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qgroundcontrol
Commit 8d1552b9 authored by pixhawk's avatar pixhawk
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data/kinect.cal
View file @ 8d1552b9
[rgb] [rgb]
principal_point\x=313.67245 principal_point\x=314.70228964
principal_point\y=264.06175 principal_point\y=264.30478827
focal_length\x=527.44654 focal_length\x=527.91246131
focal_length\y=527.40652 focal_length\y=527.91246131
distortion\k1=0.20780 distortion\k1=0.20496745
distortion\k2=-0.34320 distortion\k2=-0.36341243
distortion\k3=0.00139 distortion\k3=0.00000000
distortion\k4=0.00061 distortion\k4=0.00000000
distortion\k5=0.00000 distortion\k5=0.00000000
[depth] [depth]
principal_point\x=313.23400 principal_point\x=311.88621344
principal_point\y=246.13447 principal_point\y=247.63447078
focal_length\x=587.62150 focal_length\x=593.89813561
focal_length\y=587.51184 focal_length\y=593.89813561
distortion\k1=0.01063 distortion\k1=0.00000000
distortion\k2=-0.04479 distortion\k2=0.00000000
distortion\k3=-0.00073 distortion\k3=0.00000000
distortion\k4=0.00081 distortion\k4=0.00000000
distortion\k5=0.00000 distortion\k5=0.00000000
[transform] [transform]
R11=0.99994 R11=0.999982
R12=0.00098102 R12=0.000556
R13=0.010900 R13=0.005927
R21=-0.00097894 R21=-0.000563
R22=1.0 R22=0.999999
R23=-0.00019534 R23=0.001235
R33=-0.010900 R33=-0.005926
R32=0.00018466 R32=-0.001239
R33=0.99994 R33=0.999982
Tx=-0.02581986 Tx=-0.024287
Ty=-0.0130948 Ty=0.001018
Tz=-0.0047681 Tz=-0.015195
baseline=0.06061
disparity_offset=1092.3403
images/earth.html
View file @ 8d1552b9
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN""http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd" <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN""http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"
<html> <html>
<meta http-equiv="content-type" content="text/html; charset=utf-8" />
<head> <head>
<meta http-equiv="content-type" content="text/html; charset=utf-8" />
<!-- <head> -->
<!-- QGroundControl --> <!-- QGroundControl -->
<title>QGroundControl Google Earth View</title> <title>QGroundControl Google Earth View</title>
<!-- *** Replace the key below below with your own API key, available at http://code.google.com/apis/maps/signup.html *** --> <!-- *** Replace the key below below with your own API key, available at http://code.google.com/apis/maps/signup.html *** -->
......
qgroundcontrol.pri
View file @ 8d1552b9
This diff is collapsed.
qgroundcontrol.pro
View file @ 8d1552b9
...@@ -249,7 +249,9 @@ HEADERS += src/MG.h \ ...@@ -249,7 +249,9 @@ HEADERS += src/MG.h \
src/ui/SlugsHilSim.h \ src/ui/SlugsHilSim.h \
src/ui/SlugsPIDControl.h \ src/ui/SlugsPIDControl.h \
src/ui/SlugsVideoCamControl.h \ src/ui/SlugsVideoCamControl.h \
src/ui/SlugsPadCameraControl.h src/ui/SlugsPadCameraControl.h \
src/ui/QGCMainWindowAPConfigurator.h \
src/comm/MAVLinkSwarmSimulationLink.h
contains(DEPENDENCIES_PRESENT, osg) { contains(DEPENDENCIES_PRESENT, osg) {
message("Including headers for OpenSceneGraph") message("Including headers for OpenSceneGraph")
...@@ -359,7 +361,9 @@ SOURCES += src/main.cc \ ...@@ -359,7 +361,9 @@ SOURCES += src/main.cc \
src/ui/SlugsHilSim.cc \ src/ui/SlugsHilSim.cc \
src/ui/SlugsPIDControl.cpp \ src/ui/SlugsPIDControl.cpp \
src/ui/SlugsVideoCamControl.cpp \ src/ui/SlugsVideoCamControl.cpp \
src/ui/SlugsPadCameraControl.cpp src/ui/SlugsPadCameraControl.cpp \
src/ui/QGCMainWindowAPConfigurator.cc \
src/comm/MAVLinkSwarmSimulationLink.cc
contains(DEPENDENCIES_PRESENT, osg) { contains(DEPENDENCIES_PRESENT, osg) {
message("Including sources for OpenSceneGraph") message("Including sources for OpenSceneGraph")
......
src/Core.cc
View file @ 8d1552b9
...@@ -157,6 +157,9 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv) ...@@ -157,6 +157,9 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
**/ **/
Core::~Core() Core::~Core()
{ {
//mainWindow->storeSettings();
mainWindow->hide();
mainWindow->deleteLater();
// Delete singletons // Delete singletons
delete LinkManager::instance(); delete LinkManager::instance();
delete UASManager::instance(); delete UASManager::instance();
......
src/QGC.h
View file @ 8d1552b9
...@@ -14,6 +14,9 @@ namespace QGC ...@@ -14,6 +14,9 @@ namespace QGC
/** @brief Get the current ground time in microseconds */ /** @brief Get the current ground time in microseconds */
quint64 groundTimeUsecs(); quint64 groundTimeUsecs();
const QString APPNAME = "QGROUNDCONTROL";
const QString COMPANYNAME = "OPENMAV";
} }
#endif // QGC_H #endif // QGC_H
src/comm/LinkManager.cc
View file @ 8d1552b9
...@@ -32,6 +32,7 @@ This file is part of the QGROUNDCONTROL project ...@@ -32,6 +32,7 @@ This file is part of the QGROUNDCONTROL project
#include <QList> #include <QList>
#include <QApplication> #include <QApplication>
#include "LinkManager.h" #include "LinkManager.h"
#include <iostream>
#include <QDebug> #include <QDebug>
...@@ -65,6 +66,7 @@ LinkManager::~LinkManager() ...@@ -65,6 +66,7 @@ LinkManager::~LinkManager()
void LinkManager::add(LinkInterface* link) void LinkManager::add(LinkInterface* link)
{ {
if(!link) return;
links.append(link); links.append(link);
emit newLink(link); emit newLink(link);
} }
...@@ -73,6 +75,7 @@ void LinkManager::addProtocol(LinkInterface* link, ProtocolInterface* protocol) ...@@ -73,6 +75,7 @@ void LinkManager::addProtocol(LinkInterface* link, ProtocolInterface* protocol)
{ {
// Connect link to protocol // Connect link to protocol
// the protocol will receive new bytes from the link // the protocol will receive new bytes from the link
if(!link || !protocol) return;
connect(link, SIGNAL(bytesReceived(LinkInterface*, QByteArray)), protocol, SLOT(receiveBytes(LinkInterface*, QByteArray))); connect(link, SIGNAL(bytesReceived(LinkInterface*, QByteArray)), protocol, SLOT(receiveBytes(LinkInterface*, QByteArray)));
// Store the connection information in the protocol links map // Store the connection information in the protocol links map
protocolLinks.insertMulti(protocol, link); protocolLinks.insertMulti(protocol, link);
...@@ -91,7 +94,8 @@ bool LinkManager::connectAll() ...@@ -91,7 +94,8 @@ bool LinkManager::connectAll()
foreach (LinkInterface* link, links) foreach (LinkInterface* link, links)
{ {
if(! link->connect()) allConnected = false; if(!link) {}
else if(!link->connect()) allConnected = false;
} }
return allConnected; return allConnected;
...@@ -103,7 +107,9 @@ bool LinkManager::disconnectAll() ...@@ -103,7 +107,9 @@ bool LinkManager::disconnectAll()
foreach (LinkInterface* link, links) foreach (LinkInterface* link, links)
{ {
if(! link->disconnect()) allDisconnected = false; //static int i=0;
if(!link){}
else if(!link->disconnect()) allDisconnected = false;
} }
return allDisconnected; return allDisconnected;
...@@ -111,14 +117,32 @@ bool LinkManager::disconnectAll() ...@@ -111,14 +117,32 @@ bool LinkManager::disconnectAll()
bool LinkManager::connectLink(LinkInterface* link) bool LinkManager::connectLink(LinkInterface* link)
{ {
if(!link) return false;
return link->connect(); return link->connect();
} }
bool LinkManager::disconnectLink(LinkInterface* link) bool LinkManager::disconnectLink(LinkInterface* link)
{ {
if(!link) return false;
return link->disconnect(); return link->disconnect();
} }
bool LinkManager::removeLink(LinkInterface* link)
{
if(link)
{
for (int i=0; i < QList<LinkInterface*>(links).size(); i++)
{
if(link==links.at(i))
{
links.removeAt(i); //remove from link list
}
}
return true;
}
return false;
}
/** /**
* The access time is linear in the number of links. * The access time is linear in the number of links.
* *
......
src/comm/LinkManager.h
View file @ 8d1552b9
...@@ -67,6 +67,8 @@ public slots: ...@@ -67,6 +67,8 @@ public slots:
void add(LinkInterface* link); void add(LinkInterface* link);
void addProtocol(LinkInterface* link, ProtocolInterface* protocol); void addProtocol(LinkInterface* link, ProtocolInterface* protocol);
bool removeLink(LinkInterface* link);
bool connectAll(); bool connectAll();
bool connectLink(LinkInterface* link); bool connectLink(LinkInterface* link);
......
src/comm/MAVLinkProtocol.cc
View file @ 8d1552b9
...@@ -159,7 +159,9 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) ...@@ -159,7 +159,9 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
switch (heartbeat.autopilot) switch (heartbeat.autopilot)
{ {
case MAV_AUTOPILOT_GENERIC: case MAV_AUTOPILOT_GENERIC:
uas = new UAS(this, message.sysid); uas = new UAS(this, message.sysid);
// Connect this robot to the UAS object // Connect this robot to the UAS object
connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), uas, SLOT(receiveMessage(LinkInterface*, mavlink_message_t))); connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), uas, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
break; break;
...@@ -202,11 +204,15 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b) ...@@ -202,11 +204,15 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
break; break;
} }
// Set the autopilot type
uas->setAutopilotType((int)heartbeat.autopilot);
// Make UAS aware that this link can be used to communicate with the actual robot // Make UAS aware that this link can be used to communicate with the actual robot
uas->addLink(link); uas->addLink(link);
// Now add UAS to "official" list, which makes the whole application aware of it // Now add UAS to "official" list, which makes the whole application aware of it
UASManager::instance()->addUAS(uas); UASManager::instance()->addUAS(uas);
} }
// Only count message if UAS exists for this message // Only count message if UAS exists for this message
......
src/comm/MAVLinkSimulationLink.cc
View file @ 8d1552b9
...@@ -559,16 +559,17 @@ void MAVLinkSimulationLink::mainloop() ...@@ -559,16 +559,17 @@ void MAVLinkSimulationLink::mainloop()
// Send controller states // Send controller states
uint8_t attControl = 1;
uint8_t posXYControl = 1;
uint8_t posZControl = 0;
uint8_t posYawControl = 1;
uint8_t gpsLock = 2;
uint8_t visLock = 3;
uint8_t posLock = qMax(gpsLock, visLock);
#ifdef MAVLINK_ENABLED_PIXHAWK #ifdef MAVLINK_ENABLED_PIXHAWK
uint8_t attControl = 1;
uint8_t posXYControl = 1;
uint8_t posZControl = 0;
uint8_t posYawControl = 1;
uint8_t gpsLock = 2;
uint8_t visLock = 3;
uint8_t posLock = qMax(gpsLock, visLock);
messageSize = mavlink_msg_control_status_pack(systemId, componentId, &msg, posLock, visLock, gpsLock, attControl, posXYControl, posZControl, posYawControl); messageSize = mavlink_msg_control_status_pack(systemId, componentId, &msg, posLock, visLock, gpsLock, attControl, posXYControl, posZControl, posYawControl);
#endif #endif
...@@ -659,7 +660,7 @@ qint64 MAVLinkSimulationLink::bytesAvailable() ...@@ -659,7 +660,7 @@ qint64 MAVLinkSimulationLink::bytesAvailable()
void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
{ {
qDebug() << "Simulation received " << size << " bytes from groundstation: "; //qDebug() << "Simulation received " << size << " bytes from groundstation: ";
// Increase write counter // Increase write counter
//bitsSentTotal += size * 8; //bitsSentTotal += size * 8;
...@@ -837,9 +838,9 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size) ...@@ -837,9 +838,9 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
} }
unsigned char v=data[i]; unsigned char v=data[i];
fprintf(stderr,"%02x ", v); //fprintf(stderr,"%02x ", v);
} }
fprintf(stderr,"\n"); //fprintf(stderr,"\n");
readyBufferMutex.lock(); readyBufferMutex.lock();
for (int i = 0; i < streampointer; i++) for (int i = 0; i < streampointer; i++)
......
src/comm/MAVLinkSimulationLink.h
View file @ 8d1552b9
...@@ -85,7 +85,7 @@ public: ...@@ -85,7 +85,7 @@ public:
public slots: public slots:
void writeBytes(const char* data, qint64 size); void writeBytes(const char* data, qint64 size);
void readBytes(); void readBytes();
void mainloop(); virtual void mainloop();
bool connectLink(bool connect); bool connectLink(bool connect);
......
src/comm/MAVLinkSwarmSimulationLink.cc 0 → 100644
View file @ 8d1552b9
#include "MAVLinkSwarmSimulationLink.h"
MAVLinkSwarmSimulationLink::MAVLinkSwarmSimulationLink(QObject *parent) :
MAVLinkSimulationLink()
{
}
void MAVLinkSwarmSimulationLink::mainloop()
{
}
src/comm/MAVLinkSwarmSimulationLink.h 0 → 100644
View file @ 8d1552b9
#ifndef MAVLINKSWARMSIMULATIONLINK_H
#define MAVLINKSWARMSIMULATIONLINK_H
#include "MAVLinkSimulationLink.h"
class MAVLinkSwarmSimulationLink : public MAVLinkSimulationLink
{
Q_OBJECT
public:
explicit MAVLinkSwarmSimulationLink(QObject *parent = 0);
signals:
public slots:
void mainloop();
};
#endif // MAVLINKSWARMSIMULATIONLINK_H
src/comm/SerialLink.cc
View file @ 8d1552b9
...@@ -30,10 +30,13 @@ This file is part of the QGROUNDCONTROL project ...@@ -30,10 +30,13 @@ This file is part of the QGROUNDCONTROL project
#include <QTimer> #include <QTimer>
#include <QDebug> #include <QDebug>
#include <QSettings>
#include <QMutexLocker> #include <QMutexLocker>
#include "SerialLink.h" #include "SerialLink.h"
#include "LinkManager.h" #include "LinkManager.h"
#include "QGC.h"
#include <MG.h> #include <MG.h>
#include <iostream>
#ifdef _WIN32 #ifdef _WIN32
#include "windows.h" #include "windows.h"
#endif #endif
...@@ -54,12 +57,41 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P ...@@ -54,12 +57,41 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
#endif #endif
// Set unique ID and add link to the list of links // Set unique ID and add link to the list of links
this->id = getNextLinkId(); this->id = getNextLinkId();
this->baudrate = baudrate;
this->flow = flow; // Load defaults from settings
this->parity = parity; QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
this->dataBits = dataBits; settings.sync();
this->stopBits = stopBits; if (settings.contains("SERIALLINK_COMM_PORT"))
this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all. {
this->porthandle = settings.value("SERIALLINK_COMM_PORT").toString();
}
// *nix (Linux, MacOS tested) serial port support
port = new QextSerialPort(porthandle, QextSerialPort::Polling);
//port = new QextSerialPort(porthandle, QextSerialPort::EventDriven);
if (settings.contains("SERIALLINK_COMM_PORT"))
{
setBaudRate(settings.value("SERIALLINK_COMM_BAUD").toInt());
setParityType(settings.value("SERIALLINK_COMM_PARITY").toInt());
setStopBitsType(settings.value("SERIALLINK_COMM_STOPBITS").toInt());
setDataBitsType(settings.value("SERIALLINK_COMM_DATABITS").toInt());
}
else
{
this->baudrate = baudrate;
this->flow = flow;
this->parity = parity;
this->dataBits = dataBits;
this->stopBits = stopBits;
this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all.
}
port->setTimeout(timeout); // Timeout of 0 ms, we don't want to wait for data, we just poll again next time
port->setBaudRate(baudrate);
port->setFlowControl(flow);
port->setParity(parity);
port->setDataBits(dataBits);
port->setStopBits(stopBits);
// Set the port name // Set the port name
if (porthandle == "") if (porthandle == "")
...@@ -88,15 +120,7 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P ...@@ -88,15 +120,7 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
//some other error occurred. Inform user. //some other error occurred. Inform user.
} }
#else #else
// *nix (Linux, MacOS tested) serial port support
port = new QextSerialPort(porthandle, QextSerialPort::Polling);
//port = new QextSerialPort(porthandle, QextSerialPort::EventDriven);
port->setTimeout(timeout); // Timeout of 0 ms, we don't want to wait for data, we just poll again next time
port->setBaudRate(baudrate);
port->setFlowControl(flow);
port->setParity(parity);
port->setDataBits(dataBits);
port->setStopBits(stopBits);
#endif #endif
// Link is setup, register it with link manager // Link is setup, register it with link manager
...@@ -106,7 +130,7 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P ...@@ -106,7 +130,7 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
SerialLink::~SerialLink() SerialLink::~SerialLink()
{ {
disconnect(); disconnect();
delete port; if(port) delete port;
port = NULL; port = NULL;
} }
...@@ -170,7 +194,7 @@ void SerialLink::writeBytes(const char* data, qint64 size) ...@@ -170,7 +194,7 @@ void SerialLink::writeBytes(const char* data, qint64 size)
{ {
unsigned char v=data[i]; unsigned char v=data[i];
fprintf(stderr,"%02x ", v); //fprintf(stderr,"%02x ", v);
} }
} }
} }
...@@ -239,6 +263,8 @@ bool SerialLink::disconnect() ...@@ -239,6 +263,8 @@ bool SerialLink::disconnect()
port->close(); port->close();
dataMutex.unlock(); dataMutex.unlock();
if(this->isRunning()) this->terminate(); //stop running the thread, restart it upon connect
bool closed = true; bool closed = true;
//port->isOpen(); //port->isOpen();
...@@ -298,6 +324,15 @@ bool SerialLink::hardwareConnect() ...@@ -298,6 +324,15 @@ bool SerialLink::hardwareConnect()
if(connectionUp) { if(connectionUp) {
emit connected(); emit connected();
emit connected(true); emit connected(true);
// Store settings
QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
settings.setValue("SERIALLINK_COMM_PORT", this->porthandle);
settings.setValue("SERIALLINK_COMM_BAUD", getBaudRate());
settings.setValue("SERIALLINK_COMM_PARITY", getParityType());
settings.setValue("SERIALLINK_COMM_STOPBITS", getStopBitsType());
settings.setValue("SERIALLINK_COMM_DATABITS", getDataBitsType());
settings.sync();
} }
return connectionUp; return connectionUp;
...@@ -311,7 +346,14 @@ bool SerialLink::hardwareConnect() ...@@ -311,7 +346,14 @@ bool SerialLink::hardwareConnect()
**/ **/
bool SerialLink::isConnected() bool SerialLink::isConnected()
{ {
return port->isOpen(); if (port)
{
return port->isOpen();
}
else
{
return false;
}
} }
int SerialLink::getId() int SerialLink::getId()
...@@ -516,7 +558,7 @@ bool SerialLink::setPortName(QString portName) ...@@ -516,7 +558,7 @@ bool SerialLink::setPortName(QString portName)
this->porthandle = "\\\\.\\" + this->porthandle; this->porthandle = "\\\\.\\" + this->porthandle;
} }
#endif #endif
delete port; if(port) delete port;
port = new QextSerialPort(porthandle, QextSerialPort::Polling); port = new QextSerialPort(porthandle, QextSerialPort::Polling);
port->setBaudRate(baudrate); port->setBaudRate(baudrate);
...@@ -707,9 +749,16 @@ bool SerialLink::setBaudRate(int rate) ...@@ -707,9 +749,16 @@ bool SerialLink::setBaudRate(int rate)
break; break;
} }
port->setBaudRate(this->baudrate); if (port)
if(reconnect) connect(); {
return accepted; port->setBaudRate(this->baudrate);
if(reconnect) connect();
return accepted;
}
else
{
return false;
}
} }
bool SerialLink::setFlowType(int flow) bool SerialLink::setFlowType(int flow)
......
src/input/Freenect.cc
View file @ 8d1552b9
...@@ -208,8 +208,9 @@ Freenect::get3DPointCloudData(void) ...@@ -208,8 +208,9 @@ Freenect::get3DPointCloudData(void)
{ {
if (data[i] > 0 && data[i] <= 2048) if (data[i] > 0 && data[i] <= 2048)
{ {
// see www.ros.org/wiki/kinect_node for details double range = baseline * depthCameraParameters.fx
double range = 1.0f / (-0.00307f * static_cast<float>(data[i]) + 3.33f); / (1.0 / 8.0 * (disparityOffset
- static_cast<double>(data[i])));
if (range > 0.0f) if (range > 0.0f)
{ {
...@@ -340,7 +341,10 @@ Freenect::readConfigFile(void) ...@@ -340,7 +341,10 @@ Freenect::readConfigFile(void)
settings.value("transform/R33").toDouble(), settings.value("transform/R33").toDouble(),
settings.value("transform/Tz").toDouble(), settings.value("transform/Tz").toDouble(),
0.0, 0.0, 0.0, 1.0); 0.0, 0.0, 0.0, 1.0);
transformMatrix = transformMatrix.transposed(); transformMatrix = transformMatrix.inverted();
baseline = settings.value("transform/baseline").toDouble();
disparityOffset = settings.value("transform/disparity_offset").toDouble();
} }
void void
......
src/input/Freenect.h
View file @ 8d1552b9
...@@ -119,6 +119,8 @@ private: ...@@ -119,6 +119,8 @@ private:
IntrinsicCameraParameters depthCameraParameters; IntrinsicCameraParameters depthCameraParameters;
QMatrix4x4 transformMatrix; QMatrix4x4 transformMatrix;
double baseline;
double disparityOffset;
// tilt angle of Kinect camera // tilt angle of Kinect camera
int tiltAngle; int tiltAngle;
......
src/uas/PxQuadMAV.cc
View file @ 8d1552b9
...@@ -41,12 +41,12 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message) ...@@ -41,12 +41,12 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
{ {
// Let UAS handle the default message set // Let UAS handle the default message set
UAS::receiveMessage(link, message); UAS::receiveMessage(link, message);
mavlink_message_t* msg = &message;
//qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid; //qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid;
// Only compile this portion if matching MAVLink packets have been compiled // Only compile this portion if matching MAVLink packets have been compiled
#ifdef MAVLINK_ENABLED_PIXHAWK #ifdef MAVLINK_ENABLED_PIXHAWK
mavlink_message_t* msg = &message;
if (message.sysid == uasId) if (message.sysid == uasId)
{ {
...@@ -168,5 +168,9 @@ void PxQuadMAV::sendProcessCommand(int watchdogId, int processId, unsigned int c ...@@ -168,5 +168,9 @@ void PxQuadMAV::sendProcessCommand(int watchdogId, int processId, unsigned int c
mavlink_message_t msg; mavlink_message_t msg;
mavlink_msg_watchdog_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &payload); mavlink_msg_watchdog_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &payload);
sendMessage(msg); sendMessage(msg);
#else
Q_UNUSED(watchdogId);
Q_UNUSED(processId);
Q_UNUSED(command);
#endif #endif
} }
src/uas/SlugsMAV.cc
View file @ 8d1552b9
...@@ -169,10 +169,16 @@ void SlugsMAV::emitSignals (void){ ...@@ -169,10 +169,16 @@ void SlugsMAV::emitSignals (void){
case 2: case 2:
emit slugsAirData(uasId, mlAirData); emit slugsAirData(uasId, mlAirData);
emit slugsDiagnostic(uasId,mlDiagnosticData); emit slugsDiagnostic(uasId,mlDiagnosticData);
break; break;
case 3: case 3:
emit slugsPilotConsolePWM(uasId,mlPilotConsoleData); emit remoteControlChannelScaledChanged(0,(mlPilotConsoleData.de- 1000.0f)/1000.0f);
emit remoteControlChannelScaledChanged(1,(mlPilotConsoleData.dla- 1000.0f)/1000.0f);
emit remoteControlChannelScaledChanged(2,(mlPilotConsoleData.dr- 1000.0f)/1000.0f);
emit remoteControlChannelScaledChanged(3,(mlPilotConsoleData.dra- 1000.0f)/1000.0f);
emit remoteControlChannelScaledChanged(0,(mlPilotConsoleData.dt- 1000.0f)/1000.0f);
emit slugsPWM(uasId, mlPwmCommands); emit slugsPWM(uasId, mlPwmCommands);
break; break;
...@@ -184,11 +190,13 @@ void SlugsMAV::emitSignals (void){ ...@@ -184,11 +190,13 @@ void SlugsMAV::emitSignals (void){
case 5: case 5:
emit slugsFilteredData(uasId,mlFilteredData); emit slugsFilteredData(uasId,mlFilteredData);
emit slugsGPSDateTime(uasId, mlGpsDateTime); emit slugsGPSDateTime(uasId, mlGpsDateTime);
break; break;
case 6: case 6:
emit slugsActionAck(uasId,mlActionAck); emit slugsActionAck(uasId,mlActionAck);
emit emitGpsSignals(); emit emitGpsSignals();
break; break;
} }
...@@ -212,20 +220,30 @@ void SlugsMAV::emitSignals (void){ ...@@ -212,20 +220,30 @@ void SlugsMAV::emitSignals (void){
#ifdef MAVLINK_ENABLED_SLUGS #ifdef MAVLINK_ENABLED_SLUGS
void SlugsMAV::emitGpsSignals (void){ void SlugsMAV::emitGpsSignals (void){
if (mlGpsData.fix_type > 0){ qDebug()<<"After Emit GPS Signal"<<mlGpsData.fix_type;
//ToDo Uncomment if. it was comment only to test
// if (mlGpsData.fix_type > 0){
emit globalPositionChanged(this, emit globalPositionChanged(this,
mlGpsData.lon, mlGpsData.lon,
mlGpsData.lat, mlGpsData.lat,
mlGpsData.alt, mlGpsData.alt,
0.0); 0.0);
// Smaller than threshold and not NaN emit slugsGPSCogSog(uasId,mlGpsData.hdg, mlGpsData.v);
if (mlGpsData.v < 1000000 && mlGpsData.v == mlGpsData.v){
emit speedChanged(this, (double)mlGpsData.v, 0.0, 0.0, 0.0); // // Smaller than threshold and not NaN
} else { // if (mlGpsData.v < 1000000 && mlGpsData.v == mlGpsData.v){
emit textMessageReceived(uasId, uasId, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(mlGpsData.v)); // // emit speedChanged(this, (double)mlGpsData.v, 0.0, 0.0, 0.0);
}
} // }
// else {
// emit textMessageReceived(uasId, uasId, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(mlGpsData.v));
// }
//}
} }
void SlugsMAV::emitPidSignal() void SlugsMAV::emitPidSignal()
......
src/uas/SlugsMAV.h
View file @ 8d1552b9
...@@ -47,6 +47,7 @@ public slots: ...@@ -47,6 +47,7 @@ public slots:
signals: signals:
void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData); void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData);
void slugsGPSCogSog(int uasId, double cog, double sog);
#ifdef MAVLINK_ENABLED_SLUGS #ifdef MAVLINK_ENABLED_SLUGS
...@@ -67,6 +68,8 @@ signals: ...@@ -67,6 +68,8 @@ signals:
void slugsBootMsg(int uasId, mavlink_boot_t& boot); void slugsBootMsg(int uasId, mavlink_boot_t& boot);
void slugsAttitude(int uasId, mavlink_attitude_t& attitude); void slugsAttitude(int uasId, mavlink_attitude_t& attitude);
#endif #endif
protected: protected:
......
src/uas/UAS.cc
View file @ 8d1552b9
...@@ -43,12 +43,16 @@ This file is part of the QGROUNDCONTROL project ...@@ -43,12 +43,16 @@ This file is part of the QGROUNDCONTROL project
#include "GAudioOutput.h" #include "GAudioOutput.h"
#include "MAVLinkProtocol.h" #include "MAVLinkProtocol.h"
#include "QGCMAVLink.h" #include "QGCMAVLink.h"
#include "LinkManager.h"
#include "SerialLink.h"
UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(), UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
uasId(id), uasId(id),
startTime(MG::TIME::getGroundTimeNow()), startTime(MG::TIME::getGroundTimeNow()),
commStatus(COMM_DISCONNECTED), commStatus(COMM_DISCONNECTED),
name(""), name(""),
autopilot(-1),
links(new QList<LinkInterface*>()), links(new QList<LinkInterface*>()),
unknownPackets(), unknownPackets(),
mavlink(protocol), mavlink(protocol),
...@@ -93,6 +97,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(), ...@@ -93,6 +97,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
UAS::~UAS() UAS::~UAS()
{ {
delete links; delete links;
links=NULL;
} }
int UAS::getUASID() const int UAS::getUASID() const
...@@ -124,6 +129,7 @@ void UAS::setSelected() ...@@ -124,6 +129,7 @@ void UAS::setSelected()
void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{ {
if (!link) return;
if (!links->contains(link)) if (!links->contains(link))
{ {
addLink(link); addLink(link);
...@@ -149,8 +155,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) ...@@ -149,8 +155,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
if (this->type != mavlink_msg_heartbeat_get_type(&message)) if (this->type != mavlink_msg_heartbeat_get_type(&message))
{ {
this->type = mavlink_msg_heartbeat_get_type(&message); this->type = mavlink_msg_heartbeat_get_type(&message);
this->autopilot = mavlink_msg_heartbeat_get_autopilot(&message);
emit systemTypeSet(this, type); emit systemTypeSet(this, type);
} }
break; break;
case MAVLINK_MSG_ID_BOOT: case MAVLINK_MSG_ID_BOOT:
getStatusForCode((int)MAV_STATE_BOOT, uasState, stateDescription); getStatusForCode((int)MAV_STATE_BOOT, uasState, stateDescription);
...@@ -328,6 +336,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) ...@@ -328,6 +336,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, "Vz", pos.vz, time); emit valueChanged(uasId, "Vz", pos.vz, time);
emit localPositionChanged(this, pos.x, pos.y, pos.z, time); emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
emit speedChanged(this, pos.vx, pos.vy, pos.vz, time); emit speedChanged(this, pos.vx, pos.vy, pos.vz, time);
// qDebug()<<"Local Position = "<<pos.x<<" - "<<pos.y<<" - "<<pos.z;
// qDebug()<<"Speed Local Position = "<<pos.vx<<" - "<<pos.vy<<" - "<<pos.vz;
//emit attitudeChanged(this, pos.roll, pos.pitch, pos.yaw, time); //emit attitudeChanged(this, pos.roll, pos.pitch, pos.yaw, time);
// Set internal state // Set internal state
if (!positionLock) if (!positionLock)
...@@ -363,11 +375,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) ...@@ -363,11 +375,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
GAudioOutput::instance()->notifyPositive(); GAudioOutput::instance()->notifyPositive();
} }
positionLock = true; positionLock = true;
//TODO fix this hack for forwarding of global position for patch antenna tracking
// Send to patch antenna forwardMessage(message);
mavlink_message_t msg;
mavlink_msg_global_position_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, pos.usec, pos.lat, pos.lon, pos.alt, pos.vx, pos.vy, pos.vz);
sendMessage(msg);
} }
break; break;
case MAVLINK_MSG_ID_GPS_RAW: case MAVLINK_MSG_ID_GPS_RAW:
...@@ -695,7 +704,12 @@ void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw) ...@@ -695,7 +704,12 @@ void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
mavlink_message_t msg; mavlink_message_t msg;
mavlink_msg_position_control_setpoint_set_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, 0, x, y, z, yaw); mavlink_msg_position_control_setpoint_set_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, 0, x, y, z, yaw);
sendMessage(msg); sendMessage(msg);
#endif #else
Q_UNUSED(x);
Q_UNUSED(y);
Q_UNUSED(z);
Q_UNUSED(yaw);
#endif
} }
void UAS::setLocalPositionOffset(float x, float y, float z, float yaw) void UAS::setLocalPositionOffset(float x, float y, float z, float yaw)
...@@ -704,6 +718,11 @@ void UAS::setLocalPositionOffset(float x, float y, float z, float yaw) ...@@ -704,6 +718,11 @@ void UAS::setLocalPositionOffset(float x, float y, float z, float yaw)
mavlink_message_t msg; mavlink_message_t msg;
mavlink_msg_position_control_offset_set_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, x, y, z, yaw); mavlink_msg_position_control_offset_set_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, x, y, z, yaw);
sendMessage(msg); sendMessage(msg);
#else
Q_UNUSED(x);
Q_UNUSED(y);
Q_UNUSED(z);
Q_UNUSED(yaw);
#endif #endif
} }
...@@ -819,8 +838,31 @@ void UAS::sendMessage(mavlink_message_t message) ...@@ -819,8 +838,31 @@ void UAS::sendMessage(mavlink_message_t message)
} }
} }
void UAS::forwardMessage(mavlink_message_t message)
{
// Emit message on all links that are currently connected
QList<LinkInterface*>link_list = LinkManager::instance()->getLinksForProtocol(mavlink);
foreach(LinkInterface* link, link_list)
{
SerialLink* serial = dynamic_cast<SerialLink*>(link);
if(serial != 0)
{
for(int i=0;i<links->size();i++)
{
if(serial != links->at(i))
{
qDebug()<<"Forwarding Over link: "<<serial->getName()<<" "<<serial;
sendMessage(serial, message);
}
}
}
}
}
void UAS::sendMessage(LinkInterface* link, mavlink_message_t message) void UAS::sendMessage(LinkInterface* link, mavlink_message_t message)
{ {
if(!link) return;
// Create buffer // Create buffer
uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
// Write message into buffer, prepending start sign // Write message into buffer, prepending start sign
...@@ -1490,7 +1532,7 @@ void UAS::addLink(LinkInterface* link) ...@@ -1490,7 +1532,7 @@ void UAS::addLink(LinkInterface* link)
links->append(link); links->append(link);
} }
//links->append(link); //links->append(link);
//qDebug() << " ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK"; qDebug() << link<<" ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK";
} }
/** /**
......
src/uas/UAS.h
View file @ 8d1552b9
...@@ -79,25 +79,26 @@ public: ...@@ -79,25 +79,26 @@ public:
/** @brief Get the links associated with this robot */ /** @brief Get the links associated with this robot */
QList<LinkInterface*>* getLinks(); QList<LinkInterface*>* getLinks();
double getLocalX() const { return localX; }; double getLocalX() const { return localX; }
double getLocalY() const { return localY; }; double getLocalY() const { return localY; }
double getLocalZ() const { return localZ; }; double getLocalZ() const { return localZ; }
double getLatitude() const { return latitude; }; double getLatitude() const { return latitude; }
double getLongitude() const { return longitude; }; double getLongitude() const { return longitude; }
double getAltitude() const { return altitude; }; double getAltitude() const { return altitude; }
double getRoll() const { return roll; }; double getRoll() const { return roll; }
double getPitch() const { return pitch; }; double getPitch() const { return pitch; }
double getYaw() const { return yaw; }; double getYaw() const { return yaw; }
friend class UASWaypointManager; friend class UASWaypointManager;
protected: protected:
int uasId; ///< Unique system ID int uasId; ///< Unique system ID
int type; ///< UAS type (from type enum) unsigned char type; ///< UAS type (from type enum)
quint64 startTime; ///< The time the UAS was switched on quint64 startTime; ///< The time the UAS was switched on
CommStatus commStatus; ///< Communication status CommStatus commStatus; ///< Communication status
QString name; ///< Human-friendly name of the vehicle, e.g. bravo QString name; ///< Human-friendly name of the vehicle, e.g. bravo
int autopilot; ///< Type of the Autopilot: -1: None, 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
QList<LinkInterface*>* links; ///< List of links this UAS can be reached by QList<LinkInterface*>* links; ///< List of links this UAS can be reached by
QList<int> unknownPackets; ///< Packet IDs which are unknown and have been received QList<int> unknownPackets; ///< Packet IDs which are unknown and have been received
MAVLinkProtocol* mavlink; ///< Reference to the MAVLink instance MAVLinkProtocol* mavlink; ///< Reference to the MAVLink instance
...@@ -164,6 +165,8 @@ protected: ...@@ -164,6 +165,8 @@ protected:
public: public:
UASWaypointManager &getWaypointManager(void) { return waypointManager; } UASWaypointManager &getWaypointManager(void) { return waypointManager; }
int getSystemType(); int getSystemType();
int getAutopilotType() {return autopilot;}
void setAutopilotType(int apType) { autopilot = apType;}
public slots: public slots:
/** @brief Launches the system **/ /** @brief Launches the system **/
...@@ -215,6 +218,9 @@ public slots: ...@@ -215,6 +218,9 @@ public slots:
/** @brief Send a message over all links this UAS can be reached with (!= all links) */ /** @brief Send a message over all links this UAS can be reached with (!= all links) */
void sendMessage(mavlink_message_t message); void sendMessage(mavlink_message_t message);
/** @brief Temporary Hack for sending packets to patch Antenna. Send a message over all serial links except for this UAS's */
void forwardMessage(mavlink_message_t message);
/** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */ /** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */
void setSelected(); void setSelected();
......
src/uas/UASInterface.h
View file @ 8d1552b9
...@@ -157,6 +157,9 @@ public: ...@@ -157,6 +157,9 @@ public:
return color; return color;
} }
virtual int getAutopilotType() = 0;
virtual void setAutopilotType(int apType)= 0;
public slots: public slots:
/** @brief Launches the system/Liftof **/ /** @brief Launches the system/Liftof **/
...@@ -241,6 +244,8 @@ public slots: ...@@ -241,6 +244,8 @@ public slots:
virtual void startGyroscopeCalibration() = 0; virtual void startGyroscopeCalibration() = 0;
virtual void startPressureCalibration() = 0; virtual void startPressureCalibration() = 0;
protected: protected:
QColor color; QColor color;
......
src/uas/UASManager.cc
View file @ 8d1552b9
...@@ -85,6 +85,11 @@ void UASManager::addUAS(UASInterface* uas) ...@@ -85,6 +85,11 @@ void UASManager::addUAS(UASInterface* uas)
} }
} }
QList<UASInterface*> UASManager::getUASList()
{
return systems.values();
}
UASInterface* UASManager::getActiveUAS() UASInterface* UASManager::getActiveUAS()
{ {
if(!activeUAS) if(!activeUAS)
...@@ -96,6 +101,11 @@ UASInterface* UASManager::getActiveUAS() ...@@ -96,6 +101,11 @@ UASInterface* UASManager::getActiveUAS()
return activeUAS; ///< Return zero pointer if no UAS has been loaded return activeUAS; ///< Return zero pointer if no UAS has been loaded
} }
UASInterface* UASManager::silentGetActiveUAS()
{
return activeUAS; ///< Return zero pointer if no UAS has been loaded
}
bool UASManager::launchActiveUAS() bool UASManager::launchActiveUAS()
{ {
// If the active UAS is set, execute command // If the active UAS is set, execute command
......
src/uas/UASManager.h
View file @ 8d1552b9
...@@ -57,6 +57,7 @@ public: ...@@ -57,6 +57,7 @@ public:
* @return NULL pointer if no UAS exists, active UAS else * @return NULL pointer if no UAS exists, active UAS else
**/ **/
UASInterface* getActiveUAS(); UASInterface* getActiveUAS();
UASInterface* silentGetActiveUAS();
/** /**
* @brief Get the UAS with this id * @brief Get the UAS with this id
* *
...@@ -68,6 +69,8 @@ public: ...@@ -68,6 +69,8 @@ public:
**/ **/
UASInterface* getUASForId(int id); UASInterface* getUASForId(int id);
QList<UASInterface*> getUASList();
public slots: public slots:
......
src/ui/CommConfigurationWindow.cc
View file @ 8d1552b9
...@@ -47,6 +47,7 @@ This file is part of the QGROUNDCONTROL project ...@@ -47,6 +47,7 @@ This file is part of the QGROUNDCONTROL project
#endif #endif
#include "MAVLinkProtocol.h" #include "MAVLinkProtocol.h"
#include "MAVLinkSettingsWidget.h" #include "MAVLinkSettingsWidget.h"
#include "LinkManager.h"
CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolInterface* protocol, QWidget *parent, Qt::WindowFlags flags) : QWidget(parent, flags) CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolInterface* protocol, QWidget *parent, Qt::WindowFlags flags) : QWidget(parent, flags)
{ {
...@@ -58,6 +59,10 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn ...@@ -58,6 +59,10 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
// add link types // add link types
ui.linkType->addItem("Serial",QGC_LINK_SERIAL); ui.linkType->addItem("Serial",QGC_LINK_SERIAL);
ui.linkType->addItem("UDP",QGC_LINK_UDP); ui.linkType->addItem("UDP",QGC_LINK_UDP);
ui.linkType->addItem("Simulation",QGC_LINK_SIMULATION);
ui.linkType->addItem("Serial Forwarding",QGC_LINK_FORWARDING);
ui.connectionType->addItem("MAVLink", QGC_PROTOCOL_MAVLINK);
// Create action to open this menu // Create action to open this menu
// Create configuration action for this link // Create configuration action for this link
...@@ -195,11 +200,20 @@ void CommConfigurationWindow::setLinkName(QString name) ...@@ -195,11 +200,20 @@ void CommConfigurationWindow::setLinkName(QString name)
void CommConfigurationWindow::remove() void CommConfigurationWindow::remove()
{ {
link->disconnect(); if(action) delete action; //delete action first since it has a pointer to link
//delete link; action=NULL;
//delete action;
if(link)
{
LinkManager::instance()->removeLink(link); //remove link from LinkManager list
link->disconnect(); //disconnect port, and also calls terminate() to stop the thread
if (link->isRunning()) link->terminate(); // terminate() the serial thread just in case it is still running
link->wait(); // wait() until thread is stoped before deleting
delete link;
}
link=NULL;
this->window()->close(); this->window()->close();
qDebug() << "TODO: Link cannot be deleted: CommConfigurationWindow::remove() NOT IMPLEMENTED!";
} }
void CommConfigurationWindow::connectionState(bool connect) void CommConfigurationWindow::connectionState(bool connect)
......
src/ui/CommConfigurationWindow.h
View file @ 8d1552b9
...@@ -42,7 +42,14 @@ This file is part of the QGROUNDCONTROL project ...@@ -42,7 +42,14 @@ This file is part of the QGROUNDCONTROL project
enum qgc_link_t enum qgc_link_t
{ {
QGC_LINK_SERIAL, QGC_LINK_SERIAL,
QGC_LINK_UDP QGC_LINK_UDP,
QGC_LINK_SIMULATION,
QGC_LINK_FORWARDING
};
enum qgc_protocol_t
{
QGC_PROTOCOL_MAVLINK
}; };
#ifdef OPAL_RT #ifdef OPAL_RT
......
src/ui/CommSettings.ui
View file @ 8d1552b9
...@@ -43,23 +43,7 @@ ...@@ -43,23 +43,7 @@
</widget> </widget>
</item> </item>
<item row="0" column="1"> <item row="0" column="1">
<widget class="QComboBox" name="linkType"> <widget class="QComboBox" name="linkType"/>
<item>
<property name="text">
<string>Serial Link</string>
</property>
</item>
<item>
<property name="text">
<string>UDP</string>
</property>
</item>
<item>
<property name="text">
<string>Simulation</string>
</property>
</item>
</widget>
</item> </item>
<item row="1" column="0"> <item row="1" column="0">
<widget class="QLabel" name="label_5"> <widget class="QLabel" name="label_5">
...@@ -71,13 +55,8 @@ ...@@ -71,13 +55,8 @@
<item row="1" column="1"> <item row="1" column="1">
<widget class="QComboBox" name="connectionType"> <widget class="QComboBox" name="connectionType">
<property name="currentIndex"> <property name="currentIndex">
<number>0</number> <number>-1</number>
</property> </property>
<item>
<property name="text">
<string>MAVLink</string>
</property>
</item>
</widget> </widget>
</item> </item>
</layout> </layout>
......
src/ui/HUD.cc
View file @ 8d1552b9
...@@ -165,6 +165,19 @@ HUD::~HUD() ...@@ -165,6 +165,19 @@ HUD::~HUD()
} }
void HUD::showEvent(QShowEvent* event)
{
Q_UNUSED(event);
if (isVisible())
{
refreshTimer->start();
}
else
{
refreshTimer->stop();
}
}
void HUD::start() void HUD::start()
{ {
refreshTimer->start(); refreshTimer->start();
......
src/ui/HUD.h
View file @ 8d1552b9
...@@ -123,6 +123,8 @@ protected: ...@@ -123,6 +123,8 @@ protected:
float refLineWidthToPen(float line); float refLineWidthToPen(float line);
/** @brief Rotate a polygon around a point clockwise */ /** @brief Rotate a polygon around a point clockwise */
void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin); void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin);
/** @brief Override base class show */
virtual void showEvent(QShowEvent* event);
QImage* image; ///< Double buffer image QImage* image; ///< Double buffer image
QImage glImage; ///< The background / camera image QImage glImage; ///< The background / camera image
......
src/ui/MainWindow.cc
View file @ 8d1552b9
This diff is collapsed.
src/ui/MainWindow.h
View file @ 8d1552b9
...@@ -70,7 +70,7 @@ This file is part of the QGROUNDCONTROL project ...@@ -70,7 +70,7 @@ This file is part of the QGROUNDCONTROL project
#include "SlugsPIDControl.h" #include "SlugsPIDControl.h"
#include "slugshilsim.h" #include "SlugsHilSim.h"
#include "SlugsVideoCamControl.h" #include "SlugsVideoCamControl.h"
...@@ -87,6 +87,9 @@ public: ...@@ -87,6 +87,9 @@ public:
~MainWindow(); ~MainWindow();
public slots: public slots:
// /** @brief Store the mainwindow settings */
// void storeSettings();
/** /**
* @brief Shows a status message on the bottom status bar * @brief Shows a status message on the bottom status bar
* *
...@@ -119,22 +122,8 @@ public slots: ...@@ -119,22 +122,8 @@ public slots:
void loadEngineerView(); void loadEngineerView();
/** @brief Load view for operator */ /** @brief Load view for operator */
void loadOperatorView(); void loadOperatorView();
/** @brief Load 3D view */
void load3DView();
/** @brief Load 3D Google Earth view */
void loadGoogleEarthView();
/** @brief Load 3D map view */
void load3DMapView();
/** @brief Load view with all widgets */
void loadAllView();
/** @brief Load MAVLink XML generator view */ /** @brief Load MAVLink XML generator view */
void loadMAVLinkView(); void loadMAVLinkView();
/** @brief Load data view, allowing to plot flight data */
void loadDataView();
/** @brief Load data view, allowing to plot flight data */
void loadDataView(QString fileName);
/** @brief Load view for global operator, allowing to flight on earth */
void loadGlobalOperatorView();
/** @brief Show the online help for users */ /** @brief Show the online help for users */
void showHelp(); void showHelp();
...@@ -143,21 +132,199 @@ public slots: ...@@ -143,21 +132,199 @@ public slots:
/** @brief Show the project roadmap */ /** @brief Show the project roadmap */
void showRoadMap(); void showRoadMap();
// Fixme find a nicer solution that scales to more AP types /** @brief Shows the widgets based on configuration and current view and autopilot */
void loadSlugsView(); void presentView();
void loadPixhawkView();
/** @brief Reload the CSS style sheet */ /** @brief Reload the CSS style sheet */
void reloadStylesheet(); void reloadStylesheet();
/*
==========================================================
Potentially Deprecated
==========================================================
*/
void loadPixhawkEngineerView();
/** @brief Load view with all widgets */
void loadAllView();
void loadWidgets();
/** @brief Load data view, allowing to plot flight data */
void loadDataView();
/** @brief Load data view, allowing to plot flight data */
void loadDataView(QString fileName);
/** @brief Load 3D map view */
void load3DMapView();
/** @brief Load 3D Google Earth view */
void loadGoogleEarthView();
/** @brief Load 3D view */
void load3DView();
/**
* @brief Shows a Docked Widget based on the action sender
*
* This slot is written to be used in conjunction with the addToToolsMenu function
* It shows the QDockedWidget based on the action sender
*
*/
void showToolWidget();
/**
* @brief Shows a Widget from the center stack based on the action sender
*
* This slot is written to be used in conjunction with the addToCentralWidgetsMenu function
* It shows the Widget based on the action sender
*
*/
void showCentralWidget();
/** @brief Updates a QDockWidget's checked status based on its visibility */
void updateVisibilitySettings (bool vis);
/** @brief Updates a QDockWidget's location */
void updateLocationSettings (Qt::DockWidgetArea location);
protected: protected:
// These defines are used to save the settings when selecting with
// which widgets populate the views
// FIXME: DO NOT PUT CUSTOM VALUES IN THIS ENUM since it is iterated over
// this will be fixed in a future release.
typedef enum _TOOLS_WIDGET_NAMES {
MENU_UAS_CONTROL,
MENU_UAS_INFO,
MENU_CAMERA,
MENU_UAS_LIST,
MENU_WAYPOINTS,
MENU_STATUS,
MENU_DETECTION,
MENU_DEBUG_CONSOLE,
MENU_PARAMETERS,
MENU_HDD_1,
MENU_HDD_2,
MENU_WATCHDOG,
MENU_HUD,
MENU_HSI,
MENU_RC_VIEW,
MENU_SLUGS_DATA,
MENU_SLUGS_PID,
MENU_SLUGS_HIL,
MENU_SLUGS_CAMERA,
CENTRAL_SEPARATOR= 255, // do not change
CENTRAL_LINECHART,
CENTRAL_PROTOCOL,
CENTRAL_MAP,
CENTRAL_3D_LOCAL,
CENTRAL_3D_MAP,
CENTRAL_OSGEARTH,
CENTRAL_GOOGLE_EARTH,
CENTRAL_HUD,
CENTRAL_DATA_PLOT,
}TOOLS_WIDGET_NAMES;
typedef enum _SETTINGS_SECTIONS {
SECTION_MENU,
SUB_SECTION_CHECKED,
SUB_SECTION_LOCATION,
} SETTINGS_SECTIONS;
typedef enum _VIEW_SECTIONS {
VIEW_ENGINEER,
VIEW_OPERATOR,
VIEW_PILOT,
VIEW_MAVLINK,
} VIEW_SECTIONS;
QHash<int, QAction*> toolsMenuActions; // Holds ptr to the Menu Actions
QHash<int, QWidget*> dockWidgets; // Holds ptr to the Actual Dock widget
QHash<int, Qt::DockWidgetArea> dockWidgetLocations; // Holds the location
/**
* @brief Adds an already instantiated QDockedWidget to the Tools Menu
*
* This function does all the hosekeeping to have a QDockedWidget added to the
* tools menu and connects the QMenuAction to a slot that shows the widget and
* checks/unchecks the tools menu item
*
* @param widget The QDockedWidget being added
* @param title The entry that will appear in the Menu and in the QDockedWidget title bar
* @param slotName The slot to which the triggered() signal of the menu action will be connected.
* @param tool The ENUM defined in MainWindow.h that is associated to the widget
* @param location The default location for the QDockedWidget in case there is no previous key in the settings
*/
void addToToolsMenu (QWidget* widget, const QString title, const char * slotName, TOOLS_WIDGET_NAMES tool, Qt::DockWidgetArea location);
/**
* @brief Determines if a QDockWidget needs to be show and if so, shows it
*
* Based on the the autopilot and the current view it queries the settings and shows the
* widget if necessary
*
* @param widget The QDockWidget requested to be shown
* @param view The view for which the QDockWidget is requested
*/
void showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view = VIEW_MAVLINK);
/**
* @brief Adds an already instantiated QWidget to the center stack
*
* This function does all the hosekeeping to have a QWidget added to the tools menu
* tools menu and connects the QMenuAction to a slot that shows the widget and
* checks/unchecks the tools menu item. This is used for all the central widgets (those in
* the center stack.
*
* @param widget The QWidget being added
* @param title The entry that will appear in the Menu
* @param slotName The slot to which the triggered() signal of the menu action will be connected.
* @param centralWidget The ENUM defined in MainWindow.h that is associated to the widget
*/
void addToCentralWidgetsMenu ( QWidget* widget, const QString title,const char * slotName, TOOLS_WIDGET_NAMES centralWidget);
/**
* @brief Determines if a QWidget needs to be show and if so, shows it
*
* Based on the the autopilot and the current view it queries the settings and shows the
* widget if necessary
*
* @param centralWidget The QWidget requested to be shown
* @param view The view for which the QWidget is requested
*/
void showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SECTIONS view);
/** @brief Keeps track of the current view */
VIEW_SECTIONS currentView;
QStatusBar* statusBar; QStatusBar* statusBar;
QStatusBar* createStatusBar(); QStatusBar* createStatusBar();
void loadWidgets();
void connectActions();
void clearView(); void clearView();
void buildWidgets();
void connectWidgets(); void buildCommonWidgets();
void arrangeCenterStack(); void buildPxWidgets();
void buildSlugsWidgets();
void connectCommonWidgets();
void connectPxWidgets();
void connectSlugsWidgets();
void arrangeCommonCenterStack();
void arrangePxCenterStack();
void arrangeSlugsCenterStack();
void connectCommonActions();
void connectPxActions();
void connectSlugsActions();
void configureWindowName(); void configureWindowName();
// TODO Should be moved elsewhere, as the protocol does not belong to the UI // TODO Should be moved elsewhere, as the protocol does not belong to the UI
...@@ -168,9 +335,13 @@ protected: ...@@ -168,9 +335,13 @@ protected:
LinkInterface* udpLink; LinkInterface* udpLink;
QSettings settings; QSettings settings;
QStackedWidget *centerStack;
// Center widgets // Center widgets
QPointer<Linecharts> linechartWidget; QPointer<Linecharts> linechartWidget;
QPointer<HUD> hudWidget; QPointer<HUD> hudWidget;
QPointer<MapWidget> mapWidget; QPointer<MapWidget> mapWidget;
QPointer<XMLCommProtocolWidget> protocolWidget; QPointer<XMLCommProtocolWidget> protocolWidget;
QPointer<QGCDataPlot2D> dataplotWidget; QPointer<QGCDataPlot2D> dataplotWidget;
...@@ -193,9 +364,12 @@ protected: ...@@ -193,9 +364,12 @@ protected:
QPointer<QDockWidget> headDown1DockWidget; QPointer<QDockWidget> headDown1DockWidget;
QPointer<QDockWidget> headDown2DockWidget; QPointer<QDockWidget> headDown2DockWidget;
QPointer<QDockWidget> watchdogControlDockWidget; QPointer<QDockWidget> watchdogControlDockWidget;
QPointer<QDockWidget> headUpDockWidget; QPointer<QDockWidget> headUpDockWidget;
QPointer<QDockWidget> hsiDockWidget; QPointer<QDockWidget> hsiDockWidget;
QPointer<QDockWidget> rcViewDockWidget; QPointer<QDockWidget> rcViewDockWidget;
QPointer<QDockWidget> hudDockWidget;
QPointer<QDockWidget> slugsDataWidget; QPointer<QDockWidget> slugsDataWidget;
QPointer<QDockWidget> slugsPIDControlWidget; QPointer<QDockWidget> slugsPIDControlWidget;
QPointer<QDockWidget> slugsHilSimWidget; QPointer<QDockWidget> slugsHilSimWidget;
...@@ -216,6 +390,7 @@ protected: ...@@ -216,6 +390,7 @@ protected:
QAction* killUASAct; QAction* killUASAct;
QAction* simulateUASAct; QAction* simulateUASAct;
LogCompressor* comp; LogCompressor* comp;
QString screenFileName; QString screenFileName;
QTimer* videoTimer; QTimer* videoTimer;
...@@ -223,6 +398,8 @@ protected: ...@@ -223,6 +398,8 @@ protected:
private: private:
Ui::MainWindow ui; Ui::MainWindow ui;
QString buildMenuKey (SETTINGS_SECTIONS section , TOOLS_WIDGET_NAMES tool, VIEW_SECTIONS view);
}; };
#endif /* _MAINWINDOW_H_ */ #endif /* _MAINWINDOW_H_ */
src/ui/MainWindow.ui
View file @ 8d1552b9
...@@ -45,15 +45,30 @@ ...@@ -45,15 +45,30 @@
<property name="title"> <property name="title">
<string>File</string> <string>File</string>
</property> </property>
<addaction name="actionJoystickSettings"/> <addaction name="actionJoystick_Settings"/>
<addaction name="actionSimulate"/> <addaction name="actionSimulate"/>
<addaction name="separator"/> <addaction name="separator"/>
<addaction name="actionExit"/> <addaction name="actionExit"/>
</widget> </widget>
<widget class="QMenu" name="menuNetwork">
<property name="title">
<string>Network</string>
</property>
<addaction name="actionAdd_Link"/>
<addaction name="separator"/>
</widget>
<widget class="QMenu" name="menuConnected_Systems">
<property name="title">
<string>Select System</string>
</property>
</widget>
<widget class="QMenu" name="menuUnmanned_System"> <widget class="QMenu" name="menuUnmanned_System">
<property name="title"> <property name="title">
<string>Unmanned System</string> <string>Unmanned System</string>
</property> </property>
<property name="separatorsCollapsible">
<bool>false</bool>
</property>
<addaction name="actionLiftoff"/> <addaction name="actionLiftoff"/>
<addaction name="actionLand"/> <addaction name="actionLand"/>
<addaction name="actionEmergency_Land"/> <addaction name="actionEmergency_Land"/>
...@@ -61,59 +76,39 @@ ...@@ -61,59 +76,39 @@
<addaction name="separator"/> <addaction name="separator"/>
<addaction name="actionConfiguration"/> <addaction name="actionConfiguration"/>
</widget> </widget>
<widget class="QMenu" name="menuNetwork"> <widget class="QMenu" name="menuTools">
<property name="title">
<string>Network</string>
</property>
<addaction name="actionAdd_Link"/>
<addaction name="separator"/>
</widget>
<widget class="QMenu" name="menuWindow">
<property name="title"> <property name="title">
<string>Window</string> <string>Tools</string>
</property> </property>
<addaction name="actionEngineerView"/>
<addaction name="actionPilotView"/>
<addaction name="actionOperatorView"/>
<addaction name="action3DMapView"/>
<addaction name="action3DView"/>
<addaction name="actionGoogleEarthView"/>
<addaction name="actionGlobalOperatorView"/>
<addaction name="separator"/>
<addaction name="actionShow_MAVLink_view"/>
<addaction name="actionShow_data_analysis_view"/>
<addaction name="actionShow_full_view"/>
<addaction name="actionStyleConfig"/>
<addaction name="actionShow_Slugs_View"/>
</widget> </widget>
<widget class="QMenu" name="menuHelp"> <widget class="QMenu" name="menuHelp">
<property name="title"> <property name="title">
<string>Help</string> <string>Help</string>
</property> </property>
<addaction name="actionOnline_documentation"/> <addaction name="actionOnline_Documentation"/>
<addaction name="actionProject_Roadmap"/> <addaction name="actionProject_Roadmap_2"/>
<addaction name="actionCredits_Developers"/> <addaction name="actionDeveloper_Credits"/>
</widget> </widget>
<widget class="QMenu" name="menuConnected_Systems"> <widget class="QMenu" name="menuPerspectives">
<property name="title"> <property name="title">
<string>Select System</string> <string>Perspectives</string>
</property> </property>
<addaction name="actionOperatorsView"/>
<addaction name="actionEngineersView"/>
<addaction name="actionPilotsView"/>
<addaction name="separator"/>
<addaction name="actionMavlinkView"/>
<addaction name="actionReloadStyle"/>
</widget> </widget>
<addaction name="menuMGround"/> <addaction name="menuMGround"/>
<addaction name="menuNetwork"/> <addaction name="menuNetwork"/>
<addaction name="menuConnected_Systems"/> <addaction name="menuConnected_Systems"/>
<addaction name="menuUnmanned_System"/> <addaction name="menuUnmanned_System"/>
<addaction name="menuWindow"/> <addaction name="menuTools"/>
<addaction name="menuPerspectives"/>
<addaction name="menuHelp"/> <addaction name="menuHelp"/>
</widget> </widget>
<widget class="QToolBar" name="mainToolBar">
<attribute name="toolBarArea">
<enum>TopToolBarArea</enum>
</attribute>
<attribute name="toolBarBreak">
<bool>false</bool>
</attribute>
</widget>
<widget class="QStatusBar" name="statusBar"/> <widget class="QStatusBar" name="statusBar"/>
<action name="actionExit"> <action name="actionExit">
<property name="icon"> <property name="icon">
...@@ -218,6 +213,9 @@ ...@@ -218,6 +213,9 @@
<property name="text"> <property name="text">
<string>Joystick settings</string> <string>Joystick settings</string>
</property> </property>
<property name="visible">
<bool>true</bool>
</property>
</action> </action>
<action name="actionOperatorView"> <action name="actionOperatorView">
<property name="icon"> <property name="icon">
...@@ -348,6 +346,90 @@ ...@@ -348,6 +346,90 @@
<string>Show Slugs View</string> <string>Show Slugs View</string>
</property> </property>
</action> </action>
<action name="actionJoystick_Settings">
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/devices/input-gaming.svg</normaloff>:/images/devices/input-gaming.svg</iconset>
</property>
<property name="text">
<string>Joystick Settings</string>
</property>
<property name="visible">
<bool>false</bool>
</property>
</action>
<action name="actionOnline_Documentation">
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/apps/utilities-system-monitor.svg</normaloff>:/images/apps/utilities-system-monitor.svg</iconset>
</property>
<property name="text">
<string>Online Documentation</string>
</property>
</action>
<action name="actionProject_Roadmap_2">
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/status/software-update-available.svg</normaloff>:/images/status/software-update-available.svg</iconset>
</property>
<property name="text">
<string>Project Roadmap</string>
</property>
</action>
<action name="actionDeveloper_Credits">
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/categories/preferences-system.svg</normaloff>:/images/categories/preferences-system.svg</iconset>
</property>
<property name="text">
<string>Developer Credits</string>
</property>
</action>
<action name="actionOperatorsView">
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/status/weather-overcast.svg</normaloff>:/images/status/weather-overcast.svg</iconset>
</property>
<property name="text">
<string>Operator</string>
</property>
</action>
<action name="actionEngineersView">
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/apps/utilities-system-monitor.svg</normaloff>:/images/apps/utilities-system-monitor.svg</iconset>
</property>
<property name="text">
<string>Engineer</string>
</property>
</action>
<action name="actionMavlinkView">
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/devices/network-wired.svg</normaloff>:/images/devices/network-wired.svg</iconset>
</property>
<property name="text">
<string>Mavlink</string>
</property>
</action>
<action name="actionReloadStyle">
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
</property>
<property name="text">
<string>Reload Style</string>
</property>
</action>
<action name="actionPilotsView">
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/status/network-wireless-encrypted.svg</normaloff>:/images/status/network-wireless-encrypted.svg</iconset>
</property>
<property name="text">
<string>Pilot</string>
</property>
</action>
</widget> </widget>
<layoutdefault spacing="6" margin="11"/> <layoutdefault spacing="6" margin="11"/>
<resources> <resources>
...@@ -372,3 +454,5 @@ ...@@ -372,3 +454,5 @@
</connection> </connection>
</connections> </connections>
</ui> </ui>
src/ui/MapWidget.cc
View file @ 8d1552b9
...@@ -562,6 +562,7 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon, ...@@ -562,6 +562,7 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
// Icon // Icon
QPen* pointpen = new QPen(uasColor); QPen* pointpen = new QPen(uasColor);
qDebug() << uas->getUASName();
MAV2DIcon* p = new MAV2DIcon(lat, lon, 20, uas->getUASName(), qmapcontrol::Point::Middle, pointpen); MAV2DIcon* p = new MAV2DIcon(lat, lon, 20, uas->getUASName(), qmapcontrol::Point::Middle, pointpen);
uasIcons.insert(uas->getUASID(), p); uasIcons.insert(uas->getUASID(), p);
geomLayer->addGeometry(p); geomLayer->addGeometry(p);
...@@ -592,21 +593,12 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon, ...@@ -592,21 +593,12 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
uasTrails.value(uas->getUASID())->addPoint(new qmapcontrol::Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon))); uasTrails.value(uas->getUASID())->addPoint(new qmapcontrol::Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon)));
} }
// points.append(new CirclePoint(8.275145, 50.016992, 15, "Wiesbaden-Mainz-Kastel, Johannes-Goßner-Straße", Point::Middle, pointpen));
// points.append(new CirclePoint(8.270476, 50.021426, 15, "Wiesbaden-Mainz-Kastel, Ruthof", Point::Middle, pointpen));
// // "Blind" Points
// points.append(new Point(8.266445, 50.025913, "Wiesbaden-Mainz-Kastel, Mudra Kaserne"));
// points.append(new Point(8.260378, 50.030345, "Wiesbaden-Mainz-Amoneburg, Dyckerhoffstraße"));
// Connect click events of the layer to this object // Connect click events of the layer to this object
// connect(osmLayer, SIGNAL(geometryClicked(Geometry*, QPoint)), // connect(osmLayer, SIGNAL(geometryClicked(Geometry*, QPoint)),
// this, SLOT(geometryClicked(Geometry*, QPoint))); // this, SLOT(geometryClicked(Geometry*, QPoint)));
// Sets the view to the interesting area // Sets the view to the interesting area
//QList<QPointF> view;
//view.append(QPointF(8.24764, 50.0319));
//view.append(QPointF(8.28412, 49.9998));
// mc->setView(view);
updatePosition(0, lat, lon); updatePosition(0, lat, lon);
} }
} }
......
src/ui/ObjectDetectionView.cc
View file @ 8d1552b9
...@@ -40,8 +40,6 @@ This file is part of the PIXHAWK project ...@@ -40,8 +40,6 @@ This file is part of the PIXHAWK project
#include <QDebug> #include <QDebug>
#include <QMap> #include <QMap>
#include "MG.h"
ObjectDetectionView::ObjectDetectionView(QString folder, QWidget *parent) : ObjectDetectionView::ObjectDetectionView(QString folder, QWidget *parent) :
QWidget(parent), QWidget(parent),
patternList(), patternList(),
...@@ -117,7 +115,7 @@ void ObjectDetectionView::newPattern(int uasId, QString patternPath, float confi ...@@ -117,7 +115,7 @@ void ObjectDetectionView::newPattern(int uasId, QString patternPath, float confi
m_ui->listWidget->addItem(pattern.name + separator + "(" + QString::number(pattern.count) + ")" + separator + QString::number(pattern.confidence)); m_ui->listWidget->addItem(pattern.name + separator + "(" + QString::number(pattern.count) + ")" + separator + QString::number(pattern.confidence));
// load image // load image
QString filePath = MG::DIR::getSupportFilesDirectory() + "/" + patternFolder + "/" + patternPath.split("/", QString::SkipEmptyParts).last(); QString filePath = patternFolder + "/" + patternPath.split("/", QString::SkipEmptyParts).last();
QPixmap image = QPixmap(filePath); QPixmap image = QPixmap(filePath);
if (image.width() > image.height()) if (image.width() > image.height())
image = image.scaledToWidth(m_ui->imageLabel->width()); image = image.scaledToWidth(m_ui->imageLabel->width());
......
src/ui/ParameterInterface.cc
View file @ 8d1552b9
...@@ -51,6 +51,15 @@ ParameterInterface::ParameterInterface(QWidget *parent) : ...@@ -51,6 +51,15 @@ ParameterInterface::ParameterInterface(QWidget *parent) :
// Setup UI connections // Setup UI connections
connect(m_ui->vehicleComboBox, SIGNAL(activated(int)), this, SLOT(selectUAS(int))); connect(m_ui->vehicleComboBox, SIGNAL(activated(int)), this, SLOT(selectUAS(int)));
// Get current MAV list
QList<UASInterface*> systems = UASManager::instance()->getUASList();
// Add each of them
foreach (UASInterface* sys, systems)
{
addUAS(sys);
}
// Setup MAV connections // Setup MAV connections
connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*))); connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
this->setVisible(false); this->setVisible(false);
......
src/ui/QGCMainWindowAPConfigurator.cc 0 → 100644
View file @ 8d1552b9
#include "QGCMainWindowAPConfigurator.h"
QGCMainWindowAPConfigurator::QGCMainWindowAPConfigurator(QObject *parent) :
QObject(parent)
{
}
src/ui/QGCMainWindowAPConfigurator.h 0 → 100644
View file @ 8d1552b9
#ifndef QGCMAINWINDOWAPCONFIGURATOR_H
#define QGCMAINWINDOWAPCONFIGURATOR_H
#include <QObject>
class QGCMainWindowAPConfigurator : public QObject
{
Q_OBJECT
public:
explicit QGCMainWindowAPConfigurator(QObject *parent = 0);
signals:
public slots:
};
#endif // QGCMAINWINDOWAPCONFIGURATOR_H
src/ui/QGCRemoteControlView.cc
View file @ 8d1552b9
...@@ -115,10 +115,10 @@ void QGCRemoteControlView::setUASId(int id) ...@@ -115,10 +115,10 @@ void QGCRemoteControlView::setUASId(int id)
connect(newUAS, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float))); connect(newUAS, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float)));
connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(setChannelRaw(int,float))); connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(setChannelRaw(int,float)));
connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannelRaw(int,float))); // connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannelRaw(int,float)));
connect(newUAS, SIGNAL(remoteControlChannelScaledChanged(int,float)), this, SLOT(setChannelScaled(int,float))); connect(newUAS, SIGNAL(remoteControlChannelScaledChanged(int,float)), this, SLOT(setChannelScaled(int,float)));
connect(newUAS, SIGNAL(remoteControlChannelScaledChanged(int,float)), calibrationWindow, SLOT(setChannelScaled(int,float))); // connect(newUAS, SIGNAL(remoteControlChannelScaledChanged(int,float)), calibrationWindow, SLOT(setChannelScaled(int,float)));
} }
} }
......
src/ui/RadioCalibration/RadioCalibrationWindow.cc
View file @ 8d1552b9
...@@ -52,6 +52,66 @@ RadioCalibrationWindow::RadioCalibrationWindow(QWidget *parent) : ...@@ -52,6 +52,66 @@ RadioCalibrationWindow::RadioCalibrationWindow(QWidget *parent) :
setUASId(0); setUASId(0);
} }
void RadioCalibrationWindow::setChannelRaw(int ch, float raw)
{
/** this expects a particular channel to function mapping
\todo allow run-time channel mapping
*/
switch (ch)
{
case 0:
aileron->channelChanged(raw);
break;
case 1:
elevator->channelChanged(raw);
break;
case 2:
throttle->channelChanged(raw);
break;
case 3:
rudder->channelChanged(raw);
break;
case 4:
gyro->channelChanged(raw);
break;
case 5:
pitch->channelChanged(raw);
break;
}
}
void RadioCalibrationWindow::setChannelScaled(int ch, float normalized)
{
// /** this expects a particular channel to function mapping
// \todo allow run-time channel mapping
// */
// switch (ch)
// {
// case 0:
// aileron->channelChanged(raw);
// break;
// case 1:
// elevator->channelChanged(raw);
// break;
// case 2:
// throttle->channelChanged(raw);
// break;
// case 3:
// rudder->channelChanged(raw);
// break;
// case 4:
// gyro->channelChanged(raw);
// break;
// case 5:
// pitch->channelChanged(raw);
// break;
// }
}
void RadioCalibrationWindow::setChannel(int ch, float raw, float normalized) void RadioCalibrationWindow::setChannel(int ch, float raw, float normalized)
{ {
/** this expects a particular channel to function mapping /** this expects a particular channel to function mapping
......
src/ui/RadioCalibration/RadioCalibrationWindow.h
View file @ 8d1552b9
...@@ -67,6 +67,8 @@ public: ...@@ -67,6 +67,8 @@ public:
public slots: public slots:
void setChannel(int ch, float raw, float normalized); void setChannel(int ch, float raw, float normalized);
void setChannelRaw(int ch, float raw);
void setChannelScaled(int ch, float normalized);
void loadFile(); void loadFile();
void saveFile(); void saveFile();
void send(); void send();
......
src/ui/SerialConfigurationWindow.cc
View file @ 8d1552b9
...@@ -33,6 +33,7 @@ This file is part of the QGROUNDCONTROL project ...@@ -33,6 +33,7 @@ This file is part of the QGROUNDCONTROL project
#include <SerialConfigurationWindow.h> #include <SerialConfigurationWindow.h>
#include <SerialLinkInterface.h> #include <SerialLinkInterface.h>
#include <QDir> #include <QDir>
#include <QSettings>
#include <QFileInfoList> #include <QFileInfoList>
#ifdef _WIN32 #ifdef _WIN32
#include <QextSerialEnumerator.h> #include <QextSerialEnumerator.h>
...@@ -509,12 +510,3 @@ void SerialConfigurationWindow::setLinkName(QString name) ...@@ -509,12 +510,3 @@ void SerialConfigurationWindow::setLinkName(QString name)
setWindowTitle(tr("Configuration of ") + link->getName()); setWindowTitle(tr("Configuration of ") + link->getName());
} }
void SerialConfigurationWindow::remove()
{
link->disconnect();
//delete link;
//delete action;
this->window()->close();
qDebug() << "TODO: Link cannot be deleted: SerialConfigurationWindow::remove() NOT IMPLEMENTED!";
}
src/ui/SerialConfigurationWindow.h
View file @ 8d1552b9
...@@ -60,12 +60,6 @@ public slots: ...@@ -60,12 +60,6 @@ public slots:
void setParityEven(); void setParityEven();
void setPortName(QString port); void setPortName(QString port);
void setLinkName(QString name); void setLinkName(QString name);
/**
* @brief Remove this link
*
* Disconnects the associated link, removes it from all menus and closes the window.
*/
void remove();
void setupPortList(); void setupPortList();
protected slots: protected slots:
......
src/ui/SlugsDataSensorView.cc
View file @ 8d1552b9
...@@ -41,10 +41,12 @@ void SlugsDataSensorView::addUAS(UASInterface* uas) ...@@ -41,10 +41,12 @@ void SlugsDataSensorView::addUAS(UASInterface* uas)
connect(slugsMav, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugSpeedLocalPositionChanged(UASInterface*,double,double,double,quint64))); connect(slugsMav, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugSpeedLocalPositionChanged(UASInterface*,double,double,double,quint64)));
connect(slugsMav, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugAttitudeChanged(UASInterface*,double,double,double,quint64))); connect(slugsMav, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugAttitudeChanged(UASInterface*,double,double,double,quint64)));
connect(slugsMav, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugsGlobalPositionChanged(UASInterface*,double,double,double,quint64))); connect(slugsMav, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugsGlobalPositionChanged(UASInterface*,double,double,double,quint64)));
connect(slugsMav,SIGNAL(slugsGPSCogSog(int,double,double)),this,SLOT(slugsGPSCogSog(int,double,double)));
//connect slugs especial messages
//connect slugs especial messages
connect(slugsMav, SIGNAL(slugsSensorBias(int,const mavlink_sensor_bias_t&)), this, SLOT(slugsSensorBiasChanged(int,const mavlink_sensor_bias_t&))); connect(slugsMav, SIGNAL(slugsSensorBias(int,const mavlink_sensor_bias_t&)), this, SLOT(slugsSensorBiasChanged(int,const mavlink_sensor_bias_t&)));
connect(slugsMav, SIGNAL(slugsDiagnostic(int,const mavlink_diagnostic_t&)), this, SLOT(slugsDiagnosticMessageChanged(int,const mavlink_diagnostic_t&))); connect(slugsMav, SIGNAL(slugsDiagnostic(int,const mavlink_diagnostic_t&)), this, SLOT(slugsDiagnosticMessageChanged(int,const mavlink_diagnostic_t&)));
connect(slugsMav, SIGNAL(slugsCPULoad(int,const mavlink_cpu_load_t&)), this, SLOT(slugsCpuLoadChanged(int,const mavlink_cpu_load_t&))); connect(slugsMav, SIGNAL(slugsCPULoad(int,const mavlink_cpu_load_t&)), this, SLOT(slugsCpuLoadChanged(int,const mavlink_cpu_load_t&)));
...@@ -53,6 +55,8 @@ void SlugsDataSensorView::addUAS(UASInterface* uas) ...@@ -53,6 +55,8 @@ void SlugsDataSensorView::addUAS(UASInterface* uas)
connect(slugsMav, SIGNAL(slugsPWM(int,const mavlink_pwm_commands_t&)),this,SLOT(slugsPWMChanged(int,const mavlink_pwm_commands_t&))); connect(slugsMav, SIGNAL(slugsPWM(int,const mavlink_pwm_commands_t&)),this,SLOT(slugsPWMChanged(int,const mavlink_pwm_commands_t&)));
connect(slugsMav, SIGNAL(slugsFilteredData(int,const mavlink_filtered_data_t&)),this,SLOT(slugsFilteredDataChanged(int,const mavlink_filtered_data_t&))); connect(slugsMav, SIGNAL(slugsFilteredData(int,const mavlink_filtered_data_t&)),this,SLOT(slugsFilteredDataChanged(int,const mavlink_filtered_data_t&)));
connect(slugsMav, SIGNAL(slugsGPSDateTime(int,const mavlink_gps_date_time_t&)),this,SLOT(slugsGPSDateTimeChanged(int,const mavlink_gps_date_time_t&))); connect(slugsMav, SIGNAL(slugsGPSDateTime(int,const mavlink_gps_date_time_t&)),this,SLOT(slugsGPSDateTimeChanged(int,const mavlink_gps_date_time_t&)));
connect(slugsMav,SIGNAL(slugsAirData(int, const mavlink_air_data_t&)),this,SLOT(slugsAirDataChanged(int, const mavlink_air_data_t&)));
#endif // MAVLINK_ENABLED_SLUGS #endif // MAVLINK_ENABLED_SLUGS
// Set this UAS as active if it is the first one // Set this UAS as active if it is the first one
...@@ -69,6 +73,15 @@ void SlugsDataSensorView::slugRawDataChanged(int uasId, const mavlink_raw_imu_t ...@@ -69,6 +73,15 @@ void SlugsDataSensorView::slugRawDataChanged(int uasId, const mavlink_raw_imu_t
ui->m_Axr->setText(QString::number(rawData.xacc)); ui->m_Axr->setText(QString::number(rawData.xacc));
ui->m_Ayr->setText(QString::number(rawData.yacc)); ui->m_Ayr->setText(QString::number(rawData.yacc));
ui->m_Azr->setText(QString::number(rawData.zacc)); ui->m_Azr->setText(QString::number(rawData.zacc));
ui->m_Mxr->setText(QString::number(rawData.xmag));
ui->m_Myr->setText(QString::number(rawData.ymag));
ui->m_Mzr->setText(QString::number(rawData.zmag));
ui->m_Gxr->setText(QString::number(rawData.xgyro));
ui->m_Gyr->setText(QString::number(rawData.ygyro));
ui->m_Gzr->setText(QString::number(rawData.zgyro));
} }
void SlugsDataSensorView::setActiveUAS(UASInterface* uas){ void SlugsDataSensorView::setActiveUAS(UASInterface* uas){
...@@ -85,9 +98,13 @@ void SlugsDataSensorView::slugsGlobalPositionChanged(UASInterface *uas, ...@@ -85,9 +98,13 @@ void SlugsDataSensorView::slugsGlobalPositionChanged(UASInterface *uas,
Q_UNUSED(uas); Q_UNUSED(uas);
Q_UNUSED(time); Q_UNUSED(time);
ui->m_GpsLatitude->setText(QString::number(lat)); ui->m_GpsLatitude->setText(QString::number(lat));
ui->m_GpsLongitude->setText(QString::number(lon)); ui->m_GpsLongitude->setText(QString::number(lon));
ui->m_GpsHeight->setText(QString::number(alt)); ui->m_GpsHeight->setText(QString::number(alt));
qDebug()<<"GPS Position = "<<lat<<" - "<<lon<<" - "<<alt;
} }
...@@ -103,6 +120,8 @@ void SlugsDataSensorView::slugLocalPositionChanged(UASInterface* uas, ...@@ -103,6 +120,8 @@ void SlugsDataSensorView::slugLocalPositionChanged(UASInterface* uas,
ui->ed_y->setPlainText(QString::number(y)); ui->ed_y->setPlainText(QString::number(y));
ui->ed_z->setPlainText(QString::number(z)); ui->ed_z->setPlainText(QString::number(z));
//qDebug()<<"Local Position = "<<x<<" - "<<y<<" - "<<z;
} }
void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface* uas, void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface* uas,
...@@ -117,6 +136,9 @@ void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface* uas, ...@@ -117,6 +136,9 @@ void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface* uas,
ui->ed_vy->setPlainText(QString::number(vy)); ui->ed_vy->setPlainText(QString::number(vy));
ui->ed_vz->setPlainText(QString::number(vz)); ui->ed_vz->setPlainText(QString::number(vz));
//qDebug()<<"Speed Local Position = "<<vx<<" - "<<vy<<" - "<<vz;
} }
void SlugsDataSensorView::slugAttitudeChanged(UASInterface* uas, void SlugsDataSensorView::slugAttitudeChanged(UASInterface* uas,
...@@ -132,6 +154,8 @@ void SlugsDataSensorView::slugAttitudeChanged(UASInterface* uas, ...@@ -132,6 +154,8 @@ void SlugsDataSensorView::slugAttitudeChanged(UASInterface* uas,
ui->m_Pitch->setPlainText(QString::number(slugpitch)); ui->m_Pitch->setPlainText(QString::number(slugpitch));
ui->m_Yaw->setPlainText(QString::number(slugyaw)); ui->m_Yaw->setPlainText(QString::number(slugyaw));
qDebug()<<"Attitude change = "<<slugroll<<" - "<<slugpitch<<" - "<<slugyaw;
} }
...@@ -148,6 +172,7 @@ void SlugsDataSensorView::slugsSensorBiasChanged(int systemId, ...@@ -148,6 +172,7 @@ void SlugsDataSensorView::slugsSensorBiasChanged(int systemId,
} }
void SlugsDataSensorView::slugsDiagnosticMessageChanged(int systemId, void SlugsDataSensorView::slugsDiagnosticMessageChanged(int systemId,
const mavlink_diagnostic_t& diagnostic){ const mavlink_diagnostic_t& diagnostic){
Q_UNUSED(systemId); Q_UNUSED(systemId);
...@@ -229,17 +254,75 @@ void SlugsDataSensorView::slugsFilteredDataChanged(int systemId, ...@@ -229,17 +254,75 @@ void SlugsDataSensorView::slugsFilteredDataChanged(int systemId,
void SlugsDataSensorView::slugsGPSDateTimeChanged(int systemId, void SlugsDataSensorView::slugsGPSDateTimeChanged(int systemId,
const mavlink_gps_date_time_t& gpsDateTime){ const mavlink_gps_date_time_t& gpsDateTime){
Q_UNUSED(systemId); Q_UNUSED(systemId);
ui->m_GpsDate->setText(QString::number(gpsDateTime.month) + "/" +
QString::number(gpsDateTime.day) + "/" + QString month, day;
month = QString::number(gpsDateTime.month);
day = QString::number(gpsDateTime.day);
if(gpsDateTime.month < 10) month = "0" + QString::number(gpsDateTime.month);
if(gpsDateTime.day < 10) day = "0" + QString::number(gpsDateTime.day);
ui->m_GpsDate->setText(day + "/" +
month + "/" +
QString::number(gpsDateTime.year)); QString::number(gpsDateTime.year));
ui->m_GpsTime->setText(QString::number(gpsDateTime.hour) + ":" + QString hour, min, sec;
QString::number(gpsDateTime.min) + ":" +
QString::number(gpsDateTime.sec)); hour = QString::number(gpsDateTime.hour);
min = QString::number(gpsDateTime.min);
sec = QString::number(gpsDateTime.sec);
if(gpsDateTime.hour < 10) hour = "0" + QString::number(gpsDateTime.hour);
if(gpsDateTime.min < 10) min = "0" + QString::number(gpsDateTime.min);
if(gpsDateTime.sec < 10) sec = "0" + QString::number(gpsDateTime.sec);
ui->m_GpsTime->setText(hour + ":" +
min + ":" +
sec);
ui->m_GpsSat->setText(QString::number(gpsDateTime.visSat)); ui->m_GpsSat->setText(QString::number(gpsDateTime.visSat));
}
/**
* @brief Updates the air data widget - 171
*/
void SlugsDataSensorView::slugsAirDataChanged(int systemId, const mavlink_air_data_t &airData)
{
Q_UNUSED(systemId);
ui->ed_dynamic->setText(QString::number(airData.dynamicPressure));
ui->ed_static->setText(QString::number(airData.staticPressure));
ui->ed_temp->setText(QString::number(airData.temperature));
// qDebug()<<"Air Data = "<<airData.dynamicPressure<<" - "
// <<airData.staticPressure<<" - "
// <<airData.temperature;
} }
/**
* @brief set COG and SOG values
*
* COG and SOG GPS display on the Widgets
*/
void SlugsDataSensorView::slugsGPSCogSog(int systemId,
double cog,
double sog)
{
Q_UNUSED(systemId);
ui->m_GpsCog->setText(QString::number(cog));
ui->m_GpsSog->setText(QString::number(sog));
}
#endif // MAVLINK_ENABLED_SLUGS #endif // MAVLINK_ENABLED_SLUGS
src/ui/SlugsDataSensorView.h
View file @ 8d1552b9
...@@ -70,6 +70,9 @@ public slots: ...@@ -70,6 +70,9 @@ public slots:
void setActiveUAS(UASInterface* uas); void setActiveUAS(UASInterface* uas);
/**
* @brief Updates the Raw Data widget
*/
void slugRawDataChanged (int uasId, const mavlink_raw_imu_t& rawData); void slugRawDataChanged (int uasId, const mavlink_raw_imu_t& rawData);
#ifdef MAVLINK_ENABLED_SLUGS #ifdef MAVLINK_ENABLED_SLUGS
...@@ -114,58 +117,79 @@ public slots: ...@@ -114,58 +117,79 @@ public slots:
double lon, double lon,
double alt, double alt,
quint64 time); quint64 time);
/** /**
* @brief Updates the sensor bias widget * @brief set COG and SOG values
*
* COG and SOG GPS display on the Widgets
*/
void slugsGPSCogSog(int systemId,
double cog,
double sog);
/**
* @brief Updates the CPU load widget - 170
*/
void slugsCpuLoadChanged(int systemId,
const mavlink_cpu_load_t& cpuLoad);
/**
* @brief Updates the air data widget - 171
*/
void slugsAirDataChanged(int systemId,
const mavlink_air_data_t& airData);
/**
* @brief Updates the sensor bias widget - 172
*/ */
void slugsSensorBiasChanged(int systemId, void slugsSensorBiasChanged(int systemId,
const mavlink_sensor_bias_t& sensorBias); const mavlink_sensor_bias_t& sensorBias);
/** /**
* @brief Updates the diagnostic widget * @brief Updates the diagnostic widget - 173
*/ */
void slugsDiagnosticMessageChanged(int systemId, void slugsDiagnosticMessageChanged(int systemId,
const mavlink_diagnostic_t& diagnostic); const mavlink_diagnostic_t& diagnostic);
/**
* @brief Updates the CPU load widget
*/
void slugsCpuLoadChanged(int systemId,
const mavlink_cpu_load_t& cpuLoad);
/** /**
* @brief Updates the Navigation widget * @brief Updates the Navigation widget - 176
*/ */
void slugsNavegationChanged(int systemId, void slugsNavegationChanged(int systemId,
const mavlink_slugs_navigation_t& slugsNavigation); const mavlink_slugs_navigation_t& slugsNavigation);
/** /**
* @brief Updates the Data Log widget * @brief Updates the Data Log widget - 177
*/ */
void slugsDataLogChanged(int systemId, void slugsDataLogChanged(int systemId,
const mavlink_data_log_t& dataLog); const mavlink_data_log_t& dataLog);
/** /**
* @brief Updates the PWM Commands widget * @brief Updates the PWM Commands widget - 175
*/ */
void slugsPWMChanged(int systemId, void slugsPWMChanged(int systemId,
const mavlink_pwm_commands_t& pwmCommands); const mavlink_pwm_commands_t& pwmCommands);
/** /**
* @brief Updates the filtered sensor measurements widget * @brief Updates the filtered sensor measurements widget - 178
*/ */
void slugsFilteredDataChanged(int systemId, void slugsFilteredDataChanged(int systemId,
const mavlink_filtered_data_t& filteredData); const mavlink_filtered_data_t& filteredData);
/** /**
* @brief Updates the gps Date Time widget * @brief Updates the gps Date Time widget - 179
*/ */
void slugsGPSDateTimeChanged(int systemId, void slugsGPSDateTimeChanged(int systemId,
const mavlink_gps_date_time_t& gpsDateTime); const mavlink_gps_date_time_t& gpsDateTime);
#endif // MAVLINK_ENABLED_SLUGS #endif // MAVLINK_ENABLED_SLUGS
protected: protected:
......
src/ui/SlugsDataSensorView.ui
View file @ 8d1552b9
...@@ -7,7 +7,7 @@ ...@@ -7,7 +7,7 @@
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>399</width> <width>399</width>
<height>667</height> <height>604</height>
</rect> </rect>
</property> </property>
<property name="sizePolicy"> <property name="sizePolicy">
...@@ -24,18 +24,18 @@ ...@@ -24,18 +24,18 @@
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>16777215</width> <width>399</width>
<height>16777215</height> <height>604</height>
</size> </size>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
<string>Form</string> <string>Form</string>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_17"> <layout class="QGridLayout" name="gridLayout_23">
<item> <item row="0" column="0">
<widget class="QTabWidget" name="SlugsSensorView_tabWidget"> <widget class="QTabWidget" name="SlugsSensorView_tabWidget">
<property name="currentIndex"> <property name="currentIndex">
<number>0</number> <number>1</number>
</property> </property>
<widget class="QWidget" name="tab"> <widget class="QWidget" name="tab">
<attribute name="title"> <attribute name="title">
...@@ -989,7 +989,7 @@ ...@@ -989,7 +989,7 @@
<property name="sizeHint" stdset="0"> <property name="sizeHint" stdset="0">
<size> <size>
<width>20</width> <width>20</width>
<height>13</height> <height>5</height>
</size> </size>
</property> </property>
</spacer> </spacer>
...@@ -1791,8 +1791,8 @@ ...@@ -1791,8 +1791,8 @@
<attribute name="title"> <attribute name="title">
<string>Tab 2</string> <string>Tab 2</string>
</attribute> </attribute>
<layout class="QVBoxLayout" name="verticalLayout_11"> <layout class="QGridLayout" name="gridLayout_22">
<item> <item row="0" column="0">
<layout class="QVBoxLayout" name="verticalLayout_8"> <layout class="QVBoxLayout" name="verticalLayout_8">
<item> <item>
<widget class="QGroupBox" name="gpsData_groupBox"> <widget class="QGroupBox" name="gpsData_groupBox">
...@@ -4483,11 +4483,6 @@ ...@@ -4483,11 +4483,6 @@
</item> </item>
</layout> </layout>
</widget> </widget>
<widget class="QWidget" name="tab_2">
<attribute name="title">
<string>Tab 4</string>
</attribute>
</widget>
</widget> </widget>
</item> </item>
</layout> </layout>
......
src/ui/slugshilsim.cc → src/ui/SlugsHilSim.cc
View file @ 8d1552b9
...@@ -28,8 +28,8 @@ This file is part of the QGROUNDCONTROL project ...@@ -28,8 +28,8 @@ This file is part of the QGROUNDCONTROL project
*/ */
#include "slugshilsim.h" #include "SlugsHilSim.h"
#include "ui_slugshilsim.h" #include "ui_SlugsHilSim.h"
#include "LinkManager.h" #include "LinkManager.h"
SlugsHilSim::SlugsHilSim(QWidget *parent) : SlugsHilSim::SlugsHilSim(QWidget *parent) :
......
src/ui/SlugsPIDControl.cpp
View file @ 8d1552b9
...@@ -55,6 +55,7 @@ void SlugsPIDControl::activeUasSet(UASInterface* uas) ...@@ -55,6 +55,7 @@ void SlugsPIDControl::activeUasSet(UASInterface* uas)
connect(slugsMav,SIGNAL(slugsPidValues(int,mavlink_pid_t)),this, SLOT(receivePidValues(int,mavlink_pid_t)) ); connect(slugsMav,SIGNAL(slugsPidValues(int,mavlink_pid_t)),this, SLOT(receivePidValues(int,mavlink_pid_t)) );
connect(ui->setGeneral_pushButton,SIGNAL(clicked()),this,SLOT(slugsTimerStartSet())); connect(ui->setGeneral_pushButton,SIGNAL(clicked()),this,SLOT(slugsTimerStartSet()));
connect(ui->getGeneral_pushButton,SIGNAL(clicked()),this,SLOT(slugsTimerStartGet()));
} }
#endif // MAVLINK_ENABLED_SLUG #endif // MAVLINK_ENABLED_SLUG
...@@ -473,9 +474,9 @@ void SlugsPIDControl::changeColor_GREEN_Pitch2dT_groupBox() ...@@ -473,9 +474,9 @@ void SlugsPIDControl::changeColor_GREEN_Pitch2dT_groupBox()
//create the packet //create the packet
pidMessage.target = activeUAS->getUASID(); pidMessage.target = activeUAS->getUASID();
pidMessage.idx = 8; pidMessage.idx = 8;
pidMessage.pVal = ui->dR_P_set->text().toFloat(); pidMessage.pVal = ui->P2dT_FF_set->text().toFloat();
pidMessage.iVal = ui->dR_I_set->text().toFloat(); pidMessage.iVal = 0;//ui->dR_I_set->text().toFloat();
pidMessage.dVal = ui->dR_D_set->text().toFloat(); pidMessage.dVal = 0;//ui->dR_D_set->text().toFloat();
mavlink_message_t msg; mavlink_message_t msg;
...@@ -543,6 +544,7 @@ void SlugsPIDControl::receivePidValues(int systemId, const mavlink_pid_t &pidVal ...@@ -543,6 +544,7 @@ void SlugsPIDControl::receivePidValues(int systemId, const mavlink_pid_t &pidVal
break; break;
case 8: case 8:
ui->P2dT_FF_get->setText(QString::number(pidValues.pVal)); ui->P2dT_FF_get->setText(QString::number(pidValues.pVal));
break; break;
default: default:
......
src/ui/SlugsPIDControl.h
View file @ 8d1552b9
...@@ -283,10 +283,10 @@ private: ...@@ -283,10 +283,10 @@ private:
#endif #endif
QTimer* refreshTimerSet; ///< The main timer, controls the update view QTimer* refreshTimerSet; ///< The main timer, controls the update view
QTimer* refreshTimerGet; ///< The main timer, controls the update view QTimer* refreshTimerGet; ///< The main timer, controls the update view
int counterRefreshSet; int counterRefreshSet;
int counterRefreshGet; int counterRefreshGet;
QMutex valuesMutex; QMutex valuesMutex;
}; };
#endif // SLUGSPIDCONTROL_H #endif // SLUGSPIDCONTROL_H
src/ui/SlugsPIDControl.ui
View file @ 8d1552b9
...@@ -121,13 +121,6 @@ ...@@ -121,13 +121,6 @@
</item> </item>
</layout> </layout>
</item> </item>
<item>
<widget class="QLabel" name="recepcion_label">
<property name="text">
<string>Recepcion</string>
</property>
</widget>
</item>
<item> <item>
<spacer name="verticalSpacer_5"> <spacer name="verticalSpacer_5">
<property name="orientation"> <property name="orientation">
...@@ -956,6 +949,13 @@ ...@@ -956,6 +949,13 @@
</item> </item>
</layout> </layout>
</item> </item>
<item>
<widget class="QLabel" name="recepcion_label">
<property name="text">
<string>Recepcion</string>
</property>
</widget>
</item>
</layout> </layout>
</widget> </widget>
</item> </item>
......
src/ui/SlugsPadCameraControl.cpp
View file @ 8d1552b9
This diff is collapsed.
src/ui/SlugsPadCameraControl.h
View file @ 8d1552b9
...@@ -21,6 +21,9 @@ public slots: ...@@ -21,6 +21,9 @@ public slots:
void getDeltaPositionPad(int x, int y); void getDeltaPositionPad(int x, int y);
double getDistPixel(int x1, int y1, int x2, int y2); double getDistPixel(int x1, int y1, int x2, int y2);
QPointF ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2); QPointF ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2);
QPointF getPointBy_BearingDistance(double lat1, double lon1, double rumbo, double distancia);
signals: signals:
void mouseMoveCoord(int x, int y); void mouseMoveCoord(int x, int y);
...@@ -36,11 +39,17 @@ protected: ...@@ -36,11 +39,17 @@ protected:
void mouseMoveEvent(QMouseEvent* event); void mouseMoveEvent(QMouseEvent* event);
void paintEvent(QPaintEvent *pe); void paintEvent(QPaintEvent *pe);
private: private:
Ui::SlugsPadCameraControl *ui; Ui::SlugsPadCameraControl *ui;
bool dragging; bool dragging;
int x1; int x1;
int y1; int y1;
int xFin;
int yFin;
double bearingPad;
double distancePad;
QString directionPad;
}; };
......
src/ui/SlugsVideoCamControl.cpp
View file @ 8d1552b9
This diff is collapsed.
src/ui/SlugsVideoCamControl.h
View file @ 8d1552b9
...@@ -27,22 +27,43 @@ public: ...@@ -27,22 +27,43 @@ public:
~SlugsVideoCamControl(); ~SlugsVideoCamControl();
public slots: public slots:
/**
* @brief status = true: emit signal to draw a border cam over the map
*/
void changeViewCamBorderAtMapStatus(bool status); void changeViewCamBorderAtMapStatus(bool status);
void getDeltaPositionPad(double dir, double dist, QString dirText); /**
* @brief show the values of mousepad on ui (labels) and emit a changeCamPosition(signal)
* with values:
void mousePadPressEvent(int x, int y); * bearing and distance from mouse over the pad
void mousePadReleaseEvent(int x, int y); * dirText: direction of mouse movement in text format (up, right,right up,right down,
void mousePadMoveEvent(int x, int y); * left, left up, left down, down)
*/
void getDeltaPositionPad(double bearing, double distance, QString dirText);
// /**
// * @brief
// */
// void mousePadPressEvent(int x, int y);
// void mousePadReleaseEvent(int x, int y);
// void mousePadMoveEvent(int x, int y);
signals: signals:
void changeCamPosition(double dist, double dir, QString textDir); /**
* @brief emit values from mousepad:
* bearing and distance from mouse over the pad
* dirText: direction of mouse movement in text format (up, right,right up,right down,
* left, left up, left down, down)
*/
void changeCamPosition(double distance, double bearing, QString textDir);
/**
* @brief emit signal to draw a border cam over the map if status is true
*/
void viewCamBorderAtMap(bool status); void viewCamBorderAtMap(bool status);
protected: protected:
void mousePressEvent(QMouseEvent* event); // void mousePressEvent(QMouseEvent* event);
void mouseReleaseEvent(QMouseEvent* event); // void mouseReleaseEvent(QMouseEvent* event);
void mouseMoveEvent(QMouseEvent* event); // void mouseMoveEvent(QMouseEvent* event);
......
src/ui/WaypointList.cc
View file @ 8d1552b9
...@@ -153,7 +153,7 @@ void WaypointList::loadWaypoints() ...@@ -153,7 +153,7 @@ void WaypointList::loadWaypoints()
QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)")); QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
uas->getWaypointManager().loadWaypoints(fileName); uas->getWaypointManager().loadWaypoints(fileName);
} }
} }
void WaypointList::transmit() void WaypointList::transmit()
...@@ -474,14 +474,14 @@ void WaypointList::on_clearWPListButton_clicked() ...@@ -474,14 +474,14 @@ void WaypointList::on_clearWPListButton_clicked()
if (uas) if (uas)
{ {
emit clearPathclicked(); emit clearPathclicked();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList(); const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++) while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
{ {
WaypointView* widget = wpViews.find(waypoints[0]).value(); WaypointView* widget = wpViews.find(waypoints[0]).value();
widget->remove(); widget->remove();
}
} }
}
else else
{ {
// if(isGlobalWP) // if(isGlobalWP)
......
src/ui/WaypointView.cc
View file @ 8d1552b9
...@@ -146,6 +146,7 @@ void WaypointView::changedAction(int index) ...@@ -146,6 +146,7 @@ void WaypointView::changedAction(int index)
break; break;
case MAV_ACTION_NAVIGATE: case MAV_ACTION_NAVIGATE:
m_ui->autoContinue->show(); m_ui->autoContinue->show();
m_ui->orbitSpinBox->show();
break; break;
case MAV_ACTION_LOITER: case MAV_ACTION_LOITER:
m_ui->orbitSpinBox->show(); m_ui->orbitSpinBox->show();
......
src/ui/XMLCommProtocolWidget.cc
View file @ 8d1552b9
This diff is collapsed.
src/ui/linechart/LinechartPlot.cc
View file @ 8d1552b9
...@@ -56,7 +56,7 @@ maxInterval(MAX_STORAGE_INTERVAL), ...@@ -56,7 +56,7 @@ maxInterval(MAX_STORAGE_INTERVAL),
timeScaleStep(DEFAULT_SCALE_INTERVAL), // 10 seconds timeScaleStep(DEFAULT_SCALE_INTERVAL), // 10 seconds
automaticScrollActive(false), automaticScrollActive(false),
m_active(true), m_active(true),
m_groundTime(false), m_groundTime(true),
d_data(NULL), d_data(NULL),
d_curve(NULL) d_curve(NULL)
{ {
......
src/ui/linechart/LinechartWidget.cc
View file @ 8d1552b9
This diff is collapsed.
src/ui/linechart/LinechartWidget.h
View file @ 8d1552b9
This diff is collapsed.
src/ui/linechart/Linecharts.cc
View file @ 8d1552b9
This diff is collapsed.
src/ui/map/MAV2DIcon.cc
View file @ 8d1552b9
This diff is collapsed.
src/ui/map3D/GCManipulator.cc
View file @ 8d1552b9
This diff is collapsed.
src/ui/map3D/Pixhawk3DWidget.cc
View file @ 8d1552b9
This diff is collapsed.
src/ui/map3D/QGCGoogleEarthView.cc
View file @ 8d1552b9
This diff is collapsed.
src/ui/map3D/QGCGoogleEarthView.h
View file @ 8d1552b9
This diff is collapsed.
src/ui/map3D/QMap3D.cc
View file @ 8d1552b9
This diff is collapsed.
src/ui/map3D/QOSGWidget.h
View file @ 8d1552b9
This diff is collapsed.
src/ui/uas/UASControlWidget.cc
View file @ 8d1552b9
This diff is collapsed.
user_config.pri.dist
View file @ 8d1552b9
This diff is collapsed.
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