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Commit 81ccc01d authored by pixhawk's avatar pixhawk
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Minor improvements throughout the application to improve usability

parent ca9e82a3
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Showing with 180 additions and 137 deletions
src/comm/MAVLinkSimulationMAV.cc
View file @ 81ccc01d
......@@ -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
View file @ 81ccc01d
......@@ -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
View file @ 81ccc01d
......@@ -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.cc
View file @ 81ccc01d
......@@ -96,7 +96,8 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
laserFix(0),
mavInitialized(false),
bottomMargin(10.0f),
topMargin(10.0f)
topMargin(12.0f),
userSetPointSet(false)
{
refreshTimer->setInterval(updateInterval);
......@@ -117,13 +118,14 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
QDoubleSpinBox* spinBox = new QDoubleSpinBox(this);
spinBox->setMinimum(0.1);
spinBox->setMaximum(9999);
spinBox->setMaximumWidth(50);
spinBox->setValue(metricWidth);
spinBox->setToolTip(tr("Ground width in meters shown on instrument"));
spinBox->setStatusTip(tr("Ground width in meters shown on instrument"));
connect(spinBox, SIGNAL(valueChanged(double)), this, SLOT(setMetricWidth(double)));
connect(this, SIGNAL(metricWidthChanged(double)), spinBox, SLOT(setValue(double)));
layout->addWidget(spinBox);
layout->setAlignment(spinBox, Qt::AlignBottom | Qt::AlignLeft);
layout->setAlignment(spinBox, Qt::AlignBottom | Qt::AlignRight);
this->setLayout(layout);
uas = NULL;
......@@ -159,6 +161,10 @@ void HSIDisplay::resetMAVState()
setPointKnown = false;
localAvailable = 0;
globalAvailable = 0;
// Setpoints
positionSetPointKnown = false;
setPointKnown = false;
}
void HSIDisplay::paintEvent(QPaintEvent * event)
......@@ -224,9 +230,9 @@ void HSIDisplay::renderOverlay()
// Draw center indicator
QPolygonF p(3);
p.replace(0, QPointF(xCenterPos, yCenterPos-2.8484f));
p.replace(1, QPointF(xCenterPos-2.0f, yCenterPos+2.0f));
p.replace(2, QPointF(xCenterPos+2.0f, yCenterPos+2.0f));
p.replace(0, QPointF(xCenterPos, yCenterPos-4.0f));
p.replace(1, QPointF(xCenterPos-4.0f, yCenterPos+3.5f));
p.replace(2, QPointF(xCenterPos+4.0f, yCenterPos+3.5f));
drawPolygon(p, &painter);
// ----------------------
......@@ -247,13 +253,13 @@ void HSIDisplay::renderOverlay()
// Draw position setpoints in body coordinates
if (uiXSetCoordinate != 0 || uiYSetCoordinate != 0)
if (userSetPointSet)
{
QColor spColor(150, 150, 150);
drawSetpointXY(uiXSetCoordinate, uiYSetCoordinate, uiYawSet, spColor, painter);
}
if (bodyXSetCoordinate != 0 || bodyYSetCoordinate != 0)
if (positionSetPointKnown)
{
// Draw setpoint
drawSetpointXY(bodyXSetCoordinate, bodyYSetCoordinate, bodyYawSet, QGC::colorCyan, painter);
......@@ -268,30 +274,6 @@ void HSIDisplay::renderOverlay()
// Labels on outer part and bottom
if (localAvailable > 0)
{
// Position
QString str;
str.sprintf("%05.2f %05.2f %05.2f m", x, y, z);
paintText(str, ringColor, 3.0f, xCenterPos + baseRadius - 30.75f, vheight - 5.0f, &painter);
// Speed
str.sprintf("%05.2f m/s", speed);
paintText(str, ringColor, 3.0f, 10.0f, vheight - 5.0f, &painter);
}
if (globalAvailable > 0)
{
// Position
QString str;
str.sprintf("%05.2f lat %06.2f lon %06.2f alt", lat, lon, alt);
paintText(str, ringColor, 2.2f, xCenterPos + baseRadius - 30.75f, vheight - 5.0f, &painter);
// Speed
str.sprintf("%05.2f m/s", speed);
paintText(str, ringColor, 2.2f, 10.0f, vheight - 5.0f, &painter);
}
// Draw waypoints
drawWaypoints(painter);
......@@ -306,11 +288,42 @@ void HSIDisplay::renderOverlay()
drawPositionLock(22, 5, tr("VIS"), visionFix, visionFixKnown, painter);
drawPositionLock(44, 5, tr("GPS"), gpsFix, gpsFixKnown, painter);
drawPositionLock(66, 5, tr("IRU"), iruFix, iruFixKnown, painter);
// Draw speed to top left
paintText(tr("SPEED"), QGC::colorCyan, 2.2f, 2, 11, &painter);
paintText(tr("%1 m/s").arg(speed, 2, 'f', 2, '0'), Qt::white, 2.2f, 14, 11, &painter);
// Draw crosstrack error to top right
float crossTrackError = 0;
paintText(tr("XTRACK"), QGC::colorCyan, 2.2f, 62, 11, &painter);
paintText(tr("%1 m").arg(crossTrackError, 2, 'f', 2, '0'), Qt::white, 2.2f, 75, 11, &painter);
// Draw position to bottom left
if (localAvailable > 0 && globalAvailable == 0)
{
// Position
QString str;
str.sprintf("%05.2f %05.2f %05.2f m", x, y, z);
paintText(tr("POS"), QGC::colorCyan, 2.6f, 2, vheight- 5.0f, &painter);
paintText(str, Qt::white, 2.6f, 10, vheight - 5.0f, &painter);
}
if (globalAvailable > 0)
{
// Position
QString str;
str.sprintf("%05.2f lat %06.2f lon %06.2f alt", lat, lon, alt);
paintText(tr("GPS"), QGC::colorCyan, 2.6f, 2, vheight- 5.0f, &painter);
paintText(str, Qt::white, 2.6f, 10, vheight - 5.0f, &painter);
}
// Draw Field of view to bottom right
paintText(tr("FOV"), QGC::colorCyan, 2.6f, 62, vheight- 5.0f, &painter);
}
void HSIDisplay::drawStatusFlag(float x, float y, QString label, bool status, bool known, QPainter& painter)
{
paintText(label, QGC::colorCyan, 2.6f, x, y+0.35f, &painter);
paintText(label, QGC::colorCyan, 2.6f, x, y+0.8f, &painter);
QColor statusColor(250, 250, 250);
if(status)
{
......@@ -326,7 +339,7 @@ void HSIDisplay::drawStatusFlag(float x, float y, QString label, bool status, bo
float indicatorHeight = refToScreenY(4.0f);
painter.drawRect(QRect(refToScreenX(x+7.3f), refToScreenY(y+0.05), indicatorWidth, indicatorHeight));
paintText((status) ? tr("ON") : tr("OFF"), statusColor, 2.6f, x+7.9f, y+0.35f, &painter);
paintText((status) ? tr("ON") : tr("OFF"), statusColor, 2.6f, x+7.9f, y+0.8f, &painter);
// Cross out instrument if state unknown
if (!known)
{
......@@ -351,14 +364,19 @@ void HSIDisplay::drawStatusFlag(float x, float y, QString label, bool status, bo
void HSIDisplay::drawPositionLock(float x, float y, QString label, int status, bool known, QPainter& painter)
{
paintText(label, QGC::colorCyan, 2.6f, x, y+0.35f, &painter);
paintText(label, QGC::colorCyan, 2.6f, x, y+0.8f, &painter);
QColor negStatusColor(200, 20, 20);
QColor intermediateStatusColor (Qt::yellow);
QColor posStatusColor(20, 200, 20);
QColor statusColor(250, 250, 250);
if(status > 0 && status < 4)
if (status == 3)
{
painter.setBrush(posStatusColor);
}
else if (status == 2)
{
painter.setBrush(intermediateStatusColor.dark(150));
}
else
{
painter.setBrush(negStatusColor);
......@@ -387,7 +405,7 @@ void HSIDisplay::drawPositionLock(float x, float y, QString label, int status, b
painter.setPen(Qt::NoPen);
painter.drawRect(QRect(refToScreenX(x+7.3f), refToScreenY(y+0.05), refToScreenX(7.0f), refToScreenY(4.0f)));
paintText(lockText, statusColor, 2.6f, x+7.9f, y+0.35f, &painter);
paintText(lockText, statusColor, 2.6f, x+7.9f, y+0.8f, &painter);
// Cross out instrument if state unknown
if (!known)
{
......@@ -640,6 +658,7 @@ void HSIDisplay::updatePositionSetpoints(int uasid, float xDesired, float yDesir
bodyYawSet = yawDesired;
mavInitialized = true;
setPointKnown = true;
positionSetPointKnown = true;
// qDebug() << "Received setpoint at x: " << x << "metric y:" << y;
// posXSet = xDesired;
......@@ -693,6 +712,7 @@ void HSIDisplay::updateLocalization(UASInterface* uas, int fix)
Q_UNUSED(uas);
positionFix = fix;
positionFixKnown = true;
//qDebug() << "LOCALIZATION FIX CALLED";
}
/**
* @param fix 0: lost, 1: at least one satellite, but no GPS fix, 2: 2D localization, 3: 3D localization
......@@ -711,6 +731,7 @@ void HSIDisplay::updateVisionLocalization(UASInterface* uas, int fix)
Q_UNUSED(uas);
visionFix = fix;
visionFixKnown = true;
//qDebug() << "VISION FIX GOT CALLED";
}
/**
......@@ -945,6 +966,8 @@ void HSIDisplay::drawObjects(QPainter &painter)
void HSIDisplay::drawPositionDirection(float xRef, float yRef, float radius, const QColor& color, QPainter* painter)
{
if (xyControlKnown && xyControlEnabled)
{
// Draw the needle
const float maxWidth = radius / 10.0f;
const float minWidth = maxWidth * 0.3f;
......@@ -975,11 +998,14 @@ void HSIDisplay::drawPositionDirection(float xRef, float yRef, float radius, con
painter->setBrush(indexBrush);
drawPolygon(p, painter);
qDebug() << "DRAWING POS SETPOINT X:" << posXSet << "Y:" << posYSet << angle;
//qDebug() << "DRAWING POS SETPOINT X:" << posXSet << "Y:" << posYSet << angle;
}
}
void HSIDisplay::drawAttitudeDirection(float xRef, float yRef, float radius, const QColor& color, QPainter* painter)
{
if (attControlKnown && attControlEnabled)
{
// Draw the needle
const float maxWidth = radius / 10.0f;
const float minWidth = maxWidth * 0.3f;
......@@ -1011,10 +1037,13 @@ void HSIDisplay::drawAttitudeDirection(float xRef, float yRef, float radius, con
// TODO Draw Yaw indicator
//qDebug() << "DRAWING ATT SETPOINT X:" << attXSet << "Y:" << attYSet << angle;
}
}
void HSIDisplay::drawAltitudeSetpoint(float xRef, float yRef, float radius, const QColor& color, QPainter* painter)
{
if (zControlKnown && zControlEnabled)
{
// Draw the circle
QPen circlePen(Qt::SolidLine);
circlePen.setWidth(refLineWidthToPen(0.5f));
......@@ -1028,6 +1057,7 @@ void HSIDisplay::drawAltitudeSetpoint(float xRef, float yRef, float radius, cons
// QString label;
// label.sprintf("%05.1f", value);
// paintText(label, color, 4.5f, xRef-7.5f, yRef-2.0f, painter);
}
}
void HSIDisplay::wheelEvent(QWheelEvent* event)
......
src/ui/HSIDisplay.h
View file @ 81ccc01d
......@@ -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
View file @ 81ccc01d
......@@ -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
View file @ 81ccc01d
......@@ -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);
......
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