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qgroundcontrol
Commit 8c20cfce authored by Mariano Lizarraga's avatar Mariano Lizarraga
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Merge branch 'experimental' of github.com:pixhawk/qgroundcontrol into experimental

parents e9637d5a 1215c545
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Showing with 1430 additions and 2149 deletions
images/earth.html
View file @ 8c20cfce
......@@ -71,6 +71,11 @@ function init()
google.earth.createInstance("map3d", initCallback, failureCallback);
}
function setFollowEnabled(enable)
{
followEnabled = enable;
}
function setCurrAircraft(id)
......@@ -214,8 +219,8 @@ function initCallback(object)
ge.getWindow().setVisibility(true);
ge.getOptions().setStatusBarVisibility(true);
ge.getOptions().setScaleLegendVisibility(true);
ge.getOptions().setFlyToSpeed(5.0);
//ge.getOptions().setFlyToSpeed(ge.SPEED_TELEPORT);
//ge.getOptions().setFlyToSpeed(5.0);
ge.getOptions().setFlyToSpeed(ge.SPEED_TELEPORT);
ge.getNavigationControl().setVisibility(ge.VISIBILITY_AUTO);
ge.getLayerRoot().enableLayerById(ge.LAYER_TERRAIN, true);
......@@ -233,23 +238,31 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
if (lastLat == 0)
{
lastLat = currLat;
lastLon = lastLon;
lastLon = currLon;
}
currLat = lat;
currLon = lon;
currAlt = alt;
// Interpolate between t-1 and t and set new states
lastLat = lastLat*0.8+currLat*0.2;
lastLon = lastLon*0.8+currLon*0.2;
lastAlt = lastAlt*0.8+currAlt*0.2;
//currFollowHeading = ((yaw/M_PI)+1.0)*360.0;
// FIXME Currently invalid conversion from right-handed z-down to z-up frame
planeOrient.setRoll(((roll/M_PI)+1.0)*360.0);
planeOrient.setTilt(((pitch/M_PI)+1.0)*360.0);
planeOrient.setHeading(((yaw/M_PI)+1.0)*360.0);
planeOrient.setRoll(((roll/M_PI))*180.0+180.0);
planeOrient.setTilt(((pitch/M_PI))*180.0+180.0);
planeOrient.setHeading(((yaw/M_PI))*180.0-90.0);
currFollowHeading = ((yaw/M_PI))*180.0;
planeLoc.setLatitude(lat);
planeLoc.setLongitude(lon);
planeLoc.setAltitude(alt);
planeLoc.setLatitude(lastLat);
planeLoc.setLongitude(lastLon);
planeLoc.setAltitude(lastAlt);
planeModel.setLocation(planeLoc);
if (followEnabled) updateFollowAircraft();
}
}
......@@ -284,17 +297,13 @@ function setCurrentAircraft(id)
function updateFollowAircraft()
{
currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
// Interpolate between t-1 and t and set new states
lastLat = lastLat*0.7+currLat*0.3;
lastLon = lastLon*0.7+currLon*0.3;
lastAlt = lastAlt*0.7+currAlt*0.3;
currView.setLatitude(lastLat);
currView.setLongitude(lastLon);
currView.setAltitude(lastAlt);
currView.setRange(currViewRange);
currView.setTilt(currFollowTilt);
currView.setHeading(currFollowHeading-90.0);
currView.setHeading(currFollowHeading);
ge.getView().setAbstractView(currView);
}
......
lib/QMapControl/src/geometry.h
View file @ 8c20cfce
......@@ -119,7 +119,7 @@ namespace qmapcontrol
virtual bool hasClickedPoints() const;
virtual void setPen(QPen* pen);
virtual QList<Geometry*> clickedPoints();
virtual QList<Point*> points()=0;
virtual QList<Point*>& points()=0;
private:
Geometry* myparentGeometry;
......
lib/QMapControl/src/linestring.cpp
View file @ 8c20cfce
......@@ -56,7 +56,12 @@ namespace qmapcontrol
vertices.append(point);
}
QList<Point*> LineString::points()
void LineString::clearPoints()
{
vertices.clear();
}
QList<Point*>& LineString::points()
{
return vertices;
}
......
lib/QMapControl/src/linestring.h
View file @ 8c20cfce
......@@ -56,7 +56,7 @@ namespace qmapcontrol
/*!
* @return a list with the points of the LineString
*/
QList<Point*> points();
QList<Point*>& points();
//! adds a point at the end of the LineString
/*!
......@@ -64,6 +64,9 @@ namespace qmapcontrol
*/
void addPoint ( Point* point );
//! Remove all points from the LineString
void clearPoints();
//! sets the given list as points of the LineString
/*!
* @param points the points which should be set for the LineString
......
lib/QMapControl/src/point.cpp
View file @ 8c20cfce
......@@ -293,12 +293,11 @@ namespace qmapcontrol
emit(positionChanged(this));
}
QList<Point*> Point::points()
QList<Point*>& Point::points()
{
//TODO: assigning temp?!
QList<Point*> points;
points.append(this);
return points;
// FIXME TODO: THIS IS ABSOLUTELY WRONG IN THE ORIGINAL LIBRARY
// NEEDS AN INHERITANCE REWRITE!!!!
return m_points;
}
QWidget* Point::widget()
......
lib/QMapControl/src/point.h
View file @ 8c20cfce
......@@ -139,7 +139,7 @@ namespace qmapcontrol
*/
QPointF coordinate() const;
virtual QList<Point*> points();
virtual QList<Point*>& points();
/*! \brief returns the widget of the point
@return the widget of the point
......@@ -191,6 +191,7 @@ namespace qmapcontrol
QSize displaysize;
QSize minsize;
QSize maxsize;
QList<Point*> m_points;
void drawWidget(const MapAdapter* mapadapter, const QPoint offset);
......
qgroundcontrol.pro
View file @ 8c20cfce
......@@ -140,7 +140,6 @@ FORMS += src/ui/MainWindow.ui \
src/ui/QGCPxImuFirmwareUpdate.ui \
src/ui/QGCDataPlot2D.ui \
src/ui/QGCRemoteControlView.ui \
src/ui/WaypointGlobalView.ui \
src/ui/QMap3D.ui \
src/ui/QGCWebView.ui \
src/ui/map3D/QGCGoogleEarthView.ui \
......
src/Waypoint.cc
View file @ 8c20cfce
/*=====================================================================
/*===================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
......@@ -33,18 +32,19 @@ This file is part of the QGROUNDCONTROL project
#include "Waypoint.h"
#include <QStringList>
Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _autocontinue, bool _current, float _orbit, int _holdTime, MAV_FRAME _frame, MAV_ACTION _action)
: id(_id),
x(_x),
y(_y),
z(_z),
yaw(_yaw),
frame(_frame),
action(_action),
autocontinue(_autocontinue),
current(_current),
orbit(_orbit),
holdTime(_holdTime)
Waypoint::Waypoint(quint16 _id, double _x, double _y, double _z, double _yaw, bool _autocontinue, bool _current, double _orbit, int _holdTime, MAV_FRAME _frame, MAV_ACTION _action)
: id(_id),
x(_x),
y(_y),
z(_z),
yaw(_yaw),
frame(_frame),
action(_action),
autocontinue(_autocontinue),
current(_current),
orbit(_orbit),
holdTime(_holdTime),
name(QString("WP%1").arg(id, 2, 10, QChar('0')))
{
}
......@@ -90,79 +90,141 @@ bool Waypoint::load(QTextStream &loadStream)
void Waypoint::setId(quint16 id)
{
this->id = id;
this->name = QString("WP%1").arg(id, 2, 10, QChar('0'));
emit changed(this);
}
void Waypoint::setX(float x)
void Waypoint::setX(double x)
{
this->x = x;
if (this->x != x)
{
this->x = x;
emit changed(this);
}
}
void Waypoint::setY(float y)
void Waypoint::setY(double y)
{
this->y = y;
if (this->y != y)
{
this->y = y;
emit changed(this);
}
}
void Waypoint::setZ(float z)
void Waypoint::setZ(double z)
{
this->z = z;
if (this->z != z)
{
this->z = z;
emit changed(this);
}
}
void Waypoint::setYaw(float yaw)
void Waypoint::setYaw(double yaw)
{
this->yaw = yaw;
if (this->yaw != yaw)
{
this->yaw = yaw;
emit changed(this);
}
}
void Waypoint::setAction(MAV_ACTION action)
{
this->action = action;
if (this->action != action)
{
this->action = action;
emit changed(this);
}
}
void Waypoint::setFrame(MAV_FRAME frame)
{
this->frame = frame;
if (this->frame != frame)
{
this->frame = frame;
emit changed(this);
}
}
void Waypoint::setAutocontinue(bool autoContinue)
{
this->autocontinue = autoContinue;
if (this->autocontinue != autocontinue)
{
this->autocontinue = autoContinue;
emit changed(this);
}
}
void Waypoint::setCurrent(bool current)
{
this->current = current;
if (this->current != current)
{
this->current = current;
emit changed(this);
}
}
void Waypoint::setOrbit(float orbit)
void Waypoint::setOrbit(double orbit)
{
this->orbit = orbit;
if (this->orbit != orbit)
{
this->orbit = orbit;
emit changed(this);
}
}
void Waypoint::setHoldTime(int holdTime)
{
this->holdTime = holdTime;
}
void Waypoint::setX(double x)
{
this->x = x;
}
void Waypoint::setY(double y)
{
this->y = y;
}
void Waypoint::setZ(double z)
{
this->z = z;
}
void Waypoint::setYaw(double yaw)
{
this->yaw = yaw;
if (this->holdTime != holdTime)
{
this->holdTime = holdTime;
emit changed(this);
}
}
void Waypoint::setOrbit(double orbit)
{
this->orbit = orbit;
}
//void Waypoint::setX(double x)
//{
// if (this->x != static_cast<double>(x))
// {
// this->x = x;
// emit changed(this);
// }
//}
//void Waypoint::setY(double y)
//{
// if (this->y != static_cast<double>(y))
// {
// this->y = y;
// emit changed(this);
// }
//}
//void Waypoint::setZ(double z)
//{
// if (this->z != static_cast<double>(z))
// {
// this->z = z;
// emit changed(this);
// }
//}
//void Waypoint::setYaw(double yaw)
//{
// if (this->yaw != static_cast<double>(yaw))
// {
// this->yaw = yaw;
// emit changed(this);
// }
//}
//void Waypoint::setOrbit(double orbit)
//{
// if (this->orbit != static_cast<double>(orbit))
// {
// this->orbit = orbit;
// emit changed(this);
// }
//}
src/Waypoint.h
View file @ 8c20cfce
......@@ -43,22 +43,23 @@ class Waypoint : public QObject
Q_OBJECT
public:
Waypoint(quint16 id = 0, float x = 0.0f, float y = 0.0f, float z = 0.0f, float yaw = 0.0f, bool autocontinue = false,
bool current = false, float orbit = 0.15f, int holdTime = 0,
Waypoint(quint16 id = 0, double x = 0.0f, double y = 0.0f, double z = 0.0f, double yaw = 0.0f, bool autocontinue = false,
bool current = false, double orbit = 0.15f, int holdTime = 0,
MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_ACTION action=MAV_ACTION_NAVIGATE);
~Waypoint();
quint16 getId() const { return id; }
float getX() const { return x; }
float getY() const { return y; }
float getZ() const { return z; }
float getYaw() const { return yaw; }
double getX() const { return x; }
double getY() const { return y; }
double getZ() const { return z; }
double getYaw() const { return yaw; }
bool getAutoContinue() const { return autocontinue; }
bool getCurrent() const { return current; }
float getOrbit() const { return orbit; }
float getHoldTime() const { return holdTime; }
double getOrbit() const { return orbit; }
double getHoldTime() const { return holdTime; }
MAV_FRAME getFrame() const { return frame; }
MAV_ACTION getAction() const { return action; }
const QString& getName() const { return name; }
void save(QTextStream &saveStream);
bool load(QTextStream &loadStream);
......@@ -66,37 +67,42 @@ public:
protected:
quint16 id;
float x;
float y;
float z;
float yaw;
double x;
double y;
double z;
double yaw;
MAV_FRAME frame;
MAV_ACTION action;
bool autocontinue;
bool current;
float orbit;
double orbit;
int holdTime;
QString name;
public slots:
void setId(quint16 id);
void setX(float x);
void setY(float y);
void setZ(float z);
void setYaw(float yaw);
void setX(double x);
void setY(double y);
void setZ(double z);
void setYaw(double yaw);
void setAction(MAV_ACTION action);
void setFrame(MAV_FRAME frame);
void setAutocontinue(bool autoContinue);
void setCurrent(bool current);
void setOrbit(float orbit);
void setOrbit(double orbit);
void setHoldTime(int holdTime);
//for QDoubleSpin
void setX(double x);
void setY(double y);
void setZ(double z);
void setYaw(double yaw);
void setOrbit(double orbit);
// //for QDoubleSpin
// void setX(double x);
// void setY(double y);
// void setZ(double z);
// void setYaw(double yaw);
// void setOrbit(double orbit);
signals:
/** @brief Announces a change to the waypoint data */
void changed(Waypoint* wp);
};
#endif // WAYPOINT_H
src/comm/MAVLinkSimulationLink.cc
View file @ 8c20cfce
......@@ -154,12 +154,12 @@ void MAVLinkSimulationLink::sendMAVLinkMessage(const mavlink_message_t* msg)
unsigned int bufferlength = mavlink_msg_to_send_buffer(buf, msg);
// Pack to link buffer
// readyBufferMutex.lock();
readyBufferMutex.lock();
for (unsigned int i = 0; i < bufferlength; i++)
{
readyBuffer.enqueue(*(buf + i));
}
// readyBufferMutex.unlock();
readyBufferMutex.unlock();
}
void MAVLinkSimulationLink::enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg)
......@@ -451,6 +451,11 @@ void MAVLinkSimulationLink::mainloop()
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
// ATTITUDE VEHICLE 2
mavlink_msg_attitude_pack(54, MAV_COMP_ID_IMU, &ret, 0, 0, 0, atan2((y/2)+0.3, (x+0.002)), 0, 0, 0);
sendMAVLinkMessage(&ret);
// // GLOBAL POSITION VEHICLE 3
// mavlink_msg_global_position_int_pack(60, componentId, &ret, (473780.28137103+(x/2+0.002))*1E3, (85489.9892510421+((y*2)+0.3))*1E3, (z+590.0)*1000.0, 0*100.0, 0*100.0, 0*100.0);
// bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
......@@ -627,7 +632,7 @@ void MAVLinkSimulationLink::mainloop()
// HEARTBEAT VEHICLE 2
// Pack message and get size of encoded byte string
messageSize = mavlink_msg_heartbeat_pack(54, componentId, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_ARDUPILOTMEGA);
messageSize = mavlink_msg_heartbeat_pack(54, componentId, &msg, MAV_HELICOPTER, MAV_AUTOPILOT_ARDUPILOTMEGA);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
......@@ -886,8 +891,7 @@ void MAVLinkSimulationLink::readBytes() {
readyBufferMutex.lock();
const qint64 maxLength = 2048;
char data[maxLength];
qint64 len = maxLength;
if (maxLength > readyBuffer.size()) len = readyBuffer.size();
qint64 len = qMin((qint64)readyBuffer.size(), maxLength);
for (unsigned int i = 0; i < len; i++)
{
......
src/comm/MAVLinkSimulationMAV.cc
View file @ 8c20cfce
......@@ -4,32 +4,36 @@
#include "MAVLinkSimulationMAV.h"
MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int systemid) :
QObject(parent),
link(parent),
planner(parent, systemid),
systemid(systemid),
timer25Hz(0),
timer10Hz(0),
timer1Hz(0),
latitude(0.0),
longitude(0.0),
altitude(0.0),
x(0.0),
y(0.0),
z(0.0),
roll(0.0),
pitch(0.0),
yaw(0.0),
globalNavigation(true),
firstWP(false),
previousSPX(0.0),
previousSPY(0.0),
previousSPZ(0.0),
previousSPYaw(0.0),
nextSPX(0.0),
nextSPY(0.0),
nextSPZ(0.0),
nextSPYaw(0.0)
QObject(parent),
link(parent),
planner(parent, systemid),
systemid(systemid),
timer25Hz(0),
timer10Hz(0),
timer1Hz(0),
latitude(47.376389),
longitude(8.548056),
altitude(0.0),
x(8.548056),
y(47.376389),
z(550),
roll(0.0),
pitch(0.0),
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),
nextSPYaw(0.0),
sys_mode(MAV_MODE_READY),
sys_state(MAV_STATE_STANDBY),
nav_mode(MAV_NAV_GROUNDED),
flying(false)
{
// Please note: The waypoint planner is running
connect(&mainloopTimer, SIGNAL(timeout()), this, SLOT(mainloop()));
......@@ -42,28 +46,15 @@ MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int sy
void MAVLinkSimulationMAV::mainloop()
{
// Calculate new simulator values
// double maxSpeed = 0.0001; // rad/s in earth coordinate frame
// double maxSpeed = 0.0001; // rad/s in earth coordinate frame
// double xNew = // (nextSPX - previousSPX)
// double xNew = // (nextSPX - previousSPX)
if (!firstWP)
if (flying)
{
double xm = (nextSPX - x) * 0.01;
double ym = (nextSPY - y) * 0.01;
double zm = (nextSPZ - z) * 0.1;
x += xm;
y += ym;
z += zm;
//if (xm < 0.001) xm
}
else
{
x = nextSPX;
y = nextSPY;
z = nextSPZ;
firstWP = false;
sys_state = MAV_STATE_ACTIVE;
sys_mode = MAV_MODE_AUTO;
nav_mode = MAV_NAV_WAYPOINT;
}
// 1 Hz execution
......@@ -72,12 +63,59 @@ void MAVLinkSimulationMAV::mainloop()
mavlink_message_t msg;
mavlink_msg_heartbeat_pack(systemid, MAV_COMP_ID_IMU, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_PIXHAWK);
link->sendMAVLinkMessage(&msg);
planner.handleMessage(msg);
timer1Hz = 50;
}
// 10 Hz execution
if (timer10Hz <= 0)
{
if (!firstWP)
{
double radPer100ms = 0.00006;
double altPer100ms = 1.0;
double xm = (nextSPX - x);
double ym = (nextSPY - y);
double zm = (nextSPZ - z);
float zsign = (zm < 0) ? -1.0f : 1.0f;
//float trueyaw = atan2f(xm, ym);
float newYaw = atan2f(xm, ym);
if (fabs(yaw - newYaw) < 90)
{
yaw = yaw*0.7 + 0.3*newYaw;
}
else
{
yaw = newYaw;
}
//qDebug() << "SIMULATION MAV: x:" << xm << "y:" << ym << "z:" << zm << "yaw:" << yaw;
//if (sqrt(xm*xm+ym*ym) > 0.0000001)
if (flying)
{
x += sin(yaw)*radPer100ms;
y += cos(yaw)*radPer100ms;
z += altPer100ms*zsign;
}
//if (xm < 0.001) xm
}
else
{
x = nextSPX;
y = nextSPY;
z = nextSPZ;
firstWP = false;
qDebug() << "INIT STEP";
}
// GLOBAL POSITION
mavlink_message_t msg;
mavlink_global_position_int_t pos;
pos.alt = z*1000.0;
......@@ -88,12 +126,90 @@ void MAVLinkSimulationMAV::mainloop()
pos.vz = 0;
mavlink_msg_global_position_int_encode(systemid, MAV_COMP_ID_IMU, &msg, &pos);
link->sendMAVLinkMessage(&msg);
planner.handleMessage(msg);
// ATTITUDE
mavlink_attitude_t attitude;
attitude.roll = 0.0f;
attitude.pitch = 0.0f;
attitude.yaw = yaw;
mavlink_msg_attitude_encode(systemid, MAV_COMP_ID_IMU, &msg, &attitude);
link->sendMAVLinkMessage(&msg);
// SYSTEM STATUS
mavlink_sys_status_t status;
status.load = 300;
status.motor_block = 1;
status.mode = sys_mode;
status.nav_mode = nav_mode;
status.packet_drop = 0;
status.vbat = 10500;
status.status = sys_state;
mavlink_msg_sys_status_encode(systemid, MAV_COMP_ID_IMU, &msg, &status);
link->sendMAVLinkMessage(&msg);
timer10Hz = 5;
}
// 25 Hz execution
if (timer25Hz <= 0)
{
// Send a named value with name "FLOAT" and 0.5f as value
// The message container to be used for sending
mavlink_message_t ret;
// The C-struct holding the data to be sent
mavlink_named_value_float_t val;
// Fill in the data
// Name of the value, maximum 10 characters
// see full message specs at:
// http://pixhawk.ethz.ch/wiki/mavlink/
strcpy(val.name, "FLOAT");
// Value, in this case 0.5
val.value = 0.5f;
// Encode the data (adding header and checksums, etc.)
mavlink_msg_named_value_float_encode(systemid, MAV_COMP_ID_IMU, &ret, &val);
// And send it
link->sendMAVLinkMessage(&ret);
// MICROCONTROLLER SEND CODE:
// uint8_t buf[MAVLINK_MAX_PACKET_LEN];
// int16_t len = mavlink_msg_to_send_buffer(buf, &ret);
// uart0_transmit(buf, len);
// SEND INTEGER VALUE
// We are reusing the "mavlink_message_t ret"
// message buffer
// The C-struct holding the data to be sent
mavlink_named_value_int_t valint;
// Fill in the data
// Name of the value, maximum 10 characters
// see full message specs at:
// http://pixhawk.ethz.ch/wiki/mavlink/
strcpy(valint.name, "INTEGER");
// Value, in this case 18000
valint.value = 18000;
// Encode the data (adding header and checksums, etc.)
mavlink_msg_named_value_int_encode(systemid, MAV_COMP_ID_IMU, &ret, &valint);
// And send it
link->sendMAVLinkMessage(&ret);
// MICROCONTROLLER SEND CODE:
// uint8_t buf[MAVLINK_MAX_PACKET_LEN];
// int16_t len = mavlink_msg_to_send_buffer(buf, &ret);
// uart0_transmit(buf, len);
timer25Hz = 2;
}
......@@ -110,6 +226,37 @@ void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
{
case MAVLINK_MSG_ID_ATTITUDE:
break;
case MAVLINK_MSG_ID_SET_MODE:
{
mavlink_set_mode_t mode;
mavlink_msg_set_mode_decode(&msg, &mode);
if (systemid == mode.target) sys_mode = mode.mode;
}
break;
case MAVLINK_MSG_ID_ACTION:
{
mavlink_action_t action;
mavlink_msg_action_decode(&msg, &action);
if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU))
{
switch (action.action)
{
case MAV_ACTION_LAUNCH:
flying = true;
break;
default:
{
mavlink_statustext_t text;
mavlink_message_t r_msg;
sprintf((char*)text.text, "MAV%d ignored unknown action %d", systemid, action.action);
mavlink_msg_statustext_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &text);
link->sendMAVLinkMessage(&r_msg);
}
break;
}
}
}
break;
case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET:
{
mavlink_local_position_setpoint_set_t sp;
......@@ -127,9 +274,9 @@ void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
//nextSPYaw = sp.yaw;
// Airplane
yaw = atan2(previousSPX-nextSPX, previousSPY-nextSPY);
//yaw = atan2(previousSPX-nextSPX, previousSPY-nextSPY);
if (!firstWP) firstWP = true;
//if (!firstWP) firstWP = true;
}
//qDebug() << "UPDATED SP:" << "X" << nextSPX << "Y" << nextSPY << "Z" << nextSPZ;
}
......
src/comm/MAVLinkSimulationMAV.h
View file @ 8c20cfce
......@@ -49,6 +49,10 @@ protected:
double nextSPY;
double nextSPZ;
double nextSPYaw;
uint8_t sys_mode;
uint8_t sys_state;
uint8_t nav_mode;
bool flying;
};
......
src/comm/MAVLinkSimulationWaypointPlanner.cc
View file @ 8c20cfce
......@@ -437,6 +437,20 @@ float MAVLinkSimulationWaypointPlanner::distanceToPoint(uint16_t seq, float x, f
return -1.f;
}
float MAVLinkSimulationWaypointPlanner::distanceToPoint(uint16_t seq, float x, float y)
{
if (seq < waypoints->size())
{
mavlink_waypoint_t *cur = waypoints->at(seq);
const PxVector3 A(cur->x, cur->y, 0);
const PxVector3 C(x, y, 0);
return (C-A).length();
}
return -1.f;
}
void MAVLinkSimulationWaypointPlanner::handleMessage(const mavlink_message_t& msg)
{
mavlink_handler(&msg);
......@@ -449,7 +463,7 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
//check for timed-out operations
qDebug() << "MAV: %d WAYPOINTPLANNER GOT MESSAGE" << systemid;
//qDebug() << "MAV: %d WAYPOINTPLANNER GOT MESSAGE" << systemid;
uint64_t now = QGC::groundTimeUsecs()/1000;
if (now-protocol_timestamp_lastaction > protocol_timeout && current_state != PX_WPP_IDLE)
......@@ -502,6 +516,10 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
if (att.yaw - yaw_tolerance < wp->yaw || wp->yaw < upperBound)
yawReached = true;
}
// FIXME HACK: Ignore yaw:
yawReached = true;
}
}
break;
......@@ -543,6 +561,49 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
break;
}
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
{
if(msg->sysid == systemid && current_active_wp_id < waypoints->size())
{
mavlink_waypoint_t *wp = waypoints->at(current_active_wp_id);
if(wp->frame == 0)
{
mavlink_global_position_int_t pos;
mavlink_msg_global_position_int_decode(msg, &pos);
float x = static_cast<double>(pos.lon)/1E7;
float y = static_cast<double>(pos.lat)/1E7;
float z = static_cast<double>(pos.alt)/1000;
qDebug() << "Received new position: x:" << x << "| y:" << y << "| z:" << z;
posReached = false;
yawReached = true;
// FIXME big hack for simulation!
//float oneDegreeOfLatMeters = 111131.745f;
float orbit = 0.00008;
// compare current position (given in message) with current waypoint
//float orbit = wp->param1;
// Convert to degrees
float dist;
dist = distanceToPoint(current_active_wp_id, x, y);
if (dist >= 0.f && dist <= orbit && yawReached)
{
posReached = true;
qDebug() << "WP PLANNER: REACHED POSITION";
}
}
}
break;
}
case MAVLINK_MSG_ID_ACTION: // special action from ground station
{
mavlink_action_t action;
......@@ -947,7 +1008,7 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
{
//the last waypoint was reached, if auto continue is
//activated restart the waypoint list from the beginning
current_active_wp_id = 1;
current_active_wp_id = 0;
}
else
{
......
src/comm/MAVLinkSimulationWaypointPlanner.h
View file @ 8c20cfce
......@@ -68,6 +68,7 @@ protected:
void send_waypoint_reached(uint16_t seq);
float distanceToSegment(uint16_t seq, float x, float y, float z);
float distanceToPoint(uint16_t seq, float x, float y, float z);
float distanceToPoint(uint16_t seq, float x, float y);
void mavlink_handler(const mavlink_message_t* msg);
};
......
src/configuration.h
View file @ 8c20cfce
......@@ -17,7 +17,7 @@
#define WITH_TEXT_TO_SPEECH 1
#define QGC_APPLICATION_NAME "QGroundControl"
#define QGC_APPLICATION_VERSION "v. 0.8.3 (Alpha)"
#define QGC_APPLICATION_VERSION "v. 0.8.3 (Alpha RC6)"
namespace QGC
......
src/uas/UAS.cc
View file @ 8c20cfce
......@@ -146,18 +146,31 @@ void UAS::updateState()
void UAS::setSelected()
{
UASManager::instance()->setActiveUAS(this);
if (UASManager::instance()->getActiveUAS() != this)
{
UASManager::instance()->setActiveUAS(this);
emit systemSelected(true);
}
}
bool UAS::getSelected() const
{
return (UASManager::instance()->getActiveUAS() == this);
}
void UAS::receiveMessageNamedValue(const mavlink_message_t& message)
{
if (message.msgid == MAVLINK_MSG_ID_NAMED_VALUE_FLOAT)
{
mavlink_named_value_float_t val;
mavlink_msg_named_value_float_decode(&message, &val);
emit valueChanged(this->getUASID(), QString(val.name), tr("raw"), val.value, getUnixTime(0));
}
else if (message.msgid == MAVLINK_MSG_ID_NAMED_VALUE_INT)
{
mavlink_named_value_int_t val;
mavlink_msg_named_value_int_decode(&message, &val);
emit valueChanged(this->getUASID(), QString(val.name), tr("raw"), (float)val.value, getUnixTime(0));
}
}
......@@ -181,6 +194,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
QString uasState;
QString stateDescription;
QString patternPath;
// Receive named value message
receiveMessageNamedValue(message);
switch (message.msgid)
{
case MAVLINK_MSG_ID_HEARTBEAT:
......@@ -326,15 +343,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
mavlink_msg_raw_imu_decode(&message, &raw);
quint64 time = getUnixTime(raw.usec);
emit valueChanged(uasId, "accel x", "raw", raw.xacc, time);
emit valueChanged(uasId, "accel y", "raw", raw.yacc, time);
emit valueChanged(uasId, "accel z", "raw", raw.zacc, time);
emit valueChanged(uasId, "accel x", "raw", static_cast<double>(raw.xacc), time);
emit valueChanged(uasId, "accel y", "raw", static_cast<double>(raw.yacc), time);
emit valueChanged(uasId, "accel z", "raw", static_cast<double>(raw.zacc), time);
emit valueChanged(uasId, "gyro roll", "raw", static_cast<double>(raw.xgyro), time);
emit valueChanged(uasId, "gyro pitch", "raw", static_cast<double>(raw.ygyro), time);
emit valueChanged(uasId, "gyro yaw", "raw", static_cast<double>(raw.zgyro), time);
emit valueChanged(uasId, "mag x", "raw", raw.xmag, time);
emit valueChanged(uasId, "mag y", "raw", raw.ymag, time);
emit valueChanged(uasId, "mag z", "raw", raw.zmag, time);
emit valueChanged(uasId, "mag x", "raw", static_cast<double>(raw.xmag), time);
emit valueChanged(uasId, "mag y", "raw", static_cast<double>(raw.ymag), time);
emit valueChanged(uasId, "mag z", "raw", static_cast<double>(raw.zmag), time);
}
break;
case MAVLINK_MSG_ID_ATTITUDE:
......@@ -1038,7 +1055,7 @@ void UAS::getStatusForCode(int statusCode, QString& uasState, QString& stateDesc
break;
case MAV_STATE_EMERGENCY:
uasState = tr("EMERGENCY");
stateDescription = tr("EMERGENCY: Please land");
stateDescription = tr("EMERGENCY: Land!");
break;
case MAV_STATE_POWEROFF:
uasState = tr("SHUTDOWN");
......
src/uas/UAS.h
View file @ 8c20cfce
......@@ -89,9 +89,10 @@ public:
double getRoll() const { return roll; }
double getPitch() const { return pitch; }
double getYaw() const { return yaw; }
bool getSelected() const;
friend class UASWaypointManager;
protected: //COMMENTS FOR TEST UNIT
int uasId; ///< Unique system ID
unsigned char type; ///< UAS type (from type enum)
......
src/uas/UASInterface.h
View file @ 8c20cfce
......@@ -78,6 +78,8 @@ public:
virtual double getPitch() const = 0;
virtual double getYaw() const = 0;
virtual bool getSelected() const = 0;
/** @brief Get reference to the waypoint manager **/
virtual UASWaypointManager* getWaypointManager(void) = 0;
......@@ -419,6 +421,8 @@ signals:
void heartbeatTimeout(unsigned int ms);
/** @brief Name of system changed */
void nameChanged(QString newName);
/** @brief System has been selected as focused system */
void systemSelected(bool selected);
protected:
......
src/uas/UASManager.cc
View file @ 8c20cfce
......@@ -203,6 +203,7 @@ void UASManager::setActiveUAS(UASInterface* uas)
activeUAS = uas;
activeUASMutex.unlock();
activeUAS->setSelected();
emit activeUASSet(uas);
emit activeUASSet(uas->getUASID());
emit activeUASSetListIndex(systems.indexOf(uas));
......
src/uas/UASWaypointManager.cc
View file @ 8c20cfce
......@@ -138,9 +138,9 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
if(wp->seq == current_wp_id)
{
qDebug() << "Got WP: " << wp->seq << wp->x << wp->y << wp->z << wp->yaw << wp->autocontinue << wp->current << wp->param1 << wp->param2 << (MAV_FRAME) wp->frame << (MAV_ACTION) wp->action;
qDebug() << "Got WP: " << wp->seq << wp->x << wp->y << wp->z << wp->yaw << "auto:" << wp->autocontinue << "curr:" << wp->current << wp->param1 << wp->param2 << (MAV_FRAME) wp->frame << (MAV_ACTION) wp->action;
Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->param1, wp->param2, (MAV_FRAME) wp->frame, (MAV_ACTION) wp->action);
addWaypoint(lwp);
addWaypoint(lwp, false);
//get next waypoint
current_wp_id++;
......@@ -267,9 +267,17 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
void UASWaypointManager::notifyOfChange(Waypoint* wp)
{
Q_UNUSED(wp);
emit waypointListChanged();
emit waypointListChanged(uas.getUASID());
qDebug() << "WAYPOINT CHANGED: ID:" << wp->getId();
// If only one waypoint was changed, emit only WP signal
if (wp != NULL)
{
emit waypointChanged(uas.getUASID(), wp);
}
else
{
emit waypointListChanged();
emit waypointListChanged(uas.getUASID());
}
}
int UASWaypointManager::setCurrentWaypoint(quint16 seq)
......@@ -312,17 +320,20 @@ int UASWaypointManager::setCurrentWaypoint(quint16 seq)
return -1;
}
void UASWaypointManager::addWaypoint(Waypoint *wp)
/**
* @param enforceFirstActive Enforces that the first waypoint is set as active
*/
void UASWaypointManager::addWaypoint(Waypoint *wp, bool enforceFirstActive)
{
if (wp)
{
wp->setId(waypoints.size());
if (enforceFirstActive && waypoints.size() == 0) wp->setCurrent(true);
waypoints.insert(waypoints.size(), wp);
connect(wp, SIGNAL(changed(Waypoint*)), this, SLOT(notifyOfChange(Waypoint*)));
emit waypointListChanged();
emit waypointListChanged(uas.getUASID());
qDebug() << "ADDED WAYPOINT WITH ID:" << wp->getId();
}
}
......@@ -510,6 +521,7 @@ void UASWaypointManager::writeWaypoints()
{
if (current_state == WP_IDLE)
{
// Send clear all if count == 0
if (waypoints.count() > 0)
{
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
......@@ -522,7 +534,9 @@ void UASWaypointManager::writeWaypoints()
current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER;
//clear local buffer
//TODO: Why not replace with waypoint_buffer.clear() ? - because this will lead to memory leaks, the waypoint-structs have to be deleted, clear() would only delete the pointers.
// Why not replace with waypoint_buffer.clear() ?
// because this will lead to memory leaks, the waypoint-structs
// have to be deleted, clear() would only delete the pointers.
while(!waypoint_buffer.empty())
{
delete waypoint_buffer.back();
......
src/uas/UASWaypointManager.h
View file @ 8c20cfce
......@@ -86,16 +86,6 @@ public:
/** @name Waypoint list operations */
/*@{*/
const QVector<Waypoint *> &getWaypointList(void) { return waypoints; } ///< Returns a const reference to the waypoint list.
int removeWaypoint(quint16 seq); ///< locally remove the specified waypoint from the storage
void moveWaypoint(quint16 cur_seq, quint16 new_seq); ///< locally move a waypoint from its current position cur_seq to a new position new_seq
void saveWaypoints(const QString &saveFile); ///< saves the local waypoint list to saveFile
void loadWaypoints(const QString &loadFile); ///< loads a waypoint list from loadFile
void notifyOfChange(Waypoint* wp); ///< Notifies manager to changes to a waypoint
void localAddWaypoint(Waypoint *wp); ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly
int localRemoveWaypoint(quint16 seq); ///< locally remove the specified waypoint from the storage
void localMoveWaypoint(quint16 cur_seq, quint16 new_seq); ///< locally move a waypoint from its current position cur_seq to a new position new_seq
void localSaveWaypoints(const QString &saveFile); ///< saves the local waypoint list to saveFile
void localLoadWaypoints(const QString &loadFile); ///< loads a waypoint list from loadFile
int getIndexOf(Waypoint* wp); ///< Get the index of a waypoint in the list
/*@}*/
......@@ -122,7 +112,15 @@ private:
public slots:
void timeout(); ///< Called by the timer if a response times out. Handles send retries.
void addWaypoint(Waypoint *wp); ///< adds a new waypoint to the end of the list and changes its sequence number accordingly
/** @name Waypoint list operations */
/*@{*/
void addWaypoint(Waypoint *wp, bool enforceFirstActive=true); ///< adds a new waypoint to the end of the list and changes its sequence number accordingly
int removeWaypoint(quint16 seq); ///< locally remove the specified waypoint from the storage
void moveWaypoint(quint16 cur_seq, quint16 new_seq); ///< locally move a waypoint from its current position cur_seq to a new position new_seq
void saveWaypoints(const QString &saveFile); ///< saves the local waypoint list to saveFile
void loadWaypoints(const QString &loadFile); ///< loads a waypoint list from loadFile
void notifyOfChange(Waypoint* wp); ///< Notifies manager to changes to a waypoint
/*@}*/
signals:
void waypointListChanged(void); ///< emits signal that the waypoint list has been changed
......
src/ui/MainWindow.cc
View file @ 8c20cfce
......@@ -38,7 +38,7 @@
#include "SlugsMAV.h"
#include "LogCompressor.h"
#include "LogCompressor.h"s
MainWindow* MainWindow::instance()
{
......@@ -72,13 +72,6 @@ MainWindow::MainWindow(QWidget *parent):
{
// Set this view as default view
settings.setValue("CURRENT_VIEW", currentView);
// Enable default tools
// ENABLE UAS LIST
settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST,currentView), true);
// ENABLE COMMUNICATION CONSOLE
settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_DEBUG_CONSOLE,currentView), true);
}
else
{
......@@ -98,32 +91,9 @@ MainWindow::MainWindow(QWidget *parent):
// Setup user interface
ui.setupUi(this);
ui.actionNewCustomWidget->setEnabled(false);
setVisible(false);
// Bind together the perspective actions
QActionGroup* perspectives = new QActionGroup(ui.menuPerspectives);
perspectives->addAction(ui.actionEngineersView);
perspectives->addAction(ui.actionMavlinkView);
perspectives->addAction(ui.actionPilotsView);
perspectives->addAction(ui.actionOperatorsView);
perspectives->addAction(ui.actionUnconnectedView);
perspectives->setExclusive(true);
// Mark the right one as selected
if (currentView == VIEW_ENGINEER) ui.actionEngineersView->setChecked(true);
if (currentView == VIEW_MAVLINK) ui.actionMavlinkView->setChecked(true);
if (currentView == VIEW_PILOT) ui.actionPilotsView->setChecked(true);
if (currentView == VIEW_OPERATOR) ui.actionOperatorsView->setChecked(true);
if (currentView == VIEW_UNCONNECTED) ui.actionUnconnectedView->setChecked(true);
// The pilot, engineer and operator view are not available on startup
// since they only make sense with a system connected.
ui.actionPilotsView->setEnabled(false);
ui.actionOperatorsView->setEnabled(false);
ui.actionEngineersView->setEnabled(false);
buildCommonWidgets();
connectCommonWidgets();
......@@ -204,6 +174,11 @@ void MainWindow::setDefaultSettingsForAp()
if (!settings.contains(centralKey))
{
settings.setValue(centralKey,true);
// ENABLE UAS LIST
settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST, VIEW_UNCONNECTED), true);
// ENABLE COMMUNICATION CONSOLE
settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_DEBUG_CONSOLE, VIEW_UNCONNECTED), true);
}
// OPERATOR VIEW DEFAULT
......@@ -223,6 +198,8 @@ void MainWindow::setDefaultSettingsForAp()
if (!settings.contains(centralKey))
{
settings.setValue(centralKey,true);
// Enable Parameter widget
settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_PARAMETERS,VIEW_ENGINEER), true);
}
// MAVLINK VIEW DEFAULT
......@@ -237,6 +214,8 @@ void MainWindow::setDefaultSettingsForAp()
if (!settings.contains(centralKey))
{
settings.setValue(centralKey,true);
// Enable Flight display
settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_HDD_1,VIEW_PILOT), true);
}
}
......@@ -880,9 +859,11 @@ QString MainWindow::buildMenuKey(SETTINGS_SECTIONS section, TOOLS_WIDGET_NAMES t
// Key is built as follows: autopilot_type/section_menu/view/tool/section
int apType;
apType = (UASManager::instance() && UASManager::instance()->silentGetActiveUAS())?
UASManager::instance()->getActiveUAS()->getAutopilotType():
-1;
// apType = (UASManager::instance() && UASManager::instance()->silentGetActiveUAS())?
// UASManager::instance()->getActiveUAS()->getAutopilotType():
// -1;
apType = 1;
return (QString::number(apType) + "_" +
QString::number(SECTION_MENU) + "_" +
......@@ -1251,6 +1232,36 @@ void MainWindow::showInfoMessage(const QString& title, const QString& message)
**/
void MainWindow::connectCommonActions()
{
ui.actionNewCustomWidget->setEnabled(false);
// Bind together the perspective actions
QActionGroup* perspectives = new QActionGroup(ui.menuPerspectives);
perspectives->addAction(ui.actionEngineersView);
perspectives->addAction(ui.actionMavlinkView);
perspectives->addAction(ui.actionPilotsView);
perspectives->addAction(ui.actionOperatorsView);
perspectives->addAction(ui.actionUnconnectedView);
perspectives->setExclusive(true);
// Mark the right one as selected
if (currentView == VIEW_ENGINEER) ui.actionEngineersView->setChecked(true);
if (currentView == VIEW_MAVLINK) ui.actionMavlinkView->setChecked(true);
if (currentView == VIEW_PILOT) ui.actionPilotsView->setChecked(true);
if (currentView == VIEW_OPERATOR) ui.actionOperatorsView->setChecked(true);
if (currentView == VIEW_UNCONNECTED) ui.actionUnconnectedView->setChecked(true);
// The pilot, engineer and operator view are not available on startup
// since they only make sense with a system connected.
ui.actionPilotsView->setEnabled(false);
ui.actionOperatorsView->setEnabled(false);
ui.actionEngineersView->setEnabled(false);
// The UAS actions are not enabled without connection to system
ui.actionLiftoff->setEnabled(false);
ui.actionLand->setEnabled(false);
ui.actionEmergency_Kill->setEnabled(false);
ui.actionEmergency_Land->setEnabled(false);
ui.actionShutdownMAV->setEnabled(false);
// Connect actions from ui
connect(ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(addLink()));
......@@ -1263,7 +1274,7 @@ void MainWindow::connectCommonActions()
connect(ui.actionLand, SIGNAL(triggered()), UASManager::instance(), SLOT(returnActiveUAS()));
connect(ui.actionEmergency_Land, SIGNAL(triggered()), UASManager::instance(), SLOT(stopActiveUAS()));
connect(ui.actionEmergency_Kill, SIGNAL(triggered()), UASManager::instance(), SLOT(killActiveUAS()));
connect(ui.actionShutdownMAV, SIGNAL(triggered()), UASManager::instance(), SLOT(shutdownActiveUAS()));
connect(ui.actionConfiguration, SIGNAL(triggered()), UASManager::instance(), SLOT(configureActiveUAS()));
// Views actions
......@@ -1424,6 +1435,12 @@ void MainWindow::UASCreated(UASInterface* uas)
ui.actionPilotsView->setEnabled(true);
ui.actionOperatorsView->setEnabled(true);
ui.actionEngineersView->setEnabled(true);
// The UAS actions are not enabled without connection to system
ui.actionLiftoff->setEnabled(true);
ui.actionLand->setEnabled(true);
ui.actionEmergency_Kill->setEnabled(true);
ui.actionEmergency_Land->setEnabled(true);
ui.actionShutdownMAV->setEnabled(true);
QIcon icon;
// Set matching icon
......@@ -1629,6 +1646,7 @@ void MainWindow::clearView()
{
// Remove dock widget from main window
removeDockWidget(dockWidget);
dockWidget->hide();
//dockWidget->setVisible(false);
}
}
......
src/ui/MainWindow.ui
View file @ 8c20cfce
......@@ -77,7 +77,7 @@
</widget>
<widget class="QMenu" name="menuConnected_Systems">
<property name="enabled">
<bool>false</bool>
<bool>true</bool>
</property>
<property name="title">
<string>Select System</string>
......@@ -85,7 +85,7 @@
</widget>
<widget class="QMenu" name="menuUnmanned_System">
<property name="enabled">
<bool>false</bool>
<bool>true</bool>
</property>
<property name="title">
<string>Unmanned System</string>
......@@ -93,6 +93,7 @@
<property name="separatorsCollapsible">
<bool>false</bool>
</property>
<addaction name="actionShutdownMAV"/>
<addaction name="actionLiftoff"/>
<addaction name="actionLand"/>
<addaction name="actionEmergency_Land"/>
......@@ -413,6 +414,21 @@
<string>Meta+U</string>
</property>
</action>
<action name="actionShutdownMAV">
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/actions/system-log-out.svg</normaloff>:/images/actions/system-log-out.svg</iconset>
</property>
<property name="text">
<string>Shutdown MAV</string>
</property>
<property name="toolTip">
<string>Shutdown the onboard computer - works not during flight</string>
</property>
<property name="statusTip">
<string>Shutdown the onboard computer - works not during flight</string>
</property>
</action>
</widget>
<layoutdefault spacing="6" margin="11"/>
<resources>
......
src/ui/MapWidget.cc
View file @ 8c20cfce
This diff is collapsed.
src/ui/MapWidget.h
View file @ 8c20cfce
......@@ -68,6 +68,10 @@ public:
public slots:
void addUAS(UASInterface* uas);
void activeUASSet(UASInterface* uas);
/** @brief Update the selected system */
void updateSelectedSystem(int uas);
/** @brief Update the attitude */
void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 usec);
void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
void updatePosition(float time, double lat, double lon);
void updateCameraPosition(double distance, double bearing, QString dir);
......@@ -85,6 +89,7 @@ public slots:
/** @brief Update waypoint */
void updateWaypoint(int uas, Waypoint* wp);
void updateWaypoint(int uas, Waypoint* wp, bool updateView);
void drawBorderCamAtMap(bool status);
/** @brief Bring up dialog to go to a specific location */
......
src/ui/QGCMAVLinkLogPlayer.cc
View file @ 8c20cfce
This diff is collapsed.
src/ui/QGCMAVLinkLogPlayer.h
View file @ 8c20cfce
......@@ -61,6 +61,8 @@ protected:
QFile logFile;
QTimer loopTimer;
int loopCounter;
bool mavlinkLogFormat;
int binaryBaudRate;
static const int packetLen = MAVLINK_MAX_PACKET_LEN;
static const int timeLen = sizeof(quint64);
void changeEvent(QEvent *e);
......
src/ui/UASView.ui
View file @ 8c20cfce
......@@ -146,10 +146,20 @@ QPushButton:pressed#killButton {
}
QProgressBar {
QProgressBar:horizontal {
border: 1px solid #4A4A4F;
border-radius: 4px;
text-align: center;
padding: 2px;
color: #DDDDDF;
background-color: #111118;
}
QProgressBar:vertical {
border: 1px solid #4A4A4F;
border-radius: 4px;
text-align: center;
font-size: 7px;
padding: 2px;
color: #DDDDDF;
background-color: #111118;
......@@ -159,12 +169,16 @@ QProgressBar:horizontal {
height: 10px;
}
QProgressBar QLabel {
font-size: 8px;
QProgressBar:horizontal QLabel {
font-size: 9px;
}
QProgressBar:vertical QLabel {
font-size: 7px;
}
QProgressBar:vertical {
width: 12px;
width: 14px;
}
QProgressBar::chunk {
......@@ -231,7 +245,7 @@ QMenu::separator {
<property name="title">
<string/>
</property>
<layout class="QGridLayout" name="gridLayout">
<layout class="QGridLayout" name="gridLayout" columnstretch="10,10,1,10,10,10,100,100">
<property name="horizontalSpacing">
<number>4</number>
</property>
......@@ -281,9 +295,12 @@ QMenu::separator {
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::MinimumExpanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>6</width>
<width>4</width>
<height>88</height>
</size>
</property>
......@@ -327,7 +344,7 @@ QMenu::separator {
</font>
</property>
<property name="text">
<string>Waiting for first update..</string>
<string/>
</property>
</widget>
</item>
......@@ -466,7 +483,7 @@ QMenu::separator {
</font>
</property>
<property name="text">
<string>UNINIT</string>
<string/>
</property>
</widget>
</item>
......@@ -481,14 +498,14 @@ QMenu::separator {
</font>
</property>
<property name="text">
<string>WPX</string>
<string>---</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
</widget>
</item>
<item row="2" column="6">
<item row="2" column="6" colspan="2">
<widget class="QLabel" name="positionLabel">
<property name="minimumSize">
<size>
......@@ -515,33 +532,6 @@ QMenu::separator {
</property>
</widget>
</item>
<item row="2" column="7">
<widget class="QLabel" name="gpsLabel">
<property name="minimumSize">
<size>
<width>0</width>
<height>12</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>12</height>
</size>
</property>
<property name="font">
<font>
<pointsize>-1</pointsize>
<weight>50</weight>
<italic>false</italic>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>00 00 00 N 00 00 00 E</string>
</property>
</widget>
</item>
<item row="5" column="6" colspan="2">
<widget class="QLabel" name="statusTextLabel">
<property name="maximumSize">
......@@ -556,7 +546,7 @@ QMenu::separator {
</font>
</property>
<property name="text">
<string>Unknown status</string>
<string/>
</property>
</widget>
</item>
......
src/ui/WaypointGlobalView.cc deleted 100644 → 0
View file @ e9637d5a
This diff is collapsed.
src/ui/WaypointGlobalView.h deleted 100644 → 0
View file @ e9637d5a
#ifndef WAYPOINTGLOBALVIEW_H
#define WAYPOINTGLOBALVIEW_H
#include <QWidget>
#include "Waypoint.h"
namespace Ui {
class WaypointGlobalView;
}
class WaypointGlobalView : public QWidget
{
Q_OBJECT
public:
explicit WaypointGlobalView(Waypoint* wp, QWidget *parent = 0);
~WaypointGlobalView();
public slots:
void updateValues(void);
void remove();
QString getLatitudString(float lat);
QString getLongitudString(float lon);
void getLatitudeGradoMin(float lat, int *gradoLat, float *minLat, QString *dirLat);
void getLongitudGradoMin(float lon, int *gradoLon, float *minLon, QString *dirLon);
void changeOrbitalState(int state);
void updateCoordValues(float lat, float lon);
//update latitude
void updateLatitudeWP(int value);
void updateLatitudeMinuteWP(double value);
void changeDirectionLatitudeWP();
//update longitude
void updateLongitudeWP(int value);
void updateLongitudeMinuteWP(double value);
void changeDirectionLongitudeWP();
signals:
void removeWaypoint(Waypoint*);
void changePositionWP(Waypoint*);
protected:
virtual void changeEvent(QEvent *e);
Waypoint* wp;
private:
Ui::WaypointGlobalView *ui;
private slots:
};
#endif // WAYPOINTGLOBALVIEW_H
src/ui/WaypointGlobalView.ui deleted 100644 → 0
View file @ e9637d5a
This diff is collapsed.
src/ui/WaypointList.cc
View file @ 8c20cfce
......@@ -129,6 +129,7 @@ void WaypointList::setUAS(UASInterface* uas)
connect(uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &)));
connect(uas->getWaypointManager(), SIGNAL(waypointListChanged(void)), this, SLOT(waypointListChanged(void)));
connect(uas->getWaypointManager(), SIGNAL(waypointChanged(int,Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
connect(uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
connect(uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
connect(uas->getWaypointManager(),SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool)));
......@@ -214,10 +215,10 @@ void WaypointList::add()
wp = new Waypoint(0, uas->getLongitude(), uas->getLatitude(), uas->getAltitude(), 0.0, true, true, 0.15, 0, MAV_FRAME_GLOBAL, MAV_ACTION_NAVIGATE);
uas->getWaypointManager()->addWaypoint(wp);
}
if (wp->getFrame() == MAV_FRAME_GLOBAL)
{
emit createWaypointAtMap(QPointF(wp->getX(), wp->getY()));
}
// if (wp->getFrame() == MAV_FRAME_GLOBAL)
// {
// emit createWaypointAtMap(QPointF(wp->getX(), wp->getY()));
// }
}
}
}
......@@ -293,6 +294,13 @@ void WaypointList::currentWaypointChanged(quint16 seq)
}
}
void WaypointList::updateWaypoint(int uas, Waypoint* wp)
{
Q_UNUSED(uas);
WaypointView *wpv = wpViews.value(wp);
wpv->updateValues();
}
void WaypointList::waypointListChanged()
{
if (uas)
......@@ -301,63 +309,6 @@ void WaypointList::waypointListChanged()
this->setUpdatesEnabled(false);
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
// For Global Waypoints
//if(isGlobalWP)
//{
//isLocalWP = false;
//// first remove all views of non existing waypoints
//if (!wpGlobalViews.empty())
//{
//QMapIterator<Waypoint*,WaypointGlobalView*> viewIt(wpGlobalViews);
//viewIt.toFront();
//while(viewIt.hasNext())
//{
//viewIt.next();
//Waypoint *cur = viewIt.key();
//int i;
//for (i = 0; i < waypoints.size(); i++)
//{
//if (waypoints[i] == cur)
//{
//break;
//}
//}
//if (i == waypoints.size())
//{
//WaypointGlobalView* widget = wpGlobalViews.find(cur).value();
//widget->hide();
//listLayout->removeWidget(widget);
//wpGlobalViews.remove(cur);
//}
//}
//}
//// then add/update the views for each waypoint in the list
//for(int i = 0; i < waypoints.size(); i++)
//{
//Waypoint *wp = waypoints[i];
//if (!wpGlobalViews.contains(wp))
//{
//WaypointGlobalView* wpview = new WaypointGlobalView(wp, this);
//wpGlobalViews.insert(wp, wpview);
//connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
//connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(changeWPPositionBySpinBox(Waypoint*)));
//// connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*)));
//// connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
//// connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(waypointGlobalPositionChanged(Waypoint*)));
//// connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
//// connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
//}
//WaypointGlobalView *wpgv = wpGlobalViews.value(wp);
//wpgv->updateValues();
//listLayout->addWidget(wpgv);
//}
//}
//else
//{
// for local Waypoints
// first remove all views of non existing waypoints
if (!wpViews.empty())
{
QMapIterator<Waypoint*,WaypointView*> viewIt(wpViews);
......@@ -408,7 +359,6 @@ void WaypointList::waypointListChanged()
loadFileGlobalWP = false;
//}
}
void WaypointList::moveUp(Waypoint* wp)
......@@ -499,29 +449,6 @@ void WaypointList::on_clearWPListButton_clicked()
}
}
/** @brief Add a waypoint by mouse click over the map */
void WaypointList::addWaypointMouse(QPointF coordinate)
{
if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
if (waypoints.size() > 0)
{
Waypoint *last = waypoints.at(waypoints.size()-1);
Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
uas->getWaypointManager()->addWaypoint(wp);
}
else
{
Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), -0.8, 0.0, true, true, 0.15, 2000);
uas->getWaypointManager()->addWaypoint(wp);
}
}
}
/** @brief The MapWidget informs that a waypoint global was changed on the map */
void WaypointList::waypointGlobalChanged(QPointF coordinate, int indexWP)
......
src/ui/WaypointList.h
View file @ 8c20cfce
......@@ -41,7 +41,6 @@ This file is part of the QGROUNDCONTROL project
#include "Waypoint.h"
#include "UASInterface.h"
#include "WaypointView.h"
#include "WaypointGlobalView.h"
namespace Ui {
......@@ -65,7 +64,7 @@ public slots:
/** @brief Save the local waypoint list to a file */
void saveWaypoints();
/** @brief Load a waypoint list from a file */
void loadWaypoints();
void loadWaypoints();
/** @brief Transmit the local waypoint list to the UAS */
void transmit();
/** @brief Read the remote waypoint list */
......@@ -75,10 +74,6 @@ public slots:
/** @brief Add a waypoint at the current MAV position */
void addCurrentPositonWaypoint();
/** @brief Add a waypoint by mouse click over the map */
void addWaypointMouse(QPointF coordinate);
/** @brief it notifies that a global waypoint goes to do created */
//void setIsWPGlobal(bool value, QPointF centerCoordinate);
//Update events
/** @brief sets statusLabel string */
......@@ -87,6 +82,8 @@ public slots:
void changeCurrentWaypoint(quint16 seq);
/** @brief The waypoint planner changed the current waypoint */
void currentWaypointChanged(quint16 seq);
/** @brief The waypoint manager informs that one waypoint was changed */
void updateWaypoint(int uas, Waypoint* wp);
/** @brief The waypoint manager informs that the waypoint list was changed */
void waypointListChanged(void);
......@@ -111,17 +108,12 @@ public slots:
signals:
void clearPathclicked();
void createWaypointAtMap(const QPointF coordinate);
// void ChangeWaypointGlobalPosition(int index, QPointF coord);
void changePositionWPBySpinBox(int indexWP, float lat, float lon);
protected:
virtual void changeEvent(QEvent *e);
protected:
QMap<Waypoint*, WaypointView*> wpViews;
//QMap<Waypoint*, WaypointGlobalView*> wpGlobalViews;
QVBoxLayout* listLayout;
UASInterface* uas;
double mavX;
......
src/ui/WaypointView.cc
View file @ 8c20cfce
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK 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.
PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
/*===================================================================
======================================================================*/
/**
......@@ -43,8 +23,8 @@ This file is part of the PIXHAWK project
#include "ui_WaypointView.h"
WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
QWidget(parent),
m_ui(new Ui::WaypointView)
QWidget(parent),
m_ui(new Ui::WaypointView)
{
m_ui->setupUi(this);
......@@ -146,7 +126,7 @@ void WaypointView::changedAction(int index)
break;
case MAV_ACTION_NAVIGATE:
m_ui->autoContinue->show();
m_ui->orbitSpinBox->show();
m_ui->orbitSpinBox->show();
break;
case MAV_ACTION_LOITER:
m_ui->orbitSpinBox->show();
......@@ -159,14 +139,6 @@ void WaypointView::changedAction(int index)
void WaypointView::changedFrame(int index)
{
// hide everything to start
m_ui->lonSpinBox->hide();
m_ui->latSpinBox->hide();
m_ui->altSpinBox->hide();
m_ui->posNSpinBox->hide();
m_ui->posESpinBox->hide();
m_ui->posDSpinBox->hide();
// set waypoint action
MAV_FRAME frame = (MAV_FRAME)m_ui->comboBox_frame->itemData(index).toUInt();
wp->setFrame(frame);
......@@ -174,11 +146,17 @@ void WaypointView::changedFrame(int index)
switch(frame)
{
case MAV_FRAME_GLOBAL:
m_ui->posNSpinBox->hide();
m_ui->posESpinBox->hide();
m_ui->posDSpinBox->hide();
m_ui->lonSpinBox->show();
m_ui->latSpinBox->show();
m_ui->altSpinBox->show();
break;
case MAV_FRAME_LOCAL:
m_ui->lonSpinBox->hide();
m_ui->latSpinBox->hide();
m_ui->altSpinBox->hide();
m_ui->posNSpinBox->show();
m_ui->posESpinBox->show();
m_ui->posDSpinBox->show();
......@@ -192,34 +170,61 @@ void WaypointView::changedCurrent(int state)
{
if (state == 0)
{
//m_ui->selectedBox->setChecked(true);
//m_ui->selectedBox->setCheckState(Qt::Checked);
//wp->setCurrent(false);
m_ui->selectedBox->setChecked(true);
m_ui->selectedBox->setCheckState(Qt::Checked);
wp->setCurrent(false);
}
else
{
//wp->setCurrent(true);
wp->setCurrent(true);
emit changeCurrentWaypoint(wp->getId()); //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false
}
}
void WaypointView::updateValues()
{
// Deactivate signals from the WP
wp->blockSignals(true);
// update frame
MAV_FRAME frame = wp->getFrame();
int frame_index = m_ui->comboBox_frame->findData(frame);
m_ui->comboBox_frame->setCurrentIndex(frame_index);
if (m_ui->comboBox_frame->currentIndex() != frame_index)
{
m_ui->comboBox_frame->setCurrentIndex(frame_index);
}
switch(frame)
{
case(MAV_FRAME_LOCAL):
m_ui->posNSpinBox->setValue(wp->getX());
m_ui->posESpinBox->setValue(wp->getY());
m_ui->posDSpinBox->setValue(wp->getZ());
{
if (m_ui->posNSpinBox->value() != wp->getX())
{
m_ui->posNSpinBox->setValue(wp->getX());
}
if (m_ui->posESpinBox->value() != wp->getY())
{
m_ui->posESpinBox->setValue(wp->getY());
}
if (m_ui->posDSpinBox->value() != wp->getZ())
{
m_ui->posDSpinBox->setValue(wp->getZ());
}
}
break;
case(MAV_FRAME_GLOBAL):
m_ui->lonSpinBox->setValue(wp->getX());
m_ui->latSpinBox->setValue(wp->getY());
m_ui->altSpinBox->setValue(wp->getZ());
{
if (m_ui->lonSpinBox->value() != wp->getX())
{
m_ui->lonSpinBox->setValue(wp->getX());
}
if (m_ui->latSpinBox->value() != wp->getY())
{
m_ui->latSpinBox->setValue(wp->getY());
}
if (m_ui->altSpinBox->value() != wp->getZ())
{
m_ui->altSpinBox->setValue(wp->getZ());
}
}
break;
}
changedFrame(frame_index);
......@@ -227,7 +232,10 @@ void WaypointView::updateValues()
// update action
MAV_ACTION action = wp->getAction();
int action_index = m_ui->comboBox_action->findData(action);
m_ui->comboBox_action->setCurrentIndex(action_index);
if (m_ui->comboBox_action->currentIndex() != action_index)
{
m_ui->comboBox_action->setCurrentIndex(action_index);
}
switch(action)
{
case MAV_ACTION_TAKEOFF:
......@@ -243,12 +251,28 @@ void WaypointView::updateValues()
}
changedAction(action_index);
m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
m_ui->selectedBox->setChecked(wp->getCurrent());
m_ui->autoContinue->setChecked(wp->getAutoContinue());
m_ui->idLabel->setText(QString("%1").arg(wp->getId()));\
m_ui->orbitSpinBox->setValue(wp->getOrbit());
m_ui->holdTimeSpinBox->setValue(wp->getHoldTime());
if (m_ui->yawSpinBox->value() != wp->getYaw()/M_PI*180.)
{
m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
}
if (m_ui->selectedBox->isChecked() != wp->getCurrent())
{
m_ui->selectedBox->setChecked(wp->getCurrent());
}
if (m_ui->autoContinue->isChecked() != wp->getAutoContinue())
{
m_ui->autoContinue->setChecked(wp->getAutoContinue());
}
m_ui->idLabel->setText(QString("%1").arg(wp->getId()));
if (m_ui->orbitSpinBox->value() != wp->getOrbit())
{
m_ui->orbitSpinBox->setValue(wp->getOrbit());
}
if (m_ui->holdTimeSpinBox->value() != wp->getHoldTime())
{
m_ui->holdTimeSpinBox->setValue(wp->getHoldTime());
}
wp->blockSignals(false);
}
void WaypointView::setCurrent(bool state)
......@@ -259,7 +283,7 @@ void WaypointView::setCurrent(bool state)
}
else
{
m_ui->selectedBox->setCheckState(Qt::Unchecked);
m_ui->selectedBox->setCheckState(Qt::Unchecked);
}
}
......
src/ui/WaypointView.ui
View file @ 8c20cfce
......@@ -170,6 +170,9 @@ QProgressBar::chunk#thrustBar {
</property>
<item>
<widget class="QCheckBox" name="selectedBox">
<property name="focusPolicy">
<enum>Qt::TabFocus</enum>
</property>
<property name="toolTip">
<string>Currently selected waypoint</string>
</property>
......@@ -231,9 +234,21 @@ QProgressBar::chunk#thrustBar {
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::WheelFocus</enum>
</property>
<property name="toolTip">
<string>Position X coordinate</string>
</property>
<property name="wrapping">
<bool>false</bool>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="accelerated">
<bool>true</bool>
</property>
<property name="prefix">
<string>N </string>
</property>
......@@ -259,6 +274,9 @@ QProgressBar::chunk#thrustBar {
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::WheelFocus</enum>
</property>
<property name="toolTip">
<string>Position Y coordinate</string>
</property>
......@@ -290,6 +308,9 @@ QProgressBar::chunk#thrustBar {
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::WheelFocus</enum>
</property>
<property name="toolTip">
<string>Position Z coordinate (negative)</string>
</property>
......@@ -318,6 +339,9 @@ QProgressBar::chunk#thrustBar {
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::WheelFocus</enum>
</property>
<property name="prefix">
<string>lat </string>
</property>
......@@ -333,6 +357,9 @@ QProgressBar::chunk#thrustBar {
<property name="maximum">
<double>90.000000000000000</double>
</property>
<property name="singleStep">
<double>0.000010000000000</double>
</property>
</widget>
</item>
<item>
......@@ -343,6 +370,9 @@ QProgressBar::chunk#thrustBar {
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::WheelFocus</enum>
</property>
<property name="prefix">
<string>lon </string>
</property>
......@@ -358,6 +388,9 @@ QProgressBar::chunk#thrustBar {
<property name="maximum">
<double>180.000000000000000</double>
</property>
<property name="singleStep">
<double>0.000010000000000</double>
</property>
</widget>
</item>
<item>
......@@ -393,6 +426,9 @@ QProgressBar::chunk#thrustBar {
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Yaw angle</string>
</property>
......@@ -421,6 +457,9 @@ QProgressBar::chunk#thrustBar {
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Orbit radius</string>
</property>
......@@ -449,6 +488,9 @@ QProgressBar::chunk#thrustBar {
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Time in milliseconds that the MAV has to stay inside the orbit before advancing</string>
</property>
......@@ -477,6 +519,9 @@ QProgressBar::chunk#thrustBar {
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Take off angle</string>
</property>
......@@ -506,6 +551,9 @@ QProgressBar::chunk#thrustBar {
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::NoFocus</enum>
</property>
<property name="toolTip">
<string>Move Up</string>
</property>
......@@ -526,6 +574,9 @@ QProgressBar::chunk#thrustBar {
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::NoFocus</enum>
</property>
<property name="toolTip">
<string>Move Down</string>
</property>
......@@ -546,6 +597,9 @@ QProgressBar::chunk#thrustBar {
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::NoFocus</enum>
</property>
<property name="toolTip">
<string>Delete</string>
</property>
......
src/ui/map/MAV2DIcon.cc
View file @ 8c20cfce
#include "MAV2DIcon.h"
#include <QPainter>
MAV2DIcon::MAV2DIcon(qreal x, qreal y, int radius, QString name, Alignment alignment, QPen* pen)
: Point(x, y, name, alignment),
yaw(0.0f)
#include <qmath.h>
MAV2DIcon::MAV2DIcon(UASInterface* uas, int radius, int type, const QColor& color, QString name, Alignment alignment, QPen* pen)
: Point(uas->getLatitude(), uas->getLongitude(), name, alignment),
yaw(0.0f),
radius(radius),
type(type),
iconColor(color),
selected(uas->getSelected()),
uasid(uas->getUASID())
{
//connect
size = QSize(radius, radius);
drawIcon(pen);
}
MAV2DIcon::MAV2DIcon(qreal x, qreal y, QString name, Alignment alignment, QPen* pen)
: Point(x, y, name, alignment)
: Point(x, y, name, alignment),
radius(20),
type(0),
iconColor(Qt::yellow),
selected(false),
uasid(0)
{
int radius = 10;
size = QSize(radius, radius);
if (pen)
{
drawIcon(pen);
}
drawIcon(pen);
}
MAV2DIcon::~MAV2DIcon()
......@@ -27,69 +36,179 @@ MAV2DIcon::~MAV2DIcon()
void MAV2DIcon::setPen(QPen* pen)
{
if (pen)
{
mypen = pen;
drawIcon(pen);
}
mypen = pen;
drawIcon(pen);
}
void MAV2DIcon::setSelectedUAS(bool selected)
{
this->selected = selected;
drawIcon(mypen);
}
/**
* Yaw changes of less than ±15 degrees are ignored.
*
* @param yaw in radians, 0 = north, positive = clockwise
*/
void MAV2DIcon::setYaw(float yaw)
{
this->yaw = yaw;
drawIcon(mypen);
//qDebug() << "MAV2Icon" << yaw;
float diff = fabs(yaw - this->yaw);
while (diff > M_PI)
{
diff -= M_PI;
}
if (diff > 0.1)
{
this->yaw = yaw;
drawIcon(mypen);
}
}
void MAV2DIcon::drawIcon(QPen* pen)
{
mypixmap = new QPixmap(radius+1, radius+1);
Q_UNUSED(pen);
if (!mypixmap) mypixmap = new QPixmap(radius+1, radius+1);
mypixmap->fill(Qt::transparent);
QPainter painter(mypixmap);
painter.setRenderHint(QPainter::TextAntialiasing);
painter.setRenderHint(QPainter::Antialiasing);
painter.setRenderHint(QPainter::HighQualityAntialiasing);
// Rotate by yaw
painter.translate(radius/2, radius/2);
// DRAW WAYPOINT
QPointF p(radius/2, radius/2);
float waypointSize = radius;
QPolygonF poly(4);
// Top point
poly.replace(0, QPointF(p.x(), p.y()-waypointSize/2.0f));
// Right point
poly.replace(1, QPointF(p.x()+waypointSize/2.0f, p.y()));
// Bottom point
poly.replace(2, QPointF(p.x(), p.y() + waypointSize/2.0f));
poly.replace(3, QPointF(p.x() - waypointSize/2.0f, p.y()));
// // Select color based on if this is the current waypoint
// if (list.at(i)->getCurrent())
// {
// color = QGC::colorCyan;//uas->getColor();
// pen.setWidthF(refLineWidthToPen(0.8f));
// }
// else
// {
// color = uas->getColor();
// pen.setWidthF(refLineWidthToPen(0.4f));
// }
//pen.setColor(color);
if (pen)
// Draw selected indicator
if (selected)
{
pen->setWidthF(2);
painter.setPen(*pen);
// qDebug() << "SYSTEM IS NOW SELECTED";
// QColor color(Qt::yellow);
// color.setAlpha(0.3f);
painter.setBrush(Qt::NoBrush);
// QPen selPen(color);
// int width = 5;
// selPen.setWidth(width);
QPen pen(Qt::yellow);
pen.setWidth(2);
painter.setPen(pen);
painter.drawEllipse(QPoint(0, 0), radius/2-1, radius/2-1);
//qDebug() << "Painting ellipse" << radius/2-width << width;
//selPen->deleteLater();
}
else
switch (type)
{
QPen pen2(Qt::red);
pen2.setWidth(2);
painter.setPen(pen2);
}
painter.setBrush(Qt::NoBrush);
case MAV_ICON_AIRPLANE:
{
// DRAW AIRPLANE
float rad = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f));
painter.drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * rad);
painter.drawPolygon(poly);
// Rotate 180 degs more since the icon is oriented downwards
float yawRotate = (yaw/(float)M_PI)*180.0f + 180.0f+180.0f;
painter.rotate(yawRotate);
//qDebug() << "ICON SIZE:" << radius;
float iconSize = radius*0.9f;
QPolygonF poly(24);
poly.replace(0, QPointF(0.000000f*iconSize, -0.312500f*iconSize));
poly.replace(1, QPointF(0.025000f*iconSize, -0.287500f*iconSize));
poly.replace(2, QPointF(0.037500f*iconSize, -0.237500f*iconSize));
poly.replace(3, QPointF(0.031250f*iconSize, -0.187500f*iconSize));
poly.replace(4, QPointF(0.025000f*iconSize, -0.043750f*iconSize));
poly.replace(5, QPointF(0.500000f*iconSize, -0.025000f*iconSize));
poly.replace(6, QPointF(0.500000f*iconSize, 0.025000f*iconSize));
poly.replace(7, QPointF(0.025000f*iconSize, 0.043750f*iconSize));
poly.replace(8, QPointF(0.025000f*iconSize, 0.162500f*iconSize));
poly.replace(9, QPointF(0.137500f*iconSize, 0.181250f*iconSize));
poly.replace(10, QPointF(0.137500f*iconSize, 0.218750f*iconSize));
poly.replace(11, QPointF(0.025000f*iconSize, 0.206250f*iconSize));
poly.replace(12, QPointF(-0.025000f*iconSize, 0.206250f*iconSize));
poly.replace(13, QPointF(-0.137500f*iconSize, 0.218750f*iconSize));
poly.replace(14, QPointF(-0.137500f*iconSize, 0.181250f*iconSize));
poly.replace(15, QPointF(-0.025000f*iconSize, 0.162500f*iconSize));
poly.replace(16, QPointF(-0.025000f*iconSize, 0.043750f*iconSize));
poly.replace(17, QPointF(-0.500000f*iconSize, 0.025000f*iconSize));
poly.replace(18, QPointF(-0.500000f*iconSize, -0.025000f*iconSize));
poly.replace(19, QPointF(-0.025000f*iconSize, -0.043750f*iconSize));
poly.replace(20, QPointF(-0.031250f*iconSize, -0.187500f*iconSize));
poly.replace(21, QPointF(-0.037500f*iconSize, -0.237500f*iconSize));
poly.replace(22, QPointF(-0.031250f*iconSize, -0.262500f*iconSize));
poly.replace(23, QPointF(0.000000f*iconSize, -0.312500f*iconSize));
painter.setBrush(QBrush(iconColor));
QPen iconPen(Qt::black);
iconPen.setWidthF(1.0f);
painter.setPen(iconPen);
painter.drawPolygon(poly);
}
break;
case MAV_ICON_QUADROTOR:
{
// QUADROTOR
float iconSize = radius*0.9f;
float yawRotate = (yaw/(float)M_PI)*180.0f + 180.0f;
painter.rotate(yawRotate);
//qDebug() << "ICON SIZE:" << radius;
QPointF front(0, 0.2);
front = front *iconSize;
QPointF left(-0.2, 0);
left = left * iconSize;
QPointF right(0.2, 0.0);
right *= iconSize;
QPointF back(0, -0.2);
back *= iconSize;
QPolygonF poly(0);
painter.setBrush(QBrush(iconColor));
QPen iconPen(Qt::black);
iconPen.setWidthF(1.0f);
painter.setPen(iconPen);
painter.drawPolygon(poly);
painter.drawEllipse(left, radius/4/2, radius/4/2);
painter.drawEllipse(right, radius/4/2, radius/4/2);
painter.drawEllipse(back, radius/4/2, radius/4/2);
painter.setBrush(Qt::red);
painter.drawEllipse(front, radius/4/2, radius/4/2);
}
break;
case MAV_ICON_ROTARY_WING:
case MAV_ICON_GENERIC:
default:
{
// GENERIC
float yawRotate = (yaw/(float)M_PI)*180.0f + 180.0f;
painter.rotate(yawRotate);
//qDebug() << "ICON SIZE:" << radius;
float iconSize = radius*0.9f;
QPolygonF poly(3);
poly.replace(0, QPointF(0.0f*iconSize, 0.3f*iconSize));
poly.replace(1, QPointF(-0.2f*iconSize, -0.2f*iconSize));
poly.replace(2, QPointF(0.2f*iconSize, -0.2f*iconSize));
painter.setBrush(QBrush(iconColor));
QPen iconPen(Qt::black);
iconPen.setWidthF(1.0f);
painter.setPen(iconPen);
painter.drawPolygon(poly);
}
break;
}
}
src/ui/map/MAV2DIcon.h
View file @ 8c20cfce
#ifndef MAV2DICON_H
#define MAV2DICON_H
#include <QGraphicsItem>
#include "qmapcontrol.h"
#include "UASInterface.h"
class MAV2DIcon : public qmapcontrol::Point
{
public:
enum
{
MAV_ICON_GENERIC = 0,
MAV_ICON_AIRPLANE,
MAV_ICON_QUADROTOR,
MAV_ICON_ROTARY_WING
} MAV_ICON_TYPE;
//!
/*!
*
* @param x longitude
* @param y latitude
* @param radius the radius of the circle
* @param name name of the circle point
* @param alignment alignment (Middle or TopLeft)
* @param pen QPen for drawing
*/
MAV2DIcon(qreal x, qreal y, QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
MAV2DIcon(UASInterface* uas, int radius = 10, int type=0, const QColor& color=QColor(Qt::red), QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
//!
/*!
*
* @param x longitude
* @param y latitude
* @param radius the radius of the circle
* @param name name of the circle point
* @param alignment alignment (Middle or TopLeft)
* @param pen QPen for drawing
*/
MAV2DIcon(qreal x, qreal y, int radius = 10, QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
MAV2DIcon(qreal x, qreal y, QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
virtual ~MAV2DIcon();
//! sets the QPen which is used for drawing the circle
......@@ -37,13 +49,22 @@ public:
*/
virtual void setPen(QPen* pen);
/** @brief Mark this system as selected */
void setSelectedUAS(bool selected);
void setYaw(float yaw);
/** @brief Get system id */
int getUASId() const { return uasid; }
void drawIcon(QPen* pen);
protected:
float yaw; ///< Yaw angle of the MAV
int radius; ///< Maximum dimension of the MAV icon
float yaw; ///< Yaw angle of the MAV
int radius; ///< Radius / width of the icon
int type; ///< Type of aircraft: 0: generic, 1: airplane, 2: quadrotor, 3-n: rotary wing
QColor iconColor; ///< Color to be used for the icon
bool selected; ///< Wether this is the system currently in focus
int uasid; ///< ID of tracked system
};
......
src/ui/map/Waypoint2DIcon.cc
View file @ 8c20cfce
......@@ -6,6 +6,16 @@ Waypoint2DIcon::Waypoint2DIcon(qreal x, qreal y, int radius, QString name, Align
yaw(0.0f),
radius(radius)
{
waypoint = NULL;
size = QSize(radius, radius);
drawIcon(pen);
}
Waypoint2DIcon::Waypoint2DIcon(Waypoint* wp, int listIndex, int radius, Alignment alignment, QPen* pen)
: Point(wp->getX(), wp->getY(), QString("%1").arg(listIndex), alignment)
{
waypoint = wp;
this->yaw = wp->getYaw();
size = QSize(radius, radius);
drawIcon(pen);
}
......@@ -13,7 +23,8 @@ Waypoint2DIcon::Waypoint2DIcon(qreal x, qreal y, int radius, QString name, Align
Waypoint2DIcon::Waypoint2DIcon(qreal x, qreal y, QString name, Alignment alignment, QPen* pen)
: Point(x, y, name, alignment)
{
int radius = 10;
waypoint = NULL;
int radius = 20;
size = QSize(radius, radius);
drawIcon(pen);
}
......@@ -38,6 +49,18 @@ void Waypoint2DIcon::setYaw(float yaw)
drawIcon(mypen);
}
void Waypoint2DIcon::updateWaypoint()
{
if (waypoint)
{
if (waypoint->getYaw() != yaw)
{
yaw = waypoint->getYaw();
drawIcon(mypen);
}
}
}
void Waypoint2DIcon::drawIcon(QPen* pen)
{
mypixmap = new QPixmap(radius+1, radius+1);
......
src/ui/map/Waypoint2DIcon.h
View file @ 8c20cfce
......@@ -4,6 +4,8 @@
#include <QGraphicsItem>
#include "qmapcontrol.h"
#include "Waypoint.h"
class Waypoint2DIcon : public qmapcontrol::Point
{
public:
......@@ -27,7 +29,19 @@ public:
* @param alignment alignment (Middle or TopLeft)
* @param pen QPen for drawing
*/
Waypoint2DIcon(qreal x, qreal y, int radius = 10, QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
Waypoint2DIcon(qreal x, qreal y, int radius = 20, QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
/**
*
* @param wp Waypoint
* @param listIndex Index in the waypoint list
* @param radius the radius of the circle
* @param name name of the circle point
* @param alignment alignment (Middle or TopLeft)
* @param pen QPen for drawing
*/
Waypoint2DIcon(Waypoint* wp, int listIndex, int radius = 20, Alignment alignment = Middle, QPen* pen=0);
virtual ~Waypoint2DIcon();
//! sets the QPen which is used for drawing the circle
......@@ -42,9 +56,13 @@ public:
void drawIcon(QPen* pen);
public slots:
void updateWaypoint();
protected:
float yaw; ///< Yaw angle of the MAV
int radius; ///<
int radius; ///< Radius / diameter of the icon in pixels
Waypoint* waypoint; ///< Waypoint data container this icon represents
};
......
src/ui/map3D/QGCGoogleEarthView.cc
View file @ 8c20cfce
......@@ -185,6 +185,7 @@ void QGCGoogleEarthView::follow(bool follow)
{
ui->followAirplaneCheckbox->setChecked(follow);
followCamera = follow;
if (gEarthInitialized) javaScript(QString("setFollowEnabled(%1)").arg(follow));
}
void QGCGoogleEarthView::goHome()
......@@ -353,6 +354,8 @@ void QGCGoogleEarthView::initializeGoogleEarth()
// Start update timer
updateTimer->start(refreshRateMs);
follow(this->followCamera);
gEarthInitialized = true;
}
}
......@@ -395,11 +398,6 @@ void QGCGoogleEarthView::updateState()
.arg(pitch, 0, 'f', 9)
.arg(yaw, 0, 'f', 9));
}
if (followCamera)
{
javaScript(QString("updateFollowAircraft()"));
}
}
}
......
src/ui/map3D/QGCGoogleEarthView.ui
View file @ 8c20cfce
......@@ -83,10 +83,10 @@
<string>Distance of the chase camera to the MAV</string>
</property>
<property name="minimum">
<number>30</number>
<number>100</number>
</property>
<property name="maximum">
<number>10000</number>
<number>20000</number>
</property>
<property name="value">
<number>3000</number>
......
src/ui/uas/UASView.cc
View file @ 8c20cfce
......@@ -51,7 +51,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
uas(uas),
load(0),
state("UNKNOWN"),
stateDesc(tr("Unknown system state")),
stateDesc(tr("Unknown state")),
mode("MAV_MODE_UNKNOWN"),
thrust(0),
isActive(false),
......@@ -66,6 +66,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
localFrame(false),
removeAction(new QAction("Delete this system", this)),
renameAction(new QAction("Rename..", this)),
selectAction(new QAction("Select this system", this )),
m_ui(new Ui::UASView)
{
m_ui->setupUi(this);
......@@ -102,6 +103,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
// Allow to delete this widget
connect(removeAction, SIGNAL(triggered()), this, SLOT(deleteLater()));
connect(renameAction, SIGNAL(triggered()), this, SLOT(rename()));
connect(selectAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
connect(uas, SIGNAL(systemRemoved()), this, SLOT(deleteLater()));
// Name changes
......@@ -129,21 +131,15 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
m_ui->killButton->hide();
m_ui->shutdownButton->hide();
if (localFrame)
{
m_ui->gpsLabel->hide();
}
else
{
m_ui->positionLabel->hide();
}
setSystemType(uas, uas->getSystemType());
}
UASView::~UASView()
{
delete m_ui;
delete removeAction;
delete renameAction;
delete selectAction;
}
void UASView::heartbeatTimeout()
......@@ -332,8 +328,6 @@ void UASView::updateLocalPosition(UASInterface* uas, double x, double y, double
if (!localFrame)
{
localFrame = true;
m_ui->gpsLabel->hide();
m_ui->positionLabel->show();
}
}
......@@ -424,6 +418,7 @@ void UASView::contextMenuEvent (QContextMenuEvent* event)
{
menu.addAction(removeAction);
}
menu.addAction(selectAction);
menu.exec(event->globalPos());
}
......@@ -471,7 +466,7 @@ void UASView::refresh()
// Position
QString position;
position = position.sprintf("%05.1f %05.1f %05.1f m", x, y, z);
position = position.sprintf("%05.1f %05.1f %06.1f m", x, y, z);
m_ui->positionLabel->setText(position);
QString globalPosition;
QString latIndicator;
......@@ -492,17 +487,17 @@ void UASView::refresh()
{
lonIndicator = "W";
}
globalPosition = globalPosition.sprintf("%05.1f%s %05.1f%s %05.1f m", lon, lonIndicator.toStdString().c_str(), lat, latIndicator.toStdString().c_str(), alt);
m_ui->gpsLabel->setText(globalPosition);
globalPosition = globalPosition.sprintf("%05.1f%s %05.1f%s %06.1f m", lon, lonIndicator.toStdString().c_str(), lat, latIndicator.toStdString().c_str(), alt);
m_ui->positionLabel->setText(globalPosition);
// Altitude
if (groundDistance == 0 && alt != 0)
{
m_ui->groundDistanceLabel->setText(QString("%1 m").arg(alt, 5, 'f', 1, '0'));
m_ui->groundDistanceLabel->setText(QString("%1 m").arg(alt, 6, 'f', 1, '0'));
}
else
{
m_ui->groundDistanceLabel->setText(QString("%1 m").arg(groundDistance, 5, 'f', 1, '0'));
m_ui->groundDistanceLabel->setText(QString("%1 m").arg(groundDistance, 6, 'f', 1, '0'));
}
// Speed
......
src/ui/uas/UASView.h
View file @ 8c20cfce
......@@ -110,6 +110,7 @@ protected:
bool localFrame;
QAction* removeAction;
QAction* renameAction;
QAction* selectAction;
static const int updateInterval = 300;
......
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