Minor improvements throughout the application to improve usability

src/comm/MAVLinkSimulationMAV.cc

@@ -121,8 +121,8 @@ void MAVLinkSimulationMAV::mainloop()
         pos.alt = z*1000.0;
         pos.lat = y*1E7;
         pos.lon = x*1E7;
-        pos.vx = 0;
-        pos.vy = 0;
+        pos.vx = sin(yaw)*10.0f;
+        pos.vy = cos(yaw)*10.0f;
         pos.vz = 0;
         mavlink_msg_global_position_int_encode(systemid, MAV_COMP_ID_IMU, &msg, &pos);
         link->sendMAVLinkMessage(&msg);
@@ -164,18 +164,21 @@ void MAVLinkSimulationMAV::mainloop()
         control_status.control_pos_xy = 1;
         control_status.control_pos_yaw = 1;
         control_status.control_pos_z = 1;
+        control_status.gps_fix = 2;        // 2D GPS fix
+        control_status.position_fix = 3;   // 3D fix from GPS + barometric pressure
+        control_status.vision_fix = 0;     // no fix from vision system
         mavlink_msg_control_status_encode(systemid, MAV_COMP_ID_IMU, &ret, &control_status);
         link->sendMAVLinkMessage(&ret);
 
         // Send actual controller outputs
         // This message just shows the direction
         // and magnitude of the control output
-        mavlink_position_controller_output_t pos;
-        pos.x = sin(yaw)*127.0f;
-        pos.y = cos(yaw)*127.0f;
-        pos.z = 0;
-        mavlink_msg_position_controller_output_encode(systemid, MAV_COMP_ID_IMU, &ret, &pos);
-        link->sendMAVLinkMessage(&ret);
+//        mavlink_position_controller_output_t pos;
+//        pos.x = sin(yaw)*127.0f;
+//        pos.y = cos(yaw)*127.0f;
+//        pos.z = 0;
+//        mavlink_msg_position_controller_output_encode(systemid, MAV_COMP_ID_IMU, &ret, &pos);
+//        link->sendMAVLinkMessage(&ret);
 
         // Send a named value with name "FLOAT" and 0.5f as value
 

src/uas/PxQuadMAV.cc

@@ -50,9 +50,9 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
     if (message.sysid == uasId)
     {
-        QString uasState;
-        QString stateDescription;
-        QString patternPath;
+//        QString uasState;
+//        QString stateDescription;
+//        QString patternPath;
         switch (message.msgid)
         {
         case MAVLINK_MSG_ID_RAW_AUX:
@@ -155,22 +155,6 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "Load", "%", ((float)status.load)/1000.0f, MG::TIME::getGroundTimeNow());
             }
             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;
     default:
             // Do nothing
             break;

src/uas/UAS.cc

@@ -349,6 +349,22 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 }
             }
             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_RAW_IMU:
             {
                 mavlink_raw_imu_t raw;
@@ -480,6 +496,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "gps z speed", "m/s", speedZ, time);
                 emit globalPositionChanged(this, longitude, latitude, altitude, time);
                 emit speedChanged(this, speedX, speedY, speedZ, time);
+                emit valueChanged(uasId, "gpsspeed", "m/s", sqrt(speedX*speedX+speedY*speedY+speedZ*speedZ), time);
                 // Set internal state
                 if (!positionLock)
                 {
@@ -506,15 +523,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "latitude", "deg", pos.lat, time);
                 emit valueChanged(uasId, "longitude", "deg", pos.lon, time);
 
-                // FIXME REMOVE
-                longitude = pos.lon;
-                latitude = pos.lat;
-                altitude = pos.alt;
-                emit globalPositionChanged(this, longitude, latitude, altitude, time);
-
                 if (pos.fix_type > 0)
                 {
                     emit globalPositionChanged(this, pos.lon, pos.lat, pos.alt, time);
+                    emit valueChanged(uasId, "gpsspeed", "m/s", pos.v, time);
 
                     // Check for NaN
                     int alt = pos.alt;
@@ -560,9 +572,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_raw_pressure_t pressure;
                 mavlink_msg_raw_pressure_decode(&message, &pressure);
                 quint64 time = this->getUnixTime(0);
-                emit valueChanged(uasId, "abs pressure", "hP", pressure.press_abs, time);
-                emit valueChanged(uasId, "diff pressure 1", "hP", pressure.press_diff1, time);
-                emit valueChanged(uasId, "diff pressure 2", "hP", pressure.press_diff2, time);
+                emit valueChanged(uasId, "abs pressure", "hPa", pressure.press_abs, time);
+                emit valueChanged(uasId, "diff pressure 1", "hPa", pressure.press_diff1, time);
+                emit valueChanged(uasId, "diff pressure 2", "hPa", pressure.press_diff2, time);
             }
             break;
         case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
@@ -1017,7 +1029,7 @@ void UAS::forwardMessage(mavlink_message_t message)
                 {
                     if(serial != links->at(i))
                     {
-                        qDebug()<<"Forwarding Over link: "<<serial->getName()<<" "<<serial;
+                        qDebug()<<"Antenna tracking: Forwarding Over link: "<<serial->getName()<<" "<<serial;
                         sendMessage(serial, message);
                     }
                 }

src/ui/HSIDisplay.h

@@ -248,6 +248,8 @@ protected:
 
     // Data indicators
     bool setPointKnown;       ///< Controller setpoint known status flag
+    bool positionSetPointKnown; ///< Position setpoint known status flag
+    bool userSetPointSet;
 
 private:
 };

src/ui/MainWindow.cc

@@ -210,6 +210,8 @@ void MainWindow::setDefaultSettingsForAp()
         settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST,VIEW_OPERATOR), true);
         // ENABLE HUD TOOL WIDGET
         settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_HUD,VIEW_OPERATOR), true);
+        // ENABLE WAYPOINTS
+        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_WAYPOINTS,VIEW_OPERATOR), true);
     }
 
     // ENGINEER VIEW DEFAULT
@@ -399,15 +401,19 @@ void MainWindow::buildPxWidgets()
     acceptList->append("-105,pitch,deg,+105,s");
     acceptList->append("-105,yaw,deg,+105,s");
 
-    acceptList->append("-260,rollspeed,deg/s,+260,s");
-    acceptList->append("-260,pitchspeed,deg/s,+260,s");
-    acceptList->append("-260,yawspeed,deg/s,+260,s");
+    acceptList->append("-60,rollspeed,deg/s,+60,s");
+    acceptList->append("-60,pitchspeed,deg/s,+60,s");
+    acceptList->append("-60,yawspeed,deg/s,+60,s");
+    acceptList->append("0,airspeed,m/s,30");
+    acceptList->append("0,gpsspeed,m/s,30");
+    acceptList->append("0,truespeed,m/s,30");
 
     //FIXME: memory of acceptList2 will never be freed again
     QStringList* acceptList2 = new QStringList();
     acceptList2->append("0,abs pressure,hPa,65500");
-    acceptList2->append("-999,accel. X,raw,999,s");
-    acceptList2->append("-999,accel. Y,raw,999,s");
+    acceptList2->append("-2048,accel. x,raw,2048,s");
+    acceptList2->append("-2048,accel. y,raw,2048,s");
+    acceptList2->append("-2048,accel. z,raw,2048,s");
 
     if (!linechartWidget)
     {

src/ui/MapWidget.cc

@@ -157,12 +157,18 @@ MapWidget::MapWidget(QWidget *parent) :
     zoomout->setStyleSheet(buttonStyle);
     createPath = new QPushButton(QIcon(":/images/actions/go-bottom.svg"), "", this);
     createPath->setStyleSheet(buttonStyle);
+    createPath->setToolTip(tr("Start / end waypoint add mode"));
+    createPath->setStatusTip(tr("Start / end waypoint add mode"));
 //    clearTracking = new QPushButton(QIcon(""), "", this);
 //    clearTracking->setStyleSheet(buttonStyle);
     followgps = new QPushButton(QIcon(":/images/actions/system-lock-screen.svg"), "", this);
     followgps->setStyleSheet(buttonStyle);
+    followgps->setToolTip(tr("Follow the position of the current MAV with the map center"));
+    followgps->setStatusTip(tr("Follow the position of the current MAV with the map center"));
     QPushButton* goToButton = new QPushButton(QIcon(""), "T", this);
     goToButton->setStyleSheet(buttonStyle);
+    goToButton->setToolTip(tr("Enter a latitude/longitude position to move the map to"));
+    goToButton->setStatusTip(tr("Enter a latitude/longitude position to move the map to"));
 
     zoomin->setMaximumWidth(30);
     zoomout->setMaximumWidth(30);