Skip to content

Q
qgroundcontrol
Commit 8c83e87b authored by pixhawk's avatar pixhawk
Browse files
Options

Implemented setpoint changes for HSI widget

parent ab28d6a0
Expand all Hide whitespace changes
Inline Side-by-side
Showing with 562 additions and 342 deletions
images/style-mission.css
View file @ 8c83e87b
......@@ -107,7 +107,7 @@ QSpinBox {
QPushButton {
font-weight: bold;
min-height: 18px;
max-height: 32px;
max-height: 18px;
border: 2px solid #4A4A4F;
border-radius: 5px;
padding-left: 10px;
......@@ -127,10 +127,10 @@ QToolButton {
font-weight: bold;
min-height: 16px;
min-width: 24px;
max-height: 32px;
border: 1px solid #EEEEEE;
max-height: 18px;
border: 2px solid #4A4A4F;
border-radius: 5px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #303030, stop: 1 #202020);
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #232228, stop: 1 #020208);
}
QToolButton:checked {
......
qgroundcontrol.pro
View file @ 8c83e87b
......@@ -3,23 +3,23 @@
# from http://github.com/pixhawk/qmapcontrol/
# over bundled version in lib directory
# Version from GIT repository is preferred
#include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
# include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
# Include bundled version if necessary
include(lib/QMapControl/QMapControl.pri)
#message("Including bundled QMapControl version as FALLBACK. This is fine on Linux and MacOS, but not the best choice in Windows")
QT += network opengl svg xml phonon
# message("Including bundled QMapControl version as FALLBACK. This is fine on Linux and MacOS, but not the best choice in Windows")
QT += network \
opengl \
svg \
xml \
phonon
TEMPLATE = app
TARGET = qgroundcontrol
BASEDIR = .
BUILDDIR = build
LANGUAGE = C++
CONFIG += debug_and_release console
CONFIG += debug_and_release \
console
OBJECTS_DIR = $$BUILDDIR/obj
MOC_DIR = $$BUILDDIR/moc
UI_HEADERS_DIR = src/ui/generated
......@@ -142,7 +142,8 @@ HEADERS += src/MG.h \
src/ui/watchdog/WatchdogProcessView.h \
src/ui/watchdog/WatchdogView.h \
src/uas/UASWaypointManager.h \
src/ui/HSIDisplay.h
src/ui/HSIDisplay.h \
src/QGC.h
SOURCES += src/main.cc \
src/Core.cc \
src/uas/UASManager.cc \
......
src/QGC.h 0 → 100644
View file @ 8c83e87b
#ifndef QGC_H
#define QGC_H
#include <QColor>
namespace QGC
{
const QColor ColorCyan(55, 154, 195);
}
#endif // QGC_H
src/ui/DebugConsole.ui
View file @ 8c83e87b
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>DebugConsole</class>
<widget class="QWidget" name="DebugConsole">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>488</width>
<height>390</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="horizontalSpacing">
<number>6</number>
</property>
<property name="verticalSpacing">
<number>4</number>
</property>
<property name="margin">
<number>6</number>
</property>
<item row="0" column="0" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,10,0,0,0,0">
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>Link</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="linkComboBox">
<property name="toolTip">
<string>Select the link to monitor</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="speedLabel">
<property name="text">
<string>0.0 kB/s</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="mavlinkCheckBox">
<property name="toolTip">
<string>Ignore MAVLINK protocol messages in display</string>
</property>
<property name="text">
<string>Ignore MAVLINK</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="hexCheckBox">
<property name="toolTip">
<string>Display and send bytes in HEX representation</string>
</property>
<property name="text">
<string>HEX</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="holdCheckBox">
<property name="toolTip">
<string>Saves CPU ressources, automatically set view to hold if data rate is too high to prevent fast scrolling</string>
</property>
<property name="statusTip">
<string>Saves CPU ressources, automatically set view to hold if data rate is too high to prevent fast scrolling</string>
</property>
<property name="whatsThis">
<string>Enable auto hold to lower the CPU consumption</string>
</property>
<property name="text">
<string>Auto hold</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="0" colspan="2">
<widget class="QPlainTextEdit" name="receiveText"/>
</item>
<item row="2" column="0" colspan="2">
<widget class="QLineEdit" name="sentText">
<property name="text">
<string>Enter data/text below to send</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLineEdit" name="sendText">
<property name="toolTip">
<string>Type the bytes to send here, use 0xAA format for HEX (Check HEX checkbox above)</string>
</property>
</widget>
</item>
<item row="3" column="1">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPushButton" name="transmitButton">
<property name="toolTip">
<string>Send the ASCII text or HEX values over the link</string>
</property>
<property name="text">
<string>Send</string>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/devices/network-wireless.svg</normaloff>:/images/devices/network-wireless.svg</iconset>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="holdButton">
<property name="text">
<string>Hold</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="clearButton">
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<resources>
<include location="../../mavground.qrc"/>
</resources>
<connections>
<connection>
<sender>clearButton</sender>
<signal>clicked()</signal>
<receiver>receiveText</receiver>
<slot>clear()</slot>
<hints>
<hint type="sourcelabel">
<x>356</x>
<y>278</y>
</hint>
<hint type="destinationlabel">
<x>199</x>
<y>146</y>
</hint>
</hints>
</connection>
</connections>
</ui>
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>DebugConsole</class>
<widget class="QWidget" name="DebugConsole">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>435</width>
<height>185</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="horizontalSpacing">
<number>6</number>
</property>
<property name="verticalSpacing">
<number>4</number>
</property>
<property name="margin">
<number>6</number>
</property>
<item row="0" column="0" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout_2" stretch="10,0,0,0,0">
<item>
<widget class="QComboBox" name="linkComboBox">
<property name="maximumSize">
<size>
<width>130</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Select the link to monitor</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="speedLabel">
<property name="text">
<string>0.0 kB/s</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="mavlinkCheckBox">
<property name="toolTip">
<string>Ignore MAVLINK protocol messages in display</string>
</property>
<property name="text">
<string>No MAVLINK</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="hexCheckBox">
<property name="toolTip">
<string>Display and send bytes in HEX representation</string>
</property>
<property name="text">
<string>HEX</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="holdCheckBox">
<property name="toolTip">
<string>Saves CPU ressources, automatically set view to hold if data rate is too high to prevent fast scrolling</string>
</property>
<property name="statusTip">
<string>Saves CPU ressources, automatically set view to hold if data rate is too high to prevent fast scrolling</string>
</property>
<property name="whatsThis">
<string>Enable auto hold to lower the CPU consumption</string>
</property>
<property name="text">
<string>Auto hold</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="0" colspan="2">
<widget class="QPlainTextEdit" name="receiveText"/>
</item>
<item row="2" column="0" colspan="2">
<widget class="QLineEdit" name="sentText">
<property name="text">
<string>Enter data/text below to send</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLineEdit" name="sendText">
<property name="toolTip">
<string>Type the bytes to send here, use 0xAA format for HEX (Check HEX checkbox above)</string>
</property>
</widget>
</item>
<item row="3" column="1">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPushButton" name="transmitButton">
<property name="toolTip">
<string>Send the ASCII text or HEX values over the link</string>
</property>
<property name="text">
<string>Send</string>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/devices/network-wireless.svg</normaloff>:/images/devices/network-wireless.svg</iconset>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="holdButton">
<property name="text">
<string>Hold</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="clearButton">
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<resources>
<include location="../../mavground.qrc"/>
</resources>
<connections>
<connection>
<sender>clearButton</sender>
<signal>clicked()</signal>
<receiver>receiveText</receiver>
<slot>clear()</slot>
<hints>
<hint type="sourcelabel">
<x>356</x>
<y>278</y>
</hint>
<hint type="destinationlabel">
<x>199</x>
<y>146</y>
</hint>
</hints>
</connection>
</connections>
</ui>
src/ui/HDDisplay.cc
View file @ 8c83e87b
......@@ -581,6 +581,16 @@ float HDDisplay::refToScreenY(float y)
return (scalingFactor * y);
}
float HDDisplay::screenToRefX(float x)
{
return x/scalingFactor;
}
float HDDisplay::screenToRefY(float y)
{
return y/scalingFactor;
}
void HDDisplay::drawLine(float refX1, float refY1, float refX2, float refY2, float width, const QColor& color, QPainter* painter)
{
QPen pen(Qt::SolidLine);
......
src/ui/HDDisplay.h
View file @ 8c83e87b
......@@ -70,6 +70,8 @@ protected:
float refLineWidthToPen(float line);
float refToScreenX(float x);
float refToScreenY(float y);
float screenToRefX(float x);
float screenToRefY(float y);
void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin);
void drawPolygon(QPolygonF refPolygon, QPainter* painter);
void drawLine(float refX1, float refY1, float refX2, float refY2, float width, const QColor& color, QPainter* painter);
......
src/ui/HSIDisplay.cc
View file @ 8c83e87b
This diff is collapsed.
src/ui/HSIDisplay.h
View file @ 8c83e87b
......@@ -37,6 +37,7 @@ This file is part of the PIXHAWK project
#include <QTimer>
#include <QMap>
#include <QPair>
#include <QMouseEvent>
#include <cmath>
#include "HDDisplay.h"
......@@ -55,19 +56,38 @@ public slots:
void updatePositionSetpoints(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec);
void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
void updateGlobalPosition(UASInterface*, double lat, double lon, double alt, quint64 usec);
void updateSpeed(UASInterface* uas, double vx, double vy, double vz, quint64 time);
void paintEvent(QPaintEvent * event);
/** @brief Update state from joystick */
void updateJoystick(double roll, double pitch, double yaw, double thrust, int xHat, int yHat);
void pressKey(int key);
protected slots:
void paintDisplay();
void drawGPS();
void drawObjects();
void drawPositionSetpoint(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
void drawAttitudeSetpoint(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
void drawGPS(QPainter &painter);
void drawObjects(QPainter &painter);
void drawPositionDirection(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
void drawAttitudeDirection(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
void drawAltitudeSetpoint(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
void setBodySetpointCoordinateXY(double x, double y);
void setBodySetpointCoordinateZ(double z);
/** @brief Send the current ui setpoint coordinates as new setpoint to the MAV */
void sendBodySetPointCoordinates();
/** @brief Draw one setpoint */
void drawSetpointXY(float x, float y, float yaw, const QColor &color, QPainter &painter);
/** @brief Draw the limiting safety area */
void drawSafetyArea(const QPointF &topLeft, const QPointF &bottomRight, const QColor &color, QPainter &painter);
void mouseDoubleClickEvent(QMouseEvent* event);
protected:
static QColor getColorForSNR(float snr);
/** @brief Screen coordinates of widget to metric coordinates in body frame */
QPointF screenToMetricBody(QPointF ref);
/** @brief Reference coordinates to metric coordinates */
QPointF refToMetricBody(QPointF &ref);
/** @brief Metric coordinates to reference coordinates */
QPointF metricBodyToRefX(QPointF &metric);
/**
* @brief Private data container class to be used within the HSI widget
......@@ -132,11 +152,31 @@ protected:
float lat;
float lon;
float alt;
quint64 globalAvailable; ///< Last global position update time
quint64 globalAvailable; ///< Last global position update time
float x;
float y;
float z;
quint64 localAvailable; ///< Last local position update time
float vx;
float vy;
float vz;
float speed;
quint64 localAvailable; ///< Last local position update time
float roll;
float pitch;
float yaw;
float bodyXSetCoordinate; ///< X Setpoint coordinate active on the MAV
float bodyYSetCoordinate; ///< Y Setpoint coordinate active on the MAV
float bodyZSetCoordinate; ///< Z Setpoint coordinate active on the MAV
float bodyYawSet; ///< Yaw setpoint coordinate active on the MAV
float uiXSetCoordinate; ///< X Setpoint coordinate wanted by the UI
float uiYSetCoordinate; ///< Y Setpoint coordinate wanted by the UI
float uiZSetCoordinate; ///< Z Setpoint coordinate wanted by the UI
float uiYawSet; ///< Yaw Setpoint wanted by the UI
float metricWidth; ///< Width the instrument represents in meters (the width of the ground shown by the widget)
//
float xCenterPos;
float yCenterPos;
private:
};
......
src/ui/MainWindow.cc
View file @ 8c83e87b
......@@ -490,10 +490,11 @@ void MainWindow::loadEngineerView()
container3->setWidget(info);
addDockWidget(Qt::LeftDockWidgetArea, container3);
// WAYPOINT LIST
QDockWidget* container5 = new QDockWidget(tr("Waypoint List"), this);
container5->setWidget(waypoints);
addDockWidget(Qt::BottomDockWidgetArea, container5);
// HORIZONTAL SITUATION INDICATOR
QDockWidget* container6 = new QDockWidget(tr("Horizontal Situation Indicator"), this);
container6->setWidget(hsi);
hsi->start();
addDockWidget(Qt::BottomDockWidgetArea, container6);
// DEBUG CONSOLE
QDockWidget* container7 = new QDockWidget(tr("Communication Console"), this);
......
src/ui/UASControl.ui
View file @ 8c83e87b
......@@ -6,21 +6,27 @@
<rect>
<x>0</x>
<y>0</y>
<width>387</width>
<height>212</height>
<width>380</width>
<height>190</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,20,0" columnstretch="0,0,0,0,20">
<property name="margin">
<number>20</number>
<layout class="QGridLayout" name="gridLayout">
<property name="leftMargin">
<number>6</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="spacing">
<property name="rightMargin">
<number>6</number>
</property>
<item row="0" column="0" colspan="4">
<property name="bottomMargin">
<number>6</number>
</property>
<item row="0" column="1" colspan="4">
<widget class="QLabel" name="controlStatusLabel">
<property name="text">
<string>UNCONNECTED</string>
......@@ -30,27 +36,14 @@
</property>
</widget>
</item>
<item row="0" column="4" rowspan="7">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>172</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="0" colspan="4">
<item row="1" column="1" colspan="4">
<widget class="QPushButton" name="controlButton">
<property name="text">
<string>Activate Engine</string>
</property>
</widget>
</item>
<item row="2" column="0" colspan="4">
<item row="2" column="1" colspan="4">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
......@@ -60,13 +53,26 @@
</property>
<property name="sizeHint" stdset="0">
<size>
<width>218</width>
<height>6</height>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="3" column="0">
<item row="0" column="0" rowspan="6">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>31</width>
<height>159</height>
</size>
</property>
</spacer>
</item>
<item row="3" column="1">
<widget class="QPushButton" name="liftoffButton">
<property name="text">
<string>Liftoff</string>
......@@ -77,56 +83,56 @@
</property>
</widget>
</item>
<item row="4" column="0" colspan="3">
<widget class="QComboBox" name="modeComboBox"/>
</item>
<item row="3" column="3">
<widget class="QPushButton" name="shutdownButton">
<item row="3" column="2" colspan="2">
<widget class="QPushButton" name="landButton">
<property name="text">
<string>Halt</string>
<string>Land</string>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/actions/system-log-out.svg</normaloff>:/images/actions/system-log-out.svg</iconset>
<normaloff>:/images/control/land.svg</normaloff>:/images/control/land.svg</iconset>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QPushButton" name="setModeButton">
<item row="3" column="4">
<widget class="QPushButton" name="shutdownButton">
<property name="text">
<string>Set Mode</string>
<string>Halt</string>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/devices/network-wireless.svg</normaloff>:/images/devices/network-wireless.svg</iconset>
<normaloff>:/images/actions/system-log-out.svg</normaloff>:/images/actions/system-log-out.svg</iconset>
</property>
</widget>
</item>
<item row="6" column="0" colspan="4">
<spacer name="verticalSpacer">
<item row="0" column="5" rowspan="6">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
<width>30</width>
<height>159</height>
</size>
</property>
</spacer>
</item>
<item row="3" column="1" colspan="2">
<widget class="QPushButton" name="landButton">
<item row="4" column="1" colspan="2">
<widget class="QComboBox" name="modeComboBox"/>
</item>
<item row="4" column="3" colspan="2">
<widget class="QPushButton" name="setModeButton">
<property name="text">
<string>Land</string>
<string>Set Mode</string>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/control/land.svg</normaloff>:/images/control/land.svg</iconset>
<normaloff>:/images/devices/network-wireless.svg</normaloff>:/images/devices/network-wireless.svg</iconset>
</property>
</widget>
</item>
<item row="5" column="0" colspan="4">
<item row="5" column="1" colspan="4">
<widget class="QLabel" name="lastActionLabel">
<property name="text">
<string>No actions executed so far</string>
......@@ -136,6 +142,19 @@
</property>
</widget>
</item>
<item row="6" column="0" colspan="6">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<resources>
......
src/ui/UASInfo.ui
View file @ 8c83e87b
......@@ -17,6 +17,9 @@
<string notr="true"/>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="margin">
<number>6</number>
</property>
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
......@@ -109,19 +112,6 @@