
disconnect(mav, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
disconnect(mav, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString)));
disconnect(mav, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
disconnect(mav, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString)));
}
// Connect new system
......@@ -63,6 +64,7 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
connect(active, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
connect(active, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString)));
connect(active, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
connect(active, SIGNAL(textMessageReceived(int,int,int,QString)), this, SLOT(receiveTextMessage(int,int,int,QString)));
// Update all values once
nameLabel->setText(mav->getUASName());
......@@ -81,6 +83,7 @@ void QGCToolBar::createCustomWidgets()
stateLabel = new QLabel("------", this);
wpLabel = new QLabel("---", this);
distlabel = new QLabel("--- ---- m", this);
messageLabel = new QLabel("No system messages.", this);
//symbolButton->setIcon(":");
symbolButton->setStyleSheet("QWidget { background-color: #050508; color: #DDDDDF; background-clip: border; } QToolButton { font-weight: bold; font-size: 12px; border: 0px solid #999999; border-radius: 5px; min-width:22px; max-width: 22px; min-height: 22px; max-height: 22px; padding: 0px; margin: 0px; background-color: none; }");
addWidget(symbolButton);
......@@ -89,6 +92,7 @@ void QGCToolBar::createCustomWidgets()
addWidget(stateLabel);
addWidget(wpLabel);
addWidget(distlabel);
addWidget(messageLabel);
toggleLoggingAction = new QAction(QIcon(":"), "Start Logging", this);
logReplayAction = new QAction(QIcon(":"), "Start Replay", this);
......@@ -154,6 +158,14 @@ void QGCToolBar::setSystemType(UASInterface* uas, unsigned int systemType)
}
}
void QGCToolBar::receiveTextMessage(int uasid, int componentid, int severity, QString text)
{
Q_UNUSED(uasid);
Q_UNUSED(componentid);
Q_UNUSED(severity);
messageLabel->setText(text);
}
QGCToolBar::~QGCToolBar()
{
delete toggleLoggingAction;
......
src/ui/QGCToolBar.h
View file @ 76c8b7cf
......@@ -50,6 +50,8 @@ public slots:
void updateName(const QString& name);
/** @brief Set the MAV system type */
void setSystemType(UASInterface* uas, unsigned int systemType);
/** @brief Received system text message */
void receiveTextMessage(int uasid, int componentid, int severity, QString text);
protected:
void createCustomWidgets();
......@@ -63,7 +65,7 @@ protected:
QLabel* stateLabel;
QLabel* wpLabel;
QLabel* distlabel;
QLabel* messageLabel;
};
#endif // QGCTOOLBAR_H
src/ui/map/MAV2DIcon.cc
View file @ 76c8b7cf
......@@ -37,7 +37,6 @@ MAV2DIcon::MAV2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* p
MAV2DIcon::~MAV2DIcon()
{
//delete pic;
}
void MAV2DIcon::setSelectedUAS(bool selected)
......@@ -53,7 +52,6 @@ void MAV2DIcon::setSelectedUAS(bool selected)
*/
void MAV2DIcon::setYaw(float yaw)
{
//// qDebug() << "MAV2Icon" << yaw;
float diff = fabs(yaw - this->yaw);
while (diff > (float)M_PI) {
diff -= (float)M_PI;
......
src/ui/uas/UASView.cc
View file @ 76c8b7cf
......@@ -602,6 +602,8 @@ void UASView::refresh()
m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(warnColor.name()));
QString style = QString("QGroupBox { border-radius: 12px; padding: 0px; margin: 0px; border: 2px solid %1; background-color: %2; }").arg(borderColor, warnColor.name());
m_ui->uasViewFrame->setStyleSheet(style);
refreshTimer->setInterval(errorUpdateInterval);
}
iconIsRed = !iconIsRed;
} else {
......@@ -609,10 +611,11 @@ void UASView::refresh()
{
// Fade heartbeat icon
// Make color darker
heartbeatColor = heartbeatColor.darker(150);
heartbeatColor = heartbeatColor.darker(210);
//m_ui->heartbeatIcon->setAutoFillBackground(true);
m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(heartbeatColor.name()));
refreshTimer->setInterval(updateInterval);
}
}
//setUpdatesEnabled(true);
......
src/ui/uas/UASView.h
View file @ 76c8b7cf
......@@ -122,7 +122,8 @@ protected:
QAction* selectAction;
QAction* selectAirframeAction;
QAction* setBatterySpecsAction;
static const int updateInterval = 700;
static const int updateInterval = 800;
static const int errorUpdateInterval = 200;
bool lowPowerModeEnabled; ///< Low power mode reduces update rates
......
thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h
View file @ 76c8b7cf
/** @file
* @brief MAVLink comm protocol.
* @see http://qgroundcontrol.org/mavlink/
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Saturday, August 13 2011, 08:44 UTC
*/
#ifndef ARDUPILOTMEGA_H
#define ARDUPILOTMEGA_H
......@@ -33,12 +33,14 @@ extern "C" {
// MESSAGE DEFINITIONS
#include "./mavlink_msg_sensor_offsets.h"
#include "./mavlink_msg_set_mag_offsets.h"
// MESSAGE LENGTHS
#undef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 0, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 20, 20, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#ifdef __cplusplus
}
......
thirdParty/mavlink/include/ardupilotmega/mavlink.h
View file @ 76c8b7cf
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Saturday, August 13 2011, 08:44 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
......
thirdParty/mavlink/include/ardupilotmega/mavlink_msg_set_mag_offsets.h 0 → 100644
View file @ 76c8b7cf
// MESSAGE SET_MAG_OFFSETS PACKING
#define MAVLINK_MSG_ID_SET_MAG_OFFSETS 151
typedef struct __mavlink_set_mag_offsets_t
{
uint8_t target_system; ///< System ID
uint8_t target_component; ///< Component ID
int16_t mag_ofs_x; ///< magnetometer X offset
int16_t mag_ofs_y; ///< magnetometer Y offset
int16_t mag_ofs_z; ///< magnetometer Z offset
} mavlink_set_mag_offsets_t;
/**
* @brief Pack a set_mag_offsets message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param target_system System ID
* @param target_component Component ID
* @param mag_ofs_x magnetometer X offset
* @param mag_ofs_y magnetometer Y offset
* @param mag_ofs_z magnetometer Z offset
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_mag_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset
i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset
i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a set_mag_offsets message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param target_system System ID
* @param target_component Component ID
* @param mag_ofs_x magnetometer X offset
* @param mag_ofs_y magnetometer Y offset
* @param mag_ofs_z magnetometer Z offset
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_set_mag_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset
i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset
i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a set_mag_offsets struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param set_mag_offsets C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_set_mag_offsets_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mag_offsets_t* set_mag_offsets)
{
return mavlink_msg_set_mag_offsets_pack(system_id, component_id, msg, set_mag_offsets->target_system, set_mag_offsets->target_component, set_mag_offsets->mag_ofs_x, set_mag_offsets->mag_ofs_y, set_mag_offsets->mag_ofs_z);
}
/**
* @brief Send a set_mag_offsets message
* @param chan MAVLink channel to send the message
*
* @param target_system System ID
* @param target_component Component ID
* @param mag_ofs_x magnetometer X offset
* @param mag_ofs_y magnetometer Y offset
* @param mag_ofs_z magnetometer Z offset
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_set_mag_offsets_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
{
mavlink_message_t msg;
mavlink_msg_set_mag_offsets_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE SET_MAG_OFFSETS UNPACKING
/**
* @brief Get field target_system from set_mag_offsets message
*
* @return System ID
*/
static inline uint8_t mavlink_msg_set_mag_offsets_get_target_system(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload)[0];
}
/**
* @brief Get field target_component from set_mag_offsets message
*
* @return Component ID
*/
static inline uint8_t mavlink_msg_set_mag_offsets_get_target_component(const mavlink_message_t* msg)
{
return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
}
/**
* @brief Get field mag_ofs_x from set_mag_offsets message
*
* @return magnetometer X offset
*/
static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_x(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field mag_ofs_y from set_mag_offsets message
*
* @return magnetometer Y offset
*/
static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_y(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
* @brief Get field mag_ofs_z from set_mag_offsets message
*
* @return magnetometer Z offset
*/
static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_z(const mavlink_message_t* msg)
{
generic_16bit r;
r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t))[0];
r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(int16_t)+sizeof(int16_t))[1];
return (int16_t)r.s;
}
/**
* @brief Decode a set_mag_offsets message into a struct
*
* @param msg The message to decode
* @param set_mag_offsets C-struct to decode the message contents into
*/
static inline void mavlink_msg_set_mag_offsets_decode(const mavlink_message_t* msg, mavlink_set_mag_offsets_t* set_mag_offsets)
{
set_mag_offsets->target_system = mavlink_msg_set_mag_offsets_get_target_system(msg);
set_mag_offsets->target_component = mavlink_msg_set_mag_offsets_get_target_component(msg);
set_mag_offsets->mag_ofs_x = mavlink_msg_set_mag_offsets_get_mag_ofs_x(msg);
set_mag_offsets->mag_ofs_y = mavlink_msg_set_mag_offsets_get_mag_ofs_y(msg);
set_mag_offsets->mag_ofs_z = mavlink_msg_set_mag_offsets_get_mag_ofs_z(msg);
}
thirdParty/mavlink/include/common/common.h
View file @ 76c8b7cf
/** @file
* @brief MAVLink comm protocol.
* @see http://qgroundcontrol.org/mavlink/
* Generated on Monday, August 15 2011, 15:40 UTC
* Generated on Monday, August 22 2011, 15:48 UTC
*/
#ifndef COMMON_H
#define COMMON_H
......@@ -55,7 +55,8 @@ enum MAV_CMD
MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. | Relay number | Cycle count | Cycle time (seconds, decimal) | Empty | Empty | Empty | Empty | */
MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. | Servo number | PWM (microseconds, 1000 to 2000 typical) | Empty | Empty | Empty | Empty | Empty | */
MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. | Servo number | PWM (microseconds, 1000 to 2000 typical) | Cycle count | Cycle time (seconds) | Empty | Empty | Empty | */
MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. | Camera ID (-1 for all) | Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw | Transmission mode: 0: video stream, >0: single images every n seconds (decimal) | Recording: 0: disabled, 1: enabled compressed, 2: enabled raw | Empty | Empty | Empty | */
MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera capturing. | Camera ID (-1 for all) | Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw | Transmission mode: 0: video stream, >0: single images every n seconds (decimal) | Recording: 0: disabled, 1: enabled compressed, 2: enabled raw | Empty | Empty | Empty | */
MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various devices such as cameras. | Region of interest mode. (see MAV_ROI enum) | Waypoint index/ target ID. (see MAV_ROI enum) | ROI index (allows a vehicle to manage multiple cameras etc.) | Empty | x the location of the fixed ROI (see MAV_FRAME) | y | z | */
MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration | Empty | Empty | Empty | Empty | Empty | Empty | Empty | */
MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. | Gyro calibration: 0: no, 1: yes | Magnetometer calibration: 0: no, 1: yes | Ground pressure: 0: no, 1: yes | Radio calibration: 0: no, 1: yes | Empty | Empty | Empty | */
MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. | Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM | Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM | Reserved | Reserved | Empty | Empty | Empty | */
......@@ -77,13 +78,14 @@ enum MAV_DATA_STREAM
MAV_DATA_STREAM_ENUM_END
};
/** @brief The ROI (region of interest) for the vehicle. This can be be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI). */
/** @brief The ROI (region of interest) for the vehicle. This can be be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI). */
enum MAV_ROI
{
MAV_ROI_WPNEXT=0, /* Point toward next waypoint. | */
MAV_ROI_WPINDEX=1, /* Point toward given waypoint. | */
MAV_ROI_LOCATION=2, /* Point toward fixed location. | */
MAV_ROI_TARGET=3, /* Point toward of given id. | */
MAV_ROI_NONE=0, /* No region of interest. | */
MAV_ROI_WPNEXT=1, /* Point toward next waypoint. | */
MAV_ROI_WPINDEX=2, /* Point toward given waypoint. | */
MAV_ROI_LOCATION=3, /* Point toward fixed location. | */
MAV_ROI_TARGET=4, /* Point toward of given id. | */
MAV_ROI_ENUM_END
};
......@@ -136,18 +138,25 @@ enum MAV_ROI
#include "./mavlink_msg_control_status.h"
#include "./mavlink_msg_safety_set_allowed_area.h"
#include "./mavlink_msg_safety_allowed_area.h"
#include "./mavlink_msg_attitude_controller_output.h"
#include "./mavlink_msg_position_controller_output.h"
#include "./mavlink_msg_set_roll_pitch_yaw_thrust.h"
#include "./mavlink_msg_set_roll_pitch_yaw_speed_thrust.h"
#include "./mavlink_msg_roll_pitch_yaw_thrust_setpoint.h"
#include "./mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h"
#include "./mavlink_msg_nav_controller_output.h"
#include "./mavlink_msg_position_target.h"
#include "./mavlink_msg_state_correction.h"
#include "./mavlink_msg_set_altitude.h"
#include "./mavlink_msg_request_data_stream.h"
#include "./mavlink_msg_hil_state.h"
#include "./mavlink_msg_hil_controls.h"
#include "./mavlink_msg_manual_control.h"
#include "./mavlink_msg_rc_channels_override.h"
#include "./mavlink_msg_global_position_int.h"
#include "./mavlink_msg_vfr_hud.h"
#include "./mavlink_msg_command.h"
#include "./mavlink_msg_command_ack.h"
#include "./mavlink_msg_optical_flow.h"
#include "./mavlink_msg_object_detection_event.h"
#include "./mavlink_msg_debug_vect.h"
#include "./mavlink_msg_named_value_float.h"
#include "./mavlink_msg_named_value_int.h"
......@@ -158,7 +167,7 @@ enum MAV_ROI
// MESSAGE LENGTHS
#undef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 0, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#ifdef __cplusplus
}
......
thirdParty/mavlink/include/common/mavlink.h
View file @ 76c8b7cf
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Monday, August 15 2011, 15:40 UTC
* Generated on Monday, August 22 2011, 15:48 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
......
thirdParty/mavlink/include/common/mavlink_msg_full_state.h 0 → 100644
View file @ 76c8b7cf
This diff is collapsed.
thirdParty/mavlink/include/common/mavlink_msg_hil_controls.h 0 → 100644
View file @ 76c8b7cf
This diff is collapsed.
thirdParty/mavlink/include/common/mavlink_msg_hil_state.h 0 → 100644
View file @ 76c8b7cf
This diff is collapsed.
thirdParty/mavlink/include/common/mavlink_msg_optical_flow.h 0 → 100644
View file @ 76c8b7cf
This diff is collapsed.
thirdParty/mavlink/include/common/mavlink_msg_request_data_stream.h
View file @ 76c8b7cf
......@@ -7,7 +7,7 @@ typedef struct __mavlink_request_data_stream_t
uint8_t target_system; ///< The target requested to send the message stream.
uint8_t target_component; ///< The target requested to send the message stream.
uint8_t req_stream_id; ///< The ID of the requested message type
uint16_t req_message_rate; ///< The requested interval between two messages of this type
uint16_t req_message_rate; ///< Update rate in Hertz
uint8_t start_stop; ///< 1 to start sending, 0 to stop sending.
} mavlink_request_data_stream_t;
......@@ -23,7 +23,7 @@ typedef struct __mavlink_request_data_stream_t
* @param target_system The target requested to send the message stream.
* @param target_component The target requested to send the message stream.
* @param req_stream_id The ID of the requested message type
* @param req_message_rate The requested interval between two messages of this type
* @param req_message_rate Update rate in Hertz
* @param start_stop 1 to start sending, 0 to stop sending.
* @return length of the message in bytes (excluding serial stream start sign)
*/
......@@ -35,7 +35,7 @@ static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, u
i += put_uint8_t_by_index(target_system, i, msg->payload); // The target requested to send the message stream.
i += put_uint8_t_by_index(target_component, i, msg->payload); // The target requested to send the message stream.
i += put_uint8_t_by_index(req_stream_id, i, msg->payload); // The ID of the requested message type
i += put_uint16_t_by_index(req_message_rate, i, msg->payload); // The requested interval between two messages of this type
i += put_uint16_t_by_index(req_message_rate, i, msg->payload); // Update rate in Hertz
i += put_uint8_t_by_index(start_stop, i, msg->payload); // 1 to start sending, 0 to stop sending.
return mavlink_finalize_message(msg, system_id, component_id, i);
......@@ -50,7 +50,7 @@ static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, u
* @param target_system The target requested to send the message stream.
* @param target_component The target requested to send the message stream.
* @param req_stream_id The ID of the requested message type
* @param req_message_rate The requested interval between two messages of this type
* @param req_message_rate Update rate in Hertz
* @param start_stop 1 to start sending, 0 to stop sending.
* @return length of the message in bytes (excluding serial stream start sign)
*/
......@@ -62,7 +62,7 @@ static inline uint16_t mavlink_msg_request_data_stream_pack_chan(uint8_t system_
i += put_uint8_t_by_index(target_system, i, msg->payload); // The target requested to send the message stream.
i += put_uint8_t_by_index(target_component, i, msg->payload); // The target requested to send the message stream.
i += put_uint8_t_by_index(req_stream_id, i, msg->payload); // The ID of the requested message type
i += put_uint16_t_by_index(req_message_rate, i, msg->payload); // The requested interval between two messages of this type
i += put_uint16_t_by_index(req_message_rate, i, msg->payload); // Update rate in Hertz
i += put_uint8_t_by_index(start_stop, i, msg->payload); // 1 to start sending, 0 to stop sending.
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
......@@ -88,7 +88,7 @@ static inline uint16_t mavlink_msg_request_data_stream_encode(uint8_t system_id,
* @param target_system The target requested to send the message stream.
* @param target_component The target requested to send the message stream.
* @param req_stream_id The ID of the requested message type
* @param req_message_rate The requested interval between two messages of this type
* @param req_message_rate Update rate in Hertz
* @param start_stop 1 to start sending, 0 to stop sending.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
......@@ -136,7 +136,7 @@ static inline uint8_t mavlink_msg_request_data_stream_get_req_stream_id(const ma
/**
* @brief Get field req_message_rate from request_data_stream message
*
* @return The requested interval between two messages of this type
* @return Update rate in Hertz
*/
static inline uint16_t mavlink_msg_request_data_stream_get_req_message_rate(const mavlink_message_t* msg)
{
......
thirdParty/mavlink/include/minimal/mavlink.h
View file @ 76c8b7cf
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Friday, August 5 2011, 07:37 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
......
thirdParty/mavlink/include/minimal/minimal.h
View file @ 76c8b7cf
/** @file
* @brief MAVLink comm protocol.
* @see http://qgroundcontrol.org/mavlink/
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Friday, August 5 2011, 07:37 UTC
*/
#ifndef MINIMAL_H
#define MINIMAL_H
......
thirdParty/mavlink/include/pixhawk/mavlink.h
View file @ 76c8b7cf
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Wednesday, August 17 2011, 06:03 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
......
thirdParty/mavlink/include/pixhawk/pixhawk.h
View file @ 76c8b7cf
/** @file
* @brief MAVLink comm protocol.
* @see http://qgroundcontrol.org/mavlink/
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Wednesday, August 17 2011, 06:03 UTC
*/
#ifndef PIXHAWK_H
#define PIXHAWK_H
......@@ -66,12 +66,13 @@ enum DATA_TYPES
#include "./mavlink_msg_data_transmission_handshake.h"
#include "./mavlink_msg_encapsulated_data.h"
#include "./mavlink_msg_brief_feature.h"
#include "./mavlink_msg_visual_odometry.h"
// MESSAGE LENGTHS
#undef MAVLINK_MESSAGE_LENGTHS
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 0, 0, 0, 0, 0, 5, 5, 26, 16, 36, 5, 6, 0, 0, 21, 0, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 0, 0, 32, 32, 20, 0, 0, 0, 0, 0, 0, 20, 18, 0, 0, 0, 0, 0, 0, 0, 0, 26, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 12, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 18, 0, 0, 0, 0, 0, 106, 42, 54, 0, 0, 0, 0, 0, 0, 0, 8, 255, 53, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#define MAVLINK_MESSAGE_LENGTHS { 3, 4, 8, 14, 8, 28, 3, 32, 0, 2, 3, 2, 2, 0, 0, 0, 0, 0, 0, 0, 19, 2, 23, 21, 0, 37, 26, 101, 26, 16, 32, 32, 37, 32, 11, 17, 17, 16, 18, 36, 4, 4, 2, 2, 4, 2, 2, 3, 14, 12, 18, 16, 8, 27, 25, 18, 18, 24, 24, 0, 0, 0, 26, 16, 36, 5, 6, 56, 26, 21, 18, 0, 0, 18, 20, 20, 8, 0, 0, 0, 0, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 0, 0, 0, 32, 32, 20, 0, 0, 0, 0, 0, 0, 20, 18, 0, 0, 0, 0, 0, 0, 0, 0, 26, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 12, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 18, 0, 0, 0, 0, 0, 106, 42, 54, 0, 0, 0, 0, 0, 0, 0, 8, 255, 53, 0, 0, 0, 0, 0, 0, 0, 40, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 30, 14, 14, 51 }
#ifdef __cplusplus
}
......
thirdParty/mavlink/include/slugs/mavlink.h
View file @ 76c8b7cf
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Friday, August 5 2011, 07:37 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
......
thirdParty/mavlink/include/slugs/slugs.h
View file @ 76c8b7cf
This diff is collapsed.
thirdParty/mavlink/include/ualberta/mavlink.h
View file @ 76c8b7cf
/** @file
* @brief MAVLink comm protocol.
* @see http://pixhawk.ethz.ch/software/mavlink
* Generated on Wednesday, July 27 2011, 14:17 UTC
* Generated on Friday, August 5 2011, 07:37 UTC
*/
#ifndef MAVLINK_H
#define MAVLINK_H
......
thirdParty/mavlink/missionlib/testing/.gitignore 0 → 100644
View file @ 76c8b7cf
This diff is collapsed.
thirdParty/mavlink/missionlib/testing/main.c 0 → 100644
View file @ 76c8b7cf
This diff is collapsed.
thirdParty/mavlink/missionlib/waypoints.c 0 → 100644
View file @ 76c8b7cf
This diff is collapsed.
thirdParty/mavlink/missionlib/waypoints.h 0 → 100644
View file @ 76c8b7cf
This diff is collapsed.
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment