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qgroundcontrol
Commit 8e0714eb authored by Mariano Lizarraga's avatar Mariano Lizarraga
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Merge branch 'experimental' of github.com:pixhawk/qgroundcontrol into experimental

parents 9d08a152 ed692bfd
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.gitignore
View file @ 8e0714eb
*Makefile*
tags
build
Info.plist
obj
*.log
*~
*qtc*
bin/*.exe
bin/*.txt
bin/mac
*pro.user*
qrc_*.cpp
*.Debug
*.Release
tmp
debug
release
qgroundcontrol
mavlinkgen
*.wav
qgroundcontrol.xcodeproj/**
doc/html
doc/doxy.log
deploy/mac
deploy/linux
controller_log*
user_config.pri
*.app
*Makefile*
tags
build
Info.plist
obj
*.log
*~
*qtc*
bin/*.exe
bin/*.txt
bin/mac
*pro.user*
qrc_*.cpp
*.Debug
*.Release
tmp
debug
release
qgroundcontrol
mavlinkgen
*.wav
qgroundcontrol.xcodeproj/**
doc/html
doc/doxy.log
deploy/mac
deploy/linux
deploy/qgroundcontrol*
controller_log*
user_config.pri
*.app
*.ncb
*.vcproj
......@@ -39,4 +40,4 @@ user_config.pri
*.project
*.cproject
*.sln
*.suo
\ No newline at end of file
*.suo
README
View file @ 8e0714eb
......@@ -7,6 +7,8 @@ Files:
http://github.com/pixhawk/qgroundcontrol
http://github.com/pixhawk/mavlink
Credits:
http://qgroundcontrol.org/credits
**********************************************************************************************
* PLEASE NOTE: YOU NEED TO DOWNLOAD THE MAVLINK LIBRARY IN ORDER TO COMPILE THIS APPLICATION *
......@@ -49,9 +51,9 @@ Linux
To build on Linux:
sudo apt-get install phonon libqt4-dev libqt4-phonon-dev \
libqt4-phonon libphonon-dev libphonon4 phonon-backend-gstreamer \
qt-creator libsdl1.2-dev libflite1 flite1-dev
sudo apt-get install phonon libqt4-dev \
libphonon-dev libphonon4 phonon-backend-gstreamer \
qtcreator libsdl1.2-dev libflite1 flite1-dev build-essential
cd directory
......
deploy/mac_create_dmg.sh
View file @ 8e0714eb
#!/bin/sh
# Clean build directories
rm -rf mac
mkdir -p mac
# Change to build directory and compile application
cd ..
make -j4
# Copy and build the application bundle
cd deploy
cp -r ../bin/mac/qgroundcontrol.app mac/.
cp -r ../../qgroundcontrol-build-desktop/qgroundcontrol.app .
cp -r ../audio mac/qgroundcontrol.app/Contents/MacOs/.
mkdir -p mac/qgroundcontrol.app/Contents/Frameworks/
cp -r ../audio qgroundcontrol.app/Contents/MacOs/.
mkdir -p qgroundcontrol.app/Contents/Frameworks/
# SDL is not copied by Qt - for whatever reason
cp -r SDL.framework mac/qgroundcontrol.app/Contents/Frameworks/.
cp -r /Library/Frameworks/SDL.framework qgroundcontrol.app/Contents/Frameworks/.
echo -e '\n\nStarting to create disk image. This may take a while..\n'
macdeployqt mac/qgroundcontrol.app -dmg
rm -rf mac/qgroundcontrol.app
macdeployqt qgroundcontrol.app -dmg
rm -rf qgroundcontrol.app
echo -e '\n\n QGroundControl .DMG file is now ready for publishing\n'
images/earth.html
View file @ 8e0714eb
This diff is collapsed.
images/style-mission.css
View file @ 8e0714eb
......@@ -356,3 +356,38 @@ QProgressBar::chunk#speedBar {
QProgressBar::chunk#thrustBar {
background-color: orange;
}
QDialog {
border: 1px solid #62676B;
border-radius: 2px;
}
QTabWidget::pane { /* The tab widget frame */
border: 1px solid #62676B;
border-radius: 2px;
position: absolute;
top: -0.5em;
}
QTabWidget::tab-bar {
alignment: center;
}
/* Style the tab using the tab sub-control. Note that
it reads QTabBar _not_ QTabWidget */
QTabBar::tab {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #090909, stop: 1 #353535);
border: 2px solid #62676B;
border-radius: 4px;
min-width: 8ex;
padding: 2px;
}
QTabBar::tab:selected, QTabBar::tab:hover {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #090909, stop: 1 #353535);
border: 2px solid #379AC3;
}
QTabBar::tab:selected {
border: 2px solid #379AC3;
}
images/style-outdoor.css
View file @ 8e0714eb
......@@ -49,7 +49,7 @@ border: 1px solid #111111;
}
QCheckBox::indicator:checked {
background-color: #222222;
background-color: #333333;
}
QCheckBox::indicator:checked:hover {
......@@ -92,12 +92,14 @@ border: 1px solid #111111;
/* titlebar-close-icon: url(close.png);
titlebar-normal-icon: url(undock.png);*/
}
QDockWidget::title {
text-align: left; /* align the text to the left */
background: lightgray;
padding-left: 5px;
}
text-align: left;
background: #EEEEEE;
color: #111111;
padding-left: 5px;
height: 10px;
border-bottom: 1px solid #222222;
}
QDockWidget::close-button, QDockWidget::float-button {
border: 1px solid transparent;
......@@ -120,15 +122,6 @@ QDockWidget::close-button, QDockWidget::float-button {
color: #EEEEEE;
}
QDockWidget::title {
text-align: left;
background: #121214;
color: #4A4A4F;
padding-left: 5px;
height: 10px;
border-bottom: 1px solid #222222;
}
QSeparator {
color: #EEEEEE;
}
......@@ -184,7 +177,7 @@ QPushButton {
border-radius: 5px;
padding-left: 10px;
padding-right: 10px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #232228, stop: 1 #020208);
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #C3C2C8, stop: 1 #828288);
}
QPushButton:checked {
......@@ -202,7 +195,7 @@ QToolButton {
max-height: 18px;
border: 2px solid #4A4A4F;
border-radius: 5px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #232228, stop: 1 #020208);
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #C3C2C8, stop: 1 #828288);
}
QToolButton:checked {
......
lib/QMapControl/src/mapnetwork.cpp
View file @ 8e0714eb
......@@ -63,10 +63,10 @@ namespace qmapcontrol
void MapNetwork::requestFinished(int id, bool error)
{
// sleep(1);
// qDebug() << "MapNetwork::requestFinished" << http->state() << ", id: " << id;
qDebug() << "QMapControl: MapNetwork::requestFinished" << http->state() << ", id: " << id;
if (error)
{
qDebug() << "network error: " << http->errorString();
qDebug() << "QMapControl: network error: " << http->errorString();
//restart query
}
......@@ -79,7 +79,7 @@ namespace qmapcontrol
QString url = loadingMap[id];
loadingMap.remove(id);
vectorMutex.unlock();
// qDebug() << "request finished for id: " << id << ", belongs to: " << notifier.url << endl;
//qDebug() << "QMapControl: request finished for id: " << id << ", belongs to: " << notifier.url << endl;
QByteArray ax;
if (http->bytesAvailable()>0)
......@@ -87,17 +87,20 @@ namespace qmapcontrol
QPixmap pm;
ax = http->readAll();
qDebug() << "QMapControl: Request consisted of " << ax.size() << "bytes";
if (pm.loadFromData(ax))
{
loaded += pm.size().width()*pm.size().height()*pm.depth()/8/1024;
// qDebug() << "Network loaded: " << (loaded);
qDebug() << "QMapControl: Network loaded: " << (loaded);
parent->receivedImage(pm, url);
}
else if (pm.width() == 0 || pm.height() == 0)
{
// Silently ignore map request for a
// 0xn pixel map
qDebug() << "QMapControl: IGNORED 0x0 pixel map request, widthxheight:" << pm.width() << "x" << pm.height();
qDebug() << "QMapControl: HTML ERROR MESSAGE:" << ax << "at " << __FILE__ << __LINE__;
}
else
{
......@@ -105,7 +108,7 @@ namespace qmapcontrol
// TODO Error is currently undetected
//qDebug() << "NETWORK_PIXMAP_ERROR: " << ax;
qDebug() << "QMapControl external library: ERROR loading map:" << "width:" << pm.width() << "heigh:" << pm.height() << "at " << __FILE__ << __LINE__;
//qDebug() << "HTML ERROR MESSAGE:" << ax << "at " << __FILE__ << __LINE__;
qDebug() << "QMapControl: HTML ERROR MESSAGE:" << ax << "at " << __FILE__ << __LINE__;
}
}
......
mavground.qrc
View file @ 8e0714eb
......@@ -85,6 +85,7 @@
<file>images/earth.html</file>
<file>images/mapproviders/googleearth.svg</file>
<file>images/contrib/slugs.png</file>
<file>images/style-outdoor.css</file>
</qresource>
<qresource prefix="/general">
<file alias="vera.ttf">images/Vera.ttf</file>
......
qgcunittest/UASUnitTest.cc
View file @ 8e0714eb
......@@ -6,14 +6,15 @@ UASUnitTest::UASUnitTest()
void UASUnitTest::initTestCase()
{
mav= new MAVLinkProtocol();
uas=new UAS(mav,UASID);
mav= new MAVLinkProtocol();
link = new SerialLink();
uas=new UAS(mav,UASID);
}
void UASUnitTest::cleanupTestCase()
{
delete uas;
delete mav;
delete uas;
delete mav;
}
......@@ -34,123 +35,244 @@ void UASUnitTest::getUASID_test()
void UASUnitTest::getUASName_test()
{
// Test that the name is build as MAV + ID
QCOMPARE(uas->getUASName(), "MAV 0" + QString::number(UASID));
// Test that the name is build as MAV + ID
QCOMPARE(uas->getUASName(), "MAV 0" + QString::number(UASID));
}
void UASUnitTest::getUpTime_test()
{
UAS* uas2 = new UAS(mav);
// Test that the uptime starts at zero to a
// precision of seconds
QCOMPARE(floor(uas2->getUptime()/1000.0), 0.0);
UAS* uas2 = new UAS(mav);
// Test that the uptime starts at zero to a
// precision of seconds
QCOMPARE(floor(uas2->getUptime()/1000.0), 0.0);
// Sleep for three seconds
QTest::qSleep(3000);
// Sleep for three seconds
QTest::qSleep(3000);
// Test that the up time is computed correctly to a
// precision of seconds
QCOMPARE(floor(uas2->getUptime()/1000.0), 3.0);
// Test that the up time is computed correctly to a
// precision of seconds
QCOMPARE(floor(uas2->getUptime()/1000.0), 3.0);
delete uas2;
delete uas2;
}
void UASUnitTest::getCommunicationStatus_test()
{
// Verify that upon construction the Comm status is disconnected
QCOMPARE(uas->getCommunicationStatus(), static_cast<int>(UASInterface::COMM_DISCONNECTED));
// Verify that upon construction the Comm status is disconnected
QCOMPARE(uas->getCommunicationStatus(), static_cast<int>(UASInterface::COMM_DISCONNECTED));
}
void UASUnitTest::filterVoltage_test()
{
float verificar=uas->filterVoltage(0.4f);
// Verify that upon construction the Comm status is disconnected
QCOMPARE(verificar, 8.52f);
// Verify that upon construction the Comm status is disconnected
QCOMPARE(verificar, 8.52f);
}
void UASUnitTest:: getAutopilotType_test()
{
int verificar=uas->getAutopilotType();
// Verify that upon construction the autopilot is set to -1
QCOMPARE(verificar, -1);
int type = uas->getAutopilotType();
// Verify that upon construction the autopilot is set to -1
QCOMPARE(type, -1);
}
void UASUnitTest::setAutopilotType_test()
{
uas->setAutopilotType(2);
// Verify that the autopilot is set
QCOMPARE(uas->getAutopilotType(), 2);
uas->setAutopilotType(2);
// Verify that the autopilot is set
QCOMPARE(uas->getAutopilotType(), 2);
}
void UASUnitTest::getStatusForCode_test()
{
QString state, desc;
state = "";
desc = "";
QString state, desc;
state = "";
desc = "";
uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
QVERIFY(state == "UNINIT");
uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
QVERIFY(state == "UNINIT");
uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
QVERIFY(state == "UNINIT");
uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
QVERIFY(state == "UNINIT");
uas->getStatusForCode(MAV_STATE_BOOT, state, desc);
QVERIFY(state == "BOOT");
uas->getStatusForCode(MAV_STATE_BOOT, state, desc);
QVERIFY(state == "BOOT");
uas->getStatusForCode(MAV_STATE_CALIBRATING, state, desc);
QVERIFY(state == "CALIBRATING");
uas->getStatusForCode(MAV_STATE_CALIBRATING, state, desc);
QVERIFY(state == "CALIBRATING");
uas->getStatusForCode(MAV_STATE_ACTIVE, state, desc);
QVERIFY(state == "ACTIVE");
uas->getStatusForCode(MAV_STATE_ACTIVE, state, desc);
QVERIFY(state == "ACTIVE");
uas->getStatusForCode(MAV_STATE_STANDBY, state, desc);
QVERIFY(state == "STANDBY");
uas->getStatusForCode(MAV_STATE_STANDBY, state, desc);
QVERIFY(state == "STANDBY");
uas->getStatusForCode(MAV_STATE_CRITICAL, state, desc);
QVERIFY(state == "CRITICAL");
uas->getStatusForCode(MAV_STATE_CRITICAL, state, desc);
QVERIFY(state == "CRITICAL");
uas->getStatusForCode(MAV_STATE_EMERGENCY, state, desc);
QVERIFY(state == "EMERGENCY");
uas->getStatusForCode(MAV_STATE_EMERGENCY, state, desc);
QVERIFY(state == "EMERGENCY");
uas->getStatusForCode(MAV_STATE_POWEROFF, state, desc);
QVERIFY(state == "SHUTDOWN");
uas->getStatusForCode(MAV_STATE_POWEROFF, state, desc);
QVERIFY(state == "SHUTDOWN");
uas->getStatusForCode(5325, state, desc);
QVERIFY(state == "UNKNOWN");
uas->getStatusForCode(5325, state, desc);
QVERIFY(state == "UNKNOWN");
}
void UASUnitTest::getLocalX_test()
{
QCOMPARE(uas->getLocalX(), 0.0);
QCOMPARE(uas->getLocalX(), 0.0);
}
void UASUnitTest::getLocalY_test()
{
QCOMPARE(uas->getLocalY(), 0.0);
QCOMPARE(uas->getLocalY(), 0.0);
}
void UASUnitTest::getLocalZ_test()
{
QCOMPARE(uas->getLocalZ(), 0.0);
QCOMPARE(uas->getLocalZ(), 0.0);
}
void UASUnitTest::getLatitude_test()
{ QCOMPARE(uas->getLatitude(), 0.0);
}
void UASUnitTest::getLongitude_test()
{
QCOMPARE(uas->getLongitude(), 0.0);
QCOMPARE(uas->getLongitude(), 0.0);
}
void UASUnitTest::getAltitude_test()
{
QCOMPARE(uas->getAltitude(), 0.0);
QCOMPARE(uas->getAltitude(), 0.0);
}
void UASUnitTest::getRoll_test()
{
QCOMPARE(uas->getRoll(), 0.0);
QCOMPARE(uas->getRoll(), 0.0);
}
void UASUnitTest::getPitch_test()
{
QCOMPARE(uas->getPitch(), 0.0);
QCOMPARE(uas->getPitch(), 0.0);
}
void UASUnitTest::getYaw_test()
{
QCOMPARE(uas->getYaw(), 0.0);
QCOMPARE(uas->getYaw(), 0.0);
}
void UASUnitTest::attitudeLimitsZero_test()
{
mavlink_message_t msg;
mavlink_attitude_t att;
// Set zero values and encode them
att.roll = 0.0f;
att.pitch = 0.0f;
att.yaw = 0.0f;
mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
// Let UAS decode message
uas->receiveMessage(link, msg);
// Check result
QCOMPARE(uas->getRoll(), 0.0);
QCOMPARE(uas->getPitch(), 0.0);
QCOMPARE(uas->getYaw(), 0.0);
}
void UASUnitTest::attitudeLimitsPi_test()
{
mavlink_message_t msg;
mavlink_attitude_t att;
// Set PI values and encode them
att.roll = M_PI;
att.pitch = M_PI;
att.yaw = M_PI;
mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
// Let UAS decode message
uas->receiveMessage(link, msg);
// Check result
QVERIFY((uas->getRoll() < M_PI+0.000001) && (uas->getRoll() > M_PI+-0.000001));
QVERIFY((uas->getPitch() < M_PI+0.000001) && (uas->getPitch() > M_PI+-0.000001));
QVERIFY((uas->getYaw() < M_PI+0.000001) && (uas->getYaw() > M_PI+-0.000001));
}
void UASUnitTest::attitudeLimitsMinusPi_test()
{
mavlink_message_t msg;
mavlink_attitude_t att;
// Set -PI values and encode them
att.roll = -M_PI;
att.pitch = -M_PI;
att.yaw = -M_PI;
mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
// Let UAS decode message
uas->receiveMessage(link, msg);
// Check result
QVERIFY((uas->getRoll() > -M_PI-0.000001) && (uas->getRoll() < -M_PI+0.000001));
QVERIFY((uas->getPitch() > -M_PI-0.000001) && (uas->getPitch() < -M_PI+0.000001));
QVERIFY((uas->getYaw() > -M_PI-0.000001) && (uas->getYaw() < -M_PI+0.000001));
}
void UASUnitTest::attitudeLimitsTwoPi_test()
{
mavlink_message_t msg;
mavlink_attitude_t att;
// Set off-limit values and check
// correct wrapping
// Set 2PI values and encode them
att.roll = 2*M_PI;
att.pitch = 2*M_PI;
att.yaw = 2*M_PI;
mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
// Let UAS decode message
uas->receiveMessage(link, msg);
// Check result
QVERIFY((uas->getRoll() < 0.000001) && (uas->getRoll() > -0.000001));
QVERIFY((uas->getPitch() < 0.000001) && (uas->getPitch() > -0.000001));
QVERIFY((uas->getYaw() < 0.000001) && (uas->getYaw() > -0.000001));
}
void UASUnitTest::attitudeLimitsMinusTwoPi_test()
{
mavlink_message_t msg;
mavlink_attitude_t att;
// Set -2PI values and encode them
att.roll = -2*M_PI;
att.pitch = -2*M_PI;
att.yaw = -2*M_PI;
mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
// Let UAS decode message
uas->receiveMessage(link, msg);
// Check result
QVERIFY((uas->getRoll() < 0.000001) && (uas->getRoll() > -0.000001));
QVERIFY((uas->getPitch() < 0.000001) && (uas->getPitch() > -0.000001));
QVERIFY((uas->getYaw() < 0.000001) && (uas->getYaw() > -0.000001));
}
void UASUnitTest::attitudeLimitsTwoPiOne_test()
{
mavlink_message_t msg;
mavlink_attitude_t att;
// Set over 2 PI values and encode them
att.roll = 2*M_PI+1.0f;
att.pitch = 2*M_PI+1.0f;
att.yaw = 2*M_PI+1.0f;
mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
// Let UAS decode message
uas->receiveMessage(link, msg);
// Check result
QVERIFY((uas->getRoll() < 1.000001) && (uas->getRoll() > 0.999999));
QVERIFY((uas->getPitch() < 1.000001) && (uas->getPitch() > 0.999999));
QVERIFY((uas->getYaw() < 1.000001) && (uas->getYaw() > 0.999999));
}
void UASUnitTest::attitudeLimitsMinusTwoPiOne_test()
{
mavlink_message_t msg;
mavlink_attitude_t att;
// Set 3PI values and encode them
att.roll = -2*M_PI-1.0f;
att.pitch = -2*M_PI-1.0f;
att.yaw = -2*M_PI-1.0f;
mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
// Let UAS decode message
uas->receiveMessage(link, msg);
// Check result
QVERIFY((uas->getRoll() > -1.000001) && (uas->getRoll() < -0.999999));
QVERIFY((uas->getPitch() > -1.000001) && (uas->getPitch() < -0.999999));
QVERIFY((uas->getYaw() > -1.000001) && (uas->getYaw() < -0.999999));
}
qgcunittest/UASUnitTest.h
View file @ 8e0714eb
......@@ -6,6 +6,7 @@
#include <QtTest/QtTest>
#include "UAS.h"
#include "MAVLinkProtocol.h"
#include "SerialLink.h"
#include "UASInterface.h"
#include "AutoTest.h"
......@@ -13,36 +14,44 @@ class UASUnitTest : public QObject
{
Q_OBJECT
public:
#define UASID 50
MAVLinkProtocol* mav;
UAS* uas;
UASUnitTest();
#define UASID 50
MAVLinkProtocol* mav;
UAS* uas;
SerialLink* link;
UASUnitTest();
signals:
private slots:
void initTestCase();
void cleanupTestCase();
void getUASID_test();
void getUASName_test();
void getUpTime_test();
void getCommunicationStatus_test();
void filterVoltage_test();
void getAutopilotType_test();
void setAutopilotType_test();
void getStatusForCode_test();
void getLocalX_test();
void getLocalY_test();
void getLocalZ_test();
void getLatitude_test();
void getLongitude_test();
void getAltitude_test();
void getRoll_test();
void getPitch_test();
void getYaw_test();
void initTestCase();
void cleanupTestCase();
void getUASID_test();
void getUASName_test();
void getUpTime_test();
void getCommunicationStatus_test();
void filterVoltage_test();
void getAutopilotType_test();
void setAutopilotType_test();
void getStatusForCode_test();
void getLocalX_test();
void getLocalY_test();
void getLocalZ_test();
void getLatitude_test();
void getLongitude_test();
void getAltitude_test();
void getRoll_test();
void getPitch_test();
void getYaw_test();
void attitudeLimitsZero_test();
void attitudeLimitsPi_test();
void attitudeLimitsMinusPi_test();
void attitudeLimitsTwoPi_test();
void attitudeLimitsMinusTwoPi_test();
void attitudeLimitsTwoPiOne_test();
void attitudeLimitsMinusTwoPiOne_test();
protected:
UAS *prueba;
UAS *prueba;
};
......
qgroundcontrol-plugins.pro deleted 100644 → 0
View file @ 9d08a152
# -------------------------------------------------
# QGroundControl - Micro Air Vehicle Groundstation
# Please see our website at <http://qgroundcontrol.org>
# Author:
# Lorenz Meier <mavteam@student.ethz.ch>
# (c) 2009-2010 PIXHAWK Team
# This file is part of the mav groundstation project
# QGroundControl is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
# QGroundControl is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
# You should have received a copy of the GNU General Public License
# along with QGroundControl. If not, see <http://www.gnu.org/licenses/>.
# -------------------------------------------------
# Include QMapControl map library
# prefer version from external directory /
# from http://github.com/pixhawk/qmapcontrol/
# over bundled version in lib directory
# Version from GIT repository is preferred
# include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
# Include bundled version if necessary
CONFIG += designer plugin
TARGET = $$qtLibraryTarget($$TARGET)
TEMPLATE = lib
QTDIR_build:DESTDIR = $$QT_BUILD_TREE/plugins/designer
FORMS = src/ui/designer/QGCParamSlider.ui
HEADERS = src/ui/designer/QGCParamSlider.h \
src/ui/designer/QGCParamSliderPlugin.h
SOURCES = src/ui/designer/QGCParamSlider.cc \
src/ui/designer/QGCParamSliderPlugin.cc
# install
target.path = $$[QT_INSTALL_PLUGINS]/designer
sources.files = $$SOURCES $$HEADERS *.pro
sources.path = $$[QT_INSTALL_EXAMPLES]/designer/worldtimeclockplugin
INSTALLS += target
symbian: include($$QT_SOURCE_TREE/examples/symbianpkgrules.pri)
qgroundcontrol.pri
View file @ 8e0714eb
......@@ -38,39 +38,44 @@ release {
QMAKE_POST_LINK += echo "Copying files"
# Turn off serial port warnings
DEFINES += _TTY_NOWARN_
#QMAKE_POST_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/.
#QMAKE_POST_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
# MAC OS X
macx {
COMPILER_VERSION = $$system(gcc -v)
message(Using compiler $$COMPILER_VERSION)
# COMPILER_VERSION = $$system(gcc -v)
#message(Using compiler $$COMPILER_VERSION)
HARDWARE_PLATFORM = $$system(uname -a)
contains( HARDWARE_PLATFORM, 9.6.0 ) || contains( HARDWARE_PLATFORM, 9.7.0 ) || contains( HARDWARE_PLATFORM, 9.8.0 ) || contains( HARDWARE_PLATFORM, 9.9.0 ) {
# x86 Mac OS X Leopard 10.5 and earlier
CONFIG += x86 cocoa phonon
CONFIG -= x86_64
message(Building for Mac OS X 32bit/Leopard 10.5 and earlier)
#HARDWARE_PLATFORM = $$system(uname -a)
#contains( $$HARDWARE_PLATFORM, "9.6.0" ) || contains( $$HARDWARE_PLATFORM, "9.7.0" ) || contains( $$HARDWARE_PLATFORM, "9.8.0" ) || contains( $$HARDWARE_PLATFORM, "9.9.0" ) {
# x86 Mac OS X Leopard 10.5 and earlier
#message(Building for Mac OS X 32bit/Leopard 10.5 and earlier)
# Enable function-profiling with the OS X saturn tool
debug {
#debug {
#QMAKE_CXXFLAGS += -finstrument-functions
#LIBS += -lSaturn
CONFIG += console
}
} else {
# CONFIG += console
#}
#} else {
# x64 Mac OS X Snow Leopard 10.6 and later
CONFIG += x86_64 cocoa
CONFIG -= x86 phonon
message(Building for Mac OS X 64bit/Snow Leopard 10.6 and later)
debug {
# CONFIG += x86_64 x86 cocoa phonon
#CONFIG -= x86 # phonon
#message(Building for Mac OS X 64bit/Snow Leopard 10.6 and later)
# debug {
#QMAKE_CXXFLAGS += -finstrument-functions
#LIBS += -lSaturn
CONFIG += console
}
}
# }
#}
QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.5
......
qgroundcontrol.pro
View file @ 8e0714eb
......@@ -144,7 +144,6 @@ FORMS += src/ui/MainWindow.ui \
src/ui/QMap3D.ui \
src/ui/QGCWebView.ui \
src/ui/map3D/QGCGoogleEarthView.ui \
src/ui/map3D/QGCGoogleEarthViewWin.ui \
src/ui/SlugsDataSensorView.ui \
src/ui/SlugsHilSim.ui \
src/ui/SlugsPIDControl.ui \
......@@ -155,7 +154,10 @@ FORMS += src/ui/MainWindow.ui \
src/ui/designer/QGCParamSlider.ui \
src/ui/designer/QGCActionButton.ui \
src/ui/QGCMAVLinkLogPlayer.ui \
src/ui/QGCWaypointListMulti.ui
src/ui/QGCWaypointListMulti.ui \
src/ui/mission/QGCCustomWaypointAction.ui \
src/ui/QGCUDPLinkConfiguration.ui \
src/ui/QGCSettingsWidget.ui
INCLUDEPATH += src \
src/ui \
......@@ -265,7 +267,9 @@ HEADERS += src/MG.h \
src/comm/MAVLinkSimulationWaypointPlanner.h \
src/comm/MAVLinkSimulationMAV.h \
src/uas/QGCMAVLinkUASFactory.h \
src/ui/QGCWaypointListMulti.h
src/ui/QGCWaypointListMulti.h \
src/ui/QGCUDPLinkConfiguration.h \
src/ui/QGCSettingsWidget.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|win32-msvc2008: {
......@@ -390,7 +394,9 @@ SOURCES += src/main.cc \
src/comm/MAVLinkSimulationWaypointPlanner.cc \
src/comm/MAVLinkSimulationMAV.cc \
src/uas/QGCMAVLinkUASFactory.cc \
src/ui/QGCWaypointListMulti.cc
src/ui/QGCWaypointListMulti.cc \
src/ui/QGCUDPLinkConfiguration.cc \
src/ui/QGCSettingsWidget.cc
macx|win32-msvc2008: {
SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
......
settings/ParameterList.xml
View file @ 8e0714eb
This diff is collapsed.
src/GAudioOutput.cc
View file @ 8e0714eb
......@@ -151,10 +151,14 @@ GAudioOutput::~GAudioOutput()
void GAudioOutput::mute(bool mute)
{
this->muted = mute;
QSettings settings;
settings.setValue(QGC_GAUDIOOUTPUT_KEY+"muted", this->muted);
settings.sync();
if (mute != muted)
{
this->muted = mute;
QSettings settings;
settings.setValue(QGC_GAUDIOOUTPUT_KEY+"muted", this->muted);
settings.sync();
emit mutedChanged(muted);
}
}
bool GAudioOutput::isMuted()
......@@ -295,11 +299,12 @@ void GAudioOutput::beep()
{
if (!muted)
{
// Use QFile to transform path for all OS
QFile f(QCoreApplication::applicationDirPath()+QString("/audio/alert.wav"));
m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
m_media->play();
}
// Use QFile to transform path for all OS
QFile f(QCoreApplication::applicationDirPath()+QString("/audio/alert.wav"));
qDebug() << "FILE:" << f.fileName();
m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
m_media->play();
}
}
void GAudioOutput::selectFemaleVoice()
......
src/GAudioOutput.h
View file @ 8e0714eb
......@@ -40,8 +40,8 @@ This file is part of the PIXHAWK project
#endif
#ifdef Q_OS_LINUX
//#include <flite/flite.h>
#include <phonon/MediaObject>
#include <phonon/AudioOutput>
#include <Phonon/MediaObject>
#include <Phonon/AudioOutput>
#endif
#ifdef Q_OS_WIN
#include <Phonon/MediaObject>
......@@ -80,6 +80,9 @@ public:
VOICE_FEMALE
} QGVoice;
/** @brief Get the mute state */
bool isMuted();
public slots:
/** @brief Say this text if current output priority matches */
bool say(QString text, int severity=1);
......@@ -101,8 +104,9 @@ public slots:
void notifyNegative();
/** @brief Mute/unmute sound */
void mute(bool mute);
/** @brief Get the mute state */
bool isMuted();
signals:
void mutedChanged(bool);
protected:
#ifdef Q_OS_MAC
......
src/QGC.cc
View file @ 8e0714eb
......@@ -23,6 +23,9 @@ This file is part of the QGROUNDCONTROL project
#include "QGC.h"
#include <qmath.h>
#include <float.h>
namespace QGC {
quint64 groundTimeUsecs()
......@@ -34,6 +37,49 @@ quint64 groundTimeUsecs()
return static_cast<quint64>(microseconds + (time.time().msec()*1000));
}
quint64 groundTimeMilliseconds()
{
QDateTime time = QDateTime::currentDateTime();
time = time.toUTC();
/* Return seconds and milliseconds, in milliseconds unit */
quint64 seconds = time.toTime_t() * static_cast<quint64>(1000);
return static_cast<quint64>(seconds + (time.time().msec()));
}
float limitAngleToPMPIf(float angle)
{
while (angle > ((float)M_PI+FLT_EPSILON))
{
angle -= 2.0f * (float)M_PI;
}
while (angle <= -((float)M_PI+FLT_EPSILON))
{
angle += 2.0f * (float)M_PI;
}
return angle;
}
double limitAngleToPMPId(double angle)
{
if (angle < -M_PI)
{
while (angle < -M_PI)
{
angle += M_PI;
}
}
else if (angle > M_PI)
{
while (angle > M_PI)
{
angle -= M_PI;
}
}
return angle;
}
int applicationVersion()
{
return APPLICATIONVERSION;
......
src/QGC.h
View file @ 8e0714eb
......@@ -9,15 +9,26 @@
namespace QGC
{
const static int defaultSystemId = 255;
const static int defaultComponentId = 0;
const QColor colorCyan(55, 154, 195);
const QColor colorRed(154, 20, 20);
const QColor colorGreen(20, 200, 20);
const QColor colorYellow(255, 255, 0);
const QColor colorOrange(255, 140, 0);
const QColor colorDarkYellow(180, 180, 0);
const QColor colorBackground("#050508");
const QColor colorBlack(0, 0, 0);
/** @brief Get the current ground time in microseconds */
quint64 groundTimeUsecs();
/** @brief Get the current ground time in milliseconds */
quint64 groundTimeMilliseconds();
/** @brief Returns the angle limited to -pi - pi */
float limitAngleToPMPIf(float angle);
/** @brief Returns the angle limited to -pi - pi */
double limitAngleToPMPId(double angle);
int applicationVersion();
const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21;
......
src/Waypoint.cc
View file @ 8e0714eb
......@@ -32,18 +32,20 @@ This file is part of the QGROUNDCONTROL project
#include "Waypoint.h"
#include <QStringList>
Waypoint::Waypoint(quint16 _id, double _x, double _y, double _z, double _yaw, bool _autocontinue, bool _current, double _orbit, int _holdTime, MAV_FRAME _frame, MAV_ACTION _action)
Waypoint::Waypoint(quint16 _id, double _x, double _y, double _z, double _param1, double _param2, double _param3, double _param4,
bool _autocontinue, bool _current, MAV_FRAME _frame, MAV_CMD _action)
: id(_id),
x(_x),
y(_y),
z(_z),
yaw(_yaw),
yaw(_param4),
frame(_frame),
action(_action),
autocontinue(_autocontinue),
current(_current),
orbit(_orbit),
holdTime(_holdTime),
orbit(_param3),
param1(_param1),
param2(_param2),
name(QString("WP%1").arg(id, 2, 10, QChar('0')))
{
}
......@@ -55,32 +57,34 @@ Waypoint::~Waypoint()
void Waypoint::save(QTextStream &saveStream)
{
QString position("%1\t%2\t%3\t%4");
QString position("%1\t%2\t%3");
position = position.arg(x, 0, 'g', 18);
position = position.arg(y, 0, 'g', 18);
position = position.arg(z, 0, 'g', 18);
position = position.arg(yaw, 0, 'g', 8);
saveStream << this->getId() << "\t" << this->getFrame() << "\t" << this->getAction() << "\t" << this->getOrbit() << "\t" << /*Orbit Direction*/ 0 << "\t" << this->getOrbit() << "\t" << this->getHoldTime() << "\t" << this->getCurrent() << "\t" << position << "\t" << this->getAutoContinue() << "\r\n";
QString parameters("%1\t%2\t%3\t%4");
parameters = parameters.arg(param1, 0, 'g', 18).arg(param2, 0, 'g', 18).arg(orbit, 0, 'g', 18).arg(yaw, 0, 'g', 18);
// FORMAT: <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE>
// as documented here: http://qgroundcontrol.org/waypoint_protocol
saveStream << this->getId() << "\t" << this->getCurrent() << "\t" << this->getFrame() << "\t" << this->getAction() << "\t" << parameters << "\t" << position << "\t" << this->getAutoContinue() << "\r\n";
}
bool Waypoint::load(QTextStream &loadStream)
{
const QStringList &wpParams = loadStream.readLine().split("\t");
if (wpParams.size() == 13)
if (wpParams.size() == 12)
{
this->id = wpParams[0].toInt();
this->frame = (MAV_FRAME) wpParams[1].toInt();
this->action = (MAV_ACTION) wpParams[2].toInt();
this->orbit = wpParams[3].toDouble();
//TODO: orbit direction
//TODO: param1
this->holdTime = wpParams[6].toInt();
this->current = (wpParams[7].toInt() == 1 ? true : false);
this->current = (wpParams[1].toInt() == 1 ? true : false);
this->frame = (MAV_FRAME) wpParams[2].toInt();
this->action = (MAV_CMD) wpParams[3].toInt();
this->param1 = wpParams[4].toDouble();
this->param2 = wpParams[5].toDouble();
this->orbit = wpParams[6].toDouble();
this->yaw = wpParams[7].toDouble();
this->x = wpParams[8].toDouble();
this->y = wpParams[9].toDouble();
this->z = wpParams[10].toDouble();
this->yaw = wpParams[11].toDouble();
this->autocontinue = (wpParams[12].toInt() == 1 ? true : false);
this->autocontinue = (wpParams[11].toInt() == 1 ? true : false);
return true;
}
return false;
......@@ -121,6 +125,45 @@ void Waypoint::setZ(double z)
}
}
void Waypoint::setLatitude(double lat)
{
if (this->x != lat)
{
this->x = lat;
this->frame = MAV_FRAME_GLOBAL;
emit changed(this);
}
}
void Waypoint::setLongitude(double lon)
{
if (this->y != lon)
{
this->y = lon;
this->frame = MAV_FRAME_GLOBAL;
emit changed(this);
}
}
void Waypoint::setAltitude(double altitude)
{
if (this->z != altitude)
{
this->z = altitude;
this->frame = MAV_FRAME_GLOBAL;
emit changed(this);
}
}
void Waypoint::setYaw(int yaw)
{
if (this->yaw != yaw)
{
this->yaw = yaw;
emit changed(this);
}
}
void Waypoint::setYaw(double yaw)
{
if (this->yaw != yaw)
......@@ -130,7 +173,16 @@ void Waypoint::setYaw(double yaw)
}
}
void Waypoint::setAction(MAV_ACTION action)
void Waypoint::setAction(int action)
{
if (this->action != (MAV_CMD)action)
{
this->action = (MAV_CMD)action;
emit changed(this);
}
}
void Waypoint::setAction(MAV_CMD action)
{
if (this->action != action)
{
......@@ -166,7 +218,79 @@ void Waypoint::setCurrent(bool current)
}
}
void Waypoint::setOrbit(double orbit)
void Waypoint::setAcceptanceRadius(double radius)
{
if (this->param2 != radius)
{
this->param2 = radius;
emit changed(this);
}
}
void Waypoint::setParam1(double param1)
{
if (this->param1 != param1)
{
this->param1 = param1;
emit changed(this);
}
}
void Waypoint::setParam2(double param2)
{
if (this->param2 != param2)
{
this->param2 = param2;
emit changed(this);
}
}
void Waypoint::setParam3(double param3)
{
if (this->orbit != param3)
{
this->orbit = param3;
emit changed(this);
}
}
void Waypoint::setParam4(double param4)
{
if (this->yaw != param4)
{
this->yaw = param4;
emit changed(this);
}
}
void Waypoint::setParam5(double param5)
{
if (this->x != param5)
{
this->x = param5;
emit changed(this);
}
}
void Waypoint::setParam6(double param6)
{
if (this->z != param6)
{
this->z = param6;
emit changed(this);
}
}
void Waypoint::setParam7(double param7)
{
if (this->z != param7)
{
this->z = param7;
emit changed(this);
}
}
void Waypoint::setLoiterOrbit(double orbit)
{
if (this->orbit != orbit)
{
......@@ -177,54 +301,27 @@ void Waypoint::setOrbit(double orbit)
void Waypoint::setHoldTime(int holdTime)
{
if (this->holdTime != holdTime)
{
this->holdTime = holdTime;
emit changed(this);
}
}
//void Waypoint::setX(double x)
//{
// if (this->x != static_cast<double>(x))
// {
// this->x = x;
// emit changed(this);
// }
//}
//void Waypoint::setY(double y)
//{
// if (this->y != static_cast<double>(y))
// {
// this->y = y;
// emit changed(this);
// }
//}
//void Waypoint::setZ(double z)
//{
// if (this->z != static_cast<double>(z))
// {
// this->z = z;
// emit changed(this);
// }
//}
//void Waypoint::setYaw(double yaw)
//{
// if (this->yaw != static_cast<double>(yaw))
// {
// this->yaw = yaw;
// emit changed(this);
// }
//}
//void Waypoint::setOrbit(double orbit)
//{
// if (this->orbit != static_cast<double>(orbit))
// {
// this->orbit = orbit;
// emit changed(this);
// }
//}
if (this->param1 != holdTime)
{
this->param1 = holdTime;
emit changed(this);
}
}
void Waypoint::setHoldTime(double holdTime)
{
if (this->param1 != holdTime)
{
this->param1 = holdTime;
emit changed(this);
}
}
void Waypoint::setTurns(int turns)
{
if (this->param1 != turns)
{
this->param1 = turns;
emit changed(this);
}
}
src/Waypoint.h
View file @ 8e0714eb
......@@ -36,29 +36,40 @@ This file is part of the PIXHAWK project
#include <QObject>
#include <QString>
#include <QTextStream>
#include "mavlink_types.h"
#include "QGCMAVLink.h"
class Waypoint : public QObject
{
Q_OBJECT
public:
Waypoint(quint16 id = 0, double x = 0.0f, double y = 0.0f, double z = 0.0f, double yaw = 0.0f, bool autocontinue = false,
bool current = false, double orbit = 0.15f, int holdTime = 0,
MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_ACTION action=MAV_ACTION_NAVIGATE);
Waypoint(quint16 id = 0, double x = 0.0, double y = 0.0, double z = 0.0, double param1 = 0.0, double param2 = 0.0, double param3 = 0.0, double param4 = 0.0,
bool autocontinue = true, bool current = false, MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_CMD action=MAV_CMD_NAV_WAYPOINT);
~Waypoint();
quint16 getId() const { return id; }
double getX() const { return x; }
double getY() const { return y; }
double getZ() const { return z; }
double getLatitude() const { return x; }
double getLongitude() const { return y; }
double getAltitude() const { return z; }
double getYaw() const { return yaw; }
bool getAutoContinue() const { return autocontinue; }
bool getCurrent() const { return current; }
double getOrbit() const { return orbit; }
double getHoldTime() const { return holdTime; }
double getLoiterOrbit() const { return orbit; }
double getAcceptanceRadius() const { return param2; }
double getHoldTime() const { return param1; }
double getParam1() const { return param1; }
double getParam2() const { return param2; }
double getParam3() const { return orbit; }
double getParam4() const { return yaw; }
double getParam5() const { return x; }
double getParam6() const { return y; }
double getParam7() const { return z; }
int getTurns() const { return param1; }
MAV_FRAME getFrame() const { return frame; }
MAV_ACTION getAction() const { return action; }
MAV_CMD getAction() const { return action; }
const QString& getName() const { return name; }
void save(QTextStream &saveStream);
......@@ -72,11 +83,13 @@ protected:
double z;
double yaw;
MAV_FRAME frame;
MAV_ACTION action;
MAV_CMD action;
bool autocontinue;
bool current;
double orbit;
int holdTime;
double param1;
double param2;
int turns;
QString name;
public slots:
......@@ -84,21 +97,32 @@ public slots:
void setX(double x);
void setY(double y);
void setZ(double z);
void setLatitude(double lat);
void setLongitude(double lon);
void setAltitude(double alt);
/** @brief Yaw angle in COMPASS DEGREES: 0-360 */
void setYaw(int yaw);
/** @brief Yaw angle in COMPASS DEGREES: 0-360 */
void setYaw(double yaw);
void setAction(MAV_ACTION action);
/** @brief Set the waypoint action */
void setAction(int action);
void setAction(MAV_CMD action);
void setFrame(MAV_FRAME frame);
void setAutocontinue(bool autoContinue);
void setCurrent(bool current);
void setOrbit(double orbit);
void setLoiterOrbit(double orbit);
void setParam1(double param1);
void setParam2(double param2);
void setParam3(double param3);
void setParam4(double param4);
void setParam5(double param5);
void setParam6(double param6);
void setParam7(double param7);
void setAcceptanceRadius(double radius);
void setHoldTime(int holdTime);
// //for QDoubleSpin
// void setX(double x);
// void setY(double y);
// void setZ(double z);
// void setYaw(double yaw);
// void setOrbit(double orbit);
void setHoldTime(double holdTime);
/** @brief Number of turns for loiter waypoints */
void setTurns(int turns);
signals:
/** @brief Announces a change to the waypoint data */
......
src/comm/LinkManager.h
View file @ 8e0714eb
......@@ -62,6 +62,9 @@ public:
/** @brief Get a list of all links */
const QList<LinkInterface*> getLinks();
/** @brief Get a list of all protocols */
const QList<ProtocolInterface*> getProtocols() { return protocolLinks.uniqueKeys(); }
public slots:
void add(LinkInterface* link);
......
src/comm/MAVLinkProtocol.cc
View file @ 8e0714eb
This diff is collapsed.
src/comm/MAVLinkProtocol.h
View file @ 8e0714eb
......@@ -40,6 +40,7 @@ This file is part of the QGROUNDCONTROL project
#include "ProtocolInterface.h"
#include "LinkInterface.h"
#include "QGCMAVLink.h"
#include "QGC.h"
/**
* @brief MAVLink micro air vehicle protocol reference implementation.
......@@ -65,15 +66,27 @@ public:
/** @brief The auto heartbeat emission rate in Hertz */
int getHeartbeatRate();
/** @brief Get heartbeat state */
bool heartbeatsEnabled(void);
bool heartbeatsEnabled() const { return m_heartbeatsEnabled; }
/** @brief Get logging state */
bool loggingEnabled(void);
bool loggingEnabled() const { return m_loggingEnabled; }
/** @brief Get protocol version check state */
bool versionCheckEnabled(void);
bool versionCheckEnabled() const { return m_enable_version_check; }
/** @brief Get the multiplexing state */
bool multiplexingEnabled() const { return m_multiplexingEnabled; }
/** @brief Get the protocol version */
int getVersion() { return MAVLINK_VERSION; }
/** @brief Get the name of the packet log file */
QString getLogfileName();
/** @brief Get state of parameter retransmission */
bool paramGuardEnabled() { return m_paramGuardEnabled; }
/** @brief Get parameter read timeout */
int getParamRetransmissionTimeout() { return m_paramRetransmissionTimeout; }
/** @brief Get parameter write timeout */
int getParamRewriteTimeout() { return m_paramRewriteTimeout; }
/** @brief Get state of action retransmission */
bool actionGuardEnabled() { return m_actionGuardEnabled; }
/** @brief Get parameter read timeout */
int getActionRetransmissionTimeout() { return m_actionRetransmissionTimeout; }
public slots:
/** @brief Receive bytes from a communication interface */
......@@ -84,6 +97,8 @@ public slots:
void sendMessage(LinkInterface* link, mavlink_message_t message);
/** @brief Set the rate at which heartbeats are emitted */
void setHeartbeatRate(int rate);
/** @brief Set the system id of this application */
void setSystemId(int id);
/** @brief Enable / disable the heartbeat emission */
void enableHeartbeats(bool enabled);
......@@ -91,6 +106,24 @@ public slots:
/** @brief Enable/disable binary packet logging */
void enableLogging(bool enabled);
/** @brief Enabled/disable packet multiplexing */
void enableMultiplexing(bool enabled);
/** @brief Enable / disable parameter retransmission */
void enableParamGuard(bool enabled);
/** @brief Enable / disable action retransmission */
void enableActionGuard(bool enabled);
/** @brief Set parameter read timeout */
void setParamRetransmissionTimeout(int ms);
/** @brief Set parameter write timeout */
void setParamRewriteTimeout(int ms);
/** @brief Set parameter read timeout */
void setActionRetransmissionTimeout(int ms);
/** @brief Set log file name */
void setLogfileName(const QString& filename);
......@@ -100,13 +133,24 @@ public slots:
/** @brief Send an extra heartbeat to all connected units */
void sendHeartbeat();
/** @brief Load protocol settings */
void loadSettings();
/** @brief Store protocol settings */
void storeSettings();
protected:
QTimer* heartbeatTimer; ///< Timer to emit heartbeats
int heartbeatRate; ///< Heartbeat rate, controls the timer interval
bool m_heartbeatsEnabled; ///< Enabled/disable heartbeat emission
bool m_loggingEnabled; ///< Enable/disable packet logging
bool m_multiplexingEnabled; ///< Enable/disable packet multiplexing
QFile* m_logfile; ///< Logfile
bool m_enable_version_check; ///< Enable checking of version match of MAV and QGC
int m_paramRetransmissionTimeout; ///< Timeout for parameter retransmission
int m_paramRewriteTimeout; ///< Timeout for sending re-write request
bool m_paramGuardEnabled; ///< Parameter retransmission/rewrite enabled
bool m_actionGuardEnabled; ///< Action request retransmission enabled
int m_actionRetransmissionTimeout; ///< Timeout for parameter retransmission
QMutex receiveMutex; ///< Mutex to protect receiveBytes function
int lastIndex[256][256];
int totalReceiveCounter;
......@@ -114,6 +158,7 @@ protected:
int currReceiveCounter;
int currLossCounter;
bool versionMismatchIgnore;
int systemId;
signals:
/** @brief Message received and directly copied via signal */
......@@ -122,10 +167,24 @@ signals:
void heartbeatChanged(bool heartbeats);
/** @brief Emitted if logging is started / stopped */
void loggingChanged(bool enabled);
/** @brief Emitted if multiplexing is started / stopped */
void multiplexingChanged(bool enabled);
/** @brief Emitted if version check is enabled / disabled */
void versionCheckChanged(bool enabled);
/** @brief Emitted if a message from the protocol should reach the user */
void protocolStatusMessage(const QString& title, const QString& message);
/** @brief Emitted if a new system ID was set */
void systemIdChanged(int systemId);
/** @brief Emitted if param guard status changed */
void paramGuardChanged(bool enabled);
/** @brief Emitted if param read timeout changed */
void paramRetransmissionTimeoutChanged(int ms);
/** @brief Emitted if param write timeout changed */
void paramRewriteTimeoutChanged(int ms);
/** @brief Emitted if action guard status changed */
void actionGuardChanged(bool enabled);
/** @brief Emitted if actiion request timeout changed */
void actionRetransmissionTimeoutChanged(int ms);
};
#endif // MAVLINKPROTOCOL_H_
src/comm/MAVLinkSimulationLink.cc
View file @ 8e0714eb
This diff is collapsed.
src/comm/MAVLinkSimulationMAV.cc
View file @ 8e0714eb
This diff is collapsed.
src/comm/MAVLinkSimulationMAV.h
View file @ 8e0714eb
......@@ -11,7 +11,7 @@ class MAVLinkSimulationMAV : public QObject
{
Q_OBJECT
public:
explicit MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int systemid, double lat=47.376389, double lon=8.548056);
explicit MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int systemid, double lat=47.376389, double lon=8.548056, int version=MAVLINK_VERSION);
signals:
......@@ -53,6 +53,19 @@ protected:
uint8_t sys_state;
uint8_t nav_mode;
bool flying;
int mavlink_version;
static inline uint16_t mavlink_msg_heartbeat_pack_version_free(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot, uint8_t version)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
i += put_uint8_t_by_index(version, i, msg->payload); // MAVLink version
return mavlink_finalize_message(msg, system_id, component_id, i);
}
};
......
src/comm/MAVLinkSimulationWaypointPlanner.cc
View file @ 8e0714eb
......@@ -205,6 +205,7 @@ MAVLinkSimulationWaypointPlanner::MAVLinkSimulationWaypointPlanner(MAVLinkSimula
silent(false)
{
connect(parent, SIGNAL(messageReceived(mavlink_message_t)), this, SLOT(handleMessage(mavlink_message_t)));
qDebug() << "PLANNER FOR SYSTEM" << systemid << "INITIALIZED";
}
......@@ -283,7 +284,7 @@ void MAVLinkSimulationWaypointPlanner::send_setpoint(uint16_t seq)
PControlSetPoint.x = cur->x;
PControlSetPoint.y = cur->y;
PControlSetPoint.z = cur->z;
PControlSetPoint.yaw = cur->yaw;
PControlSetPoint.yaw = cur->param4;
mavlink_msg_local_position_setpoint_set_encode(systemid, compid, &msg, &PControlSetPoint);
link->sendMAVLinkMessage(&msg);
......@@ -298,7 +299,7 @@ void MAVLinkSimulationWaypointPlanner::send_setpoint(uint16_t seq)
PControlSetPoint.x = cur->x;
PControlSetPoint.y = cur->y;
PControlSetPoint.z = cur->z;
PControlSetPoint.yaw = cur->yaw;
PControlSetPoint.yaw = cur->param4;
mavlink_msg_local_position_setpoint_set_encode(systemid, compid, &msg, &PControlSetPoint);
link->sendMAVLinkMessage(&msg);
......@@ -336,7 +337,7 @@ void MAVLinkSimulationWaypointPlanner::send_waypoint(uint8_t target_systemid, ui
wp->target_system = target_systemid;
wp->target_component = target_compid;
if (verbose) qDebug("Sent waypoint %u (%u / %u / %u / %u / %u / %f / %u / %f / %f / %u / %f / %f / %f / %f / %u)\n", wp->seq, wp->target_system, wp->target_component, wp->seq, wp->frame, wp->action, wp->orbit, wp->orbit_direction, wp->param1, wp->param2, wp->current, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue);
if (verbose) qDebug("Sent waypoint %u (%u / %u / %u / %u / %u / %f / %f / %f / %u / %f / %f / %f / %f / %u)\n", wp->seq, wp->target_system, wp->target_component, wp->seq, wp->frame, wp->command, wp->param3, wp->param1, wp->param2, wp->current, wp->x, wp->y, wp->z, wp->param4, wp->autocontinue);
mavlink_msg_waypoint_encode(systemid, compid, &msg, wp);
link->sendMAVLinkMessage(&msg);
......@@ -501,19 +502,19 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
//compare current yaw
if (att.yaw - yaw_tolerance >= 0.0f && att.yaw + yaw_tolerance < 2.f*M_PI)
{
if (att.yaw - yaw_tolerance <= wp->yaw && att.yaw + yaw_tolerance >= wp->yaw)
if (att.yaw - yaw_tolerance <= wp->param4 && att.yaw + yaw_tolerance >= wp->param4)
yawReached = true;
}
else if(att.yaw - yaw_tolerance < 0.0f)
{
float lowerBound = 360.0f + att.yaw - yaw_tolerance;
if (lowerBound < wp->yaw || wp->yaw < att.yaw + yaw_tolerance)
if (lowerBound < wp->param4 || wp->param4 < att.yaw + yaw_tolerance)
yawReached = true;
}
else
{
float upperBound = att.yaw + yaw_tolerance - 2.f*M_PI;
if (att.yaw - yaw_tolerance < wp->yaw || wp->yaw < upperBound)
if (att.yaw - yaw_tolerance < wp->param4 || wp->param4 < upperBound)
yawReached = true;
}
......@@ -535,7 +536,7 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
{
mavlink_local_position_t pos;
mavlink_msg_local_position_decode(msg, &pos);
qDebug() << "Received new position: x:" << pos.x << "| y:" << pos.y << "| z:" << pos.z;
//qDebug() << "Received new position: x:" << pos.x << "| y:" << pos.y << "| z:" << pos.z;
posReached = false;
......@@ -572,18 +573,18 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
mavlink_global_position_int_t pos;
mavlink_msg_global_position_int_decode(msg, &pos);
float x = static_cast<double>(pos.lon)/1E7;
float y = static_cast<double>(pos.lat)/1E7;
float z = static_cast<double>(pos.alt)/1000;
float x = static_cast<double>(pos.lat)/1E7;
float y = static_cast<double>(pos.lon)/1E7;
//float z = static_cast<double>(pos.alt)/1000;
qDebug() << "Received new position: x:" << x << "| y:" << y << "| z:" << z;
//qDebug() << "Received new position: x:" << x << "| y:" << y << "| z:" << z;
posReached = false;
yawReached = true;
// FIXME big hack for simulation!
//float oneDegreeOfLatMeters = 111131.745f;
float orbit = 0.00008;
float orbit = 0.00008f;
// compare current position (given in message) with current waypoint
//float orbit = wp->param1;
......@@ -706,6 +707,10 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
}
}
}
else
{
qDebug() << "SYSTEM / COMPONENT ID MISMATCH: target sys:" << wpc.target_system << "this system:" << systemid << "target comp:" << wpc.target_component << "this comp:" << compid;
}
break;
}
......@@ -1004,7 +1009,7 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
if (cur_wp->autocontinue)
{
cur_wp->current = 0;
if (current_active_wp_id == waypoints->size() - 1 && waypoints->size() > 1)
if (current_active_wp_id == waypoints->size() - 1 && waypoints->size() > 0)
{
//the last waypoint was reached, if auto continue is
//activated restart the waypoint list from the beginning
......
src/comm/MAVLinkXMLParser.cc
View file @ 8e0714eb
......@@ -247,11 +247,11 @@ bool MAVLinkXMLParser::generate()
// Everything sane, starting with enum content
currEnum = "enum " + enumName.toUpper() + "\n{\n";
currEnumEnd = "};\n\n";
currEnumEnd = QString("\t%1_ENUM_END\n};\n\n").arg(enumName.toUpper());
int nextEnumValue = 0;
// Get the message fields
// Get the enum fields
QDomNode f = e.firstChild();
while (!f.isNull())
{
......@@ -285,20 +285,22 @@ bool MAVLinkXMLParser::generate()
if (e2.text().length() > 0)
{
fieldComment = " /* " + e2.text() + "*/";
fieldComment = fieldComment.replace("\n", " ");
}
currEnum += "\t" + fieldName.toUpper() + "=" + fieldValue + "," + fieldComment + "\n";
}
else if(!e2.isNull() && e2.tagName() == "description")
{
comment = e2.text() + comment;
comment = e2.text().replace("\n", " ") + comment;
}
f = f.nextSibling();
}
}
// Add the last parsed enum
// Remove the last comma, as the last value has none
int commaPosition = currEnum.lastIndexOf(",");
currEnum.remove(commaPosition, 1);
// ENUM END MARKER IS LAST ENTRY, COMMA REMOVAL NOT NEEDED
//int commaPosition = currEnum.lastIndexOf(",");
//currEnum.remove(commaPosition, 1);
enums += "/** @brief " + comment + " */\n" + currEnum + currEnumEnd;
} // Element is non-zero and element name is <enum>
......@@ -407,7 +409,7 @@ bool MAVLinkXMLParser::generate()
{
// Send arguments are the same for integral types and arrays
sendArguments += ", " + fieldName;
commentLines += commentEntry.arg(fieldName, fieldText);
commentLines += commentEntry.arg(fieldName, fieldText.replace("\n", " "));
}
// MAVLink version field
......
src/comm/SerialLink.cc
View file @ 8e0714eb
......@@ -39,22 +39,12 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
// Set unique ID and add link to the list of links
this->id = getNextLinkId();
// *nix (Linux, MacOS tested) serial port support
// port = new QextSerialPort(porthandle, QextSerialPort::Polling);
//port = new QextSerialPort(porthandle, QextSerialPort::EventDriven);
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
if (porthandle == "")
......@@ -103,7 +93,7 @@ void SerialLink::loadSettings()
settings.sync();
if (settings.contains("SERIALLINK_COMM_PORT"))
{
setPortName(settings.value("SERIALLINK_COMM_PORT").toString());
if (porthandle == "") setPortName(settings.value("SERIALLINK_COMM_PORT").toString());
setBaudRateType(settings.value("SERIALLINK_COMM_BAUD").toInt());
setParityType(settings.value("SERIALLINK_COMM_PARITY").toInt());
setStopBits(settings.value("SERIALLINK_COMM_STOPBITS").toInt());
......@@ -179,18 +169,18 @@ void SerialLink::writeBytes(const char* data, qint64 size)
if (b > 0)
{
qDebug() << "Serial link " << this->getName() << "transmitted" << b << "bytes:";
// qDebug() << "Serial link " << this->getName() << "transmitted" << b << "bytes:";
// Increase write counter
bitsSentTotal += size * 8;
int i;
for (i=0; i<size; i++)
{
unsigned char v =data[i];
qDebug("%02x ", v);
}
qDebug("\n");
// int i;
// for (i=0; i<size; i++)
// {
// unsigned char v =data[i];
// qDebug("%02x ", v);
// }
// qDebug("\n");
}
else
{
......
src/comm/UDPLink.cc
View file @ 8e0714eb
......@@ -64,10 +64,11 @@ UDPLink::~UDPLink()
**/
void UDPLink::run()
{
forever
{
QGC::SLEEP::msleep(5000);
}
// forever
// {
// QGC::SLEEP::msleep(5000);
// }
exec();
}
void UDPLink::setAddress(QString address)
......@@ -77,9 +78,32 @@ void UDPLink::setAddress(QString address)
//socket->setLocalAddress(QHostAddress(address));
}
void UDPLink::setPort(quint16 port)
void UDPLink::setPort(int port)
{
this->port = port;
disconnect();
connect();
}
/**
* @param host Hostname in standard formatting, e.g. localhost:14551 or 192.168.1.1:14551
*/
void UDPLink::addHost(const QString& host)
{
if (host.contains(":"))
{
// Add host
hosts->append(QHostAddress(host.split(":").first()));
// Set port according to user input
ports->append(host.split(":").last().toInt());
}
else
{
// Add host
hosts->append(QHostAddress(host));
// Set port according to default (this port)
ports->append(port);
}
}
......
src/comm/UDPLink.h
View file @ 8e0714eb
......@@ -51,6 +51,7 @@ public:
bool isConnected();
qint64 bytesAvailable();
int getPort() const { return port; }
/**
* @brief The human readable port name
......@@ -82,7 +83,9 @@ public:
public slots:
void setAddress(QString address);
void setPort(quint16 port);
void setPort(int port);
/** @brief Add a new host to broadcast messages to */
void addHost(const QString& host);
// void readPendingDatagrams();
void readBytes();
......
src/configuration.h
View file @ 8e0714eb
......@@ -17,7 +17,7 @@
#define WITH_TEXT_TO_SPEECH 1
#define QGC_APPLICATION_NAME "QGroundControl"
#define QGC_APPLICATION_VERSION "v. 0.8.3 (Alpha RC6)"
#define QGC_APPLICATION_VERSION "v. 0.8.3 (Alpha RC7)"
namespace QGC
......
src/uas/PxQuadMAV.cc
View file @ 8e0714eb
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
......@@ -10,15 +9,15 @@ This file is part of the QGROUNDCONTROL project
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#include "PxQuadMAV.h"
......@@ -39,20 +38,12 @@ PxQuadMAV::PxQuadMAV(MAVLinkProtocol* mavlink, int id) :
*/
void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
// Let UAS handle the default message set
UAS::receiveMessage(link, message);
//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
mavlink_message_t* msg = &message;
if (message.sysid == uasId)
{
QString uasState;
QString stateDescription;
QString patternPath;
switch (message.msgid)
{
case MAVLINK_MSG_ID_RAW_AUX:
......@@ -88,7 +79,7 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit letterDetected(uasId, name, detected.confidence, detected.detected);
}
break;
case MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT:
case MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT:
{
mavlink_watchdog_heartbeat_t payload;
mavlink_msg_watchdog_heartbeat_decode(msg, &payload);
......@@ -97,7 +88,7 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
break;
case MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO:
case MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO:
{
mavlink_watchdog_process_info_t payload;
mavlink_msg_watchdog_process_info_decode(msg, &payload);
......@@ -106,14 +97,14 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
break;
case MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS:
case MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS:
{
mavlink_watchdog_process_status_t payload;
mavlink_msg_watchdog_process_status_decode(msg, &payload);
emit processChanged(this->uasId, payload.watchdog_id, payload.process_id, payload.state, (payload.muted == 1) ? true : false, payload.crashes, payload.pid);
}
break;
case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
{
mavlink_vision_position_estimate_t pos;
mavlink_msg_vision_position_estimate_decode(&message, &pos);
......@@ -128,21 +119,21 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
break;
case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE:
{
mavlink_vicon_position_estimate_t pos;
mavlink_msg_vicon_position_estimate_decode(&message, &pos);
quint64 time = getUnixTime(pos.usec);
//emit valueChanged(uasId, "vis. time", pos.usec, time);
emit valueChanged(uasId, "vicon roll", "rad", pos.roll, time);
emit valueChanged(uasId, "vicon pitch", "rad", pos.pitch, time);
emit valueChanged(uasId, "vicon yaw", "rad", pos.yaw, time);
emit valueChanged(uasId, "vicon x", "m", pos.x, time);
emit valueChanged(uasId, "vicon y", "m", pos.y, time);
emit valueChanged(uasId, "vicon z", "m", pos.z, time);
emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
}
break;
case MAVLINK_MSG_ID_AUX_STATUS:
{
mavlink_vicon_position_estimate_t pos;
mavlink_msg_vicon_position_estimate_decode(&message, &pos);
quint64 time = getUnixTime(pos.usec);
//emit valueChanged(uasId, "vis. time", pos.usec, time);
emit valueChanged(uasId, "vicon roll", "rad", pos.roll, time);
emit valueChanged(uasId, "vicon pitch", "rad", pos.pitch, time);
emit valueChanged(uasId, "vicon yaw", "rad", pos.yaw, time);
emit valueChanged(uasId, "vicon x", "m", pos.x, time);
emit valueChanged(uasId, "vicon y", "m", pos.y, time);
emit valueChanged(uasId, "vicon z", "m", pos.z, time);
emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
}
break;
case MAVLINK_MSG_ID_AUX_STATUS:
{
mavlink_aux_status_t status;
mavlink_msg_aux_status_decode(&message, &status);
......@@ -152,31 +143,21 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit errCountChanged(uasId, "IMU", "SPI0", status.spi0_err_count);
emit errCountChanged(uasId, "IMU", "SPI1", status.spi1_err_count);
emit errCountChanged(uasId, "IMU", "UART", status.uart_total_err_count);
emit valueChanged(uasId, "Load", "%", ((float)status.load)/1000.0f, MG::TIME::getGroundTimeNow());
}
break;
case MAVLINK_MSG_ID_CONTROL_STATUS:
{
mavlink_control_status_t status;
mavlink_msg_control_status_decode(&message, &status);
// Emit control status vector
emit attitudeControlEnabled(static_cast<bool>(status.control_att));
emit positionXYControlEnabled(static_cast<bool>(status.control_pos_xy));
emit positionZControlEnabled(static_cast<bool>(status.control_pos_z));
emit positionYawControlEnabled(static_cast<bool>(status.control_pos_yaw));
// Emit localization status vector
emit localizationChanged(this, status.position_fix);
emit visionLocalizationChanged(this, status.vision_fix);
emit gpsLocalizationChanged(this, status.gps_fix);
emit valueChanged(uasId, "Load", "%", ((float)status.load)/10.0f, getUnixTime());
}
break;
default:
// Do nothing
default:
// Let UAS handle the default message set
UAS::receiveMessage(link, message);
break;
}
}
#else
// Let UAS handle the default message set
UAS::receiveMessage(link, message);
Q_UNUSED(link);
Q_UNUSED(message);
#endif
}
......
src/uas/SlugsMAV.cc
View file @ 8e0714eb
......@@ -64,11 +64,12 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
if (message.sysid == uasId)
{
// Handle your special messages mavlink_message_t* msg = &message;
#ifdef MAVLINK_ENABLED_SLUGS
// Handle your special messages mavlink_message_t* msg = &message;
switch (message.msgid)
{
#ifdef MAVLINK_ENABLED_SLUGS
case MAVLINK_MSG_ID_RAW_IMU:
mavlink_msg_raw_imu_decode(&message, &mlRawImuData);
......@@ -151,12 +152,11 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
break;
#endif
default:
// qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
break;
}
#endif
}
}
......
src/uas/UAS.cc
View file @ 8e0714eb
This diff is collapsed.
src/uas/UAS.h
View file @ 8e0714eb
......@@ -120,14 +120,19 @@ protected: //COMMENTS FOR TEST UNIT
double thrustMax; ///< Maximum forward/up thrust of this vehicle, in Newtons
// Battery stats
double fullVoltage; ///< Voltage of the fully charged battery (100%)
double emptyVoltage; ///< Voltage of the empty battery (0%)
double startVoltage; ///< Voltage at system start
float fullVoltage; ///< Voltage of the fully charged battery (100%)
float emptyVoltage; ///< Voltage of the empty battery (0%)
float startVoltage; ///< Voltage at system start
float warnVoltage; ///< Voltage where QGC will start to warn about low battery
float warnLevelPercent; ///< Warning level, in percent
double currentVoltage; ///< Voltage currently measured
float lpVoltage; ///< Low-pass filtered voltage
bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
float chargeLevel; ///< Charge level of battery, in percent
int timeRemaining; ///< Remaining time calculated based on previous and current
unsigned int mode; ///< The current mode of the MAV
int mode; ///< The current mode of the MAV
int status; ///< The current status of the MAV
int navMode; ///< The current navigation mode of the MAV
quint64 onboardTimeOffset;
bool controlRollManual; ///< status flag, true if roll is controlled manually
......@@ -157,37 +162,56 @@ protected: //COMMENTS FOR TEST UNIT
double yaw;
quint64 lastHeartbeat; ///< Time of the last heartbeat message
QTimer* statusTimeout; ///< Timer for various status timeouts
int imageSize; ///< Image size being transmitted (bytes)
int imagePackets; ///< Number of data packets being sent for this image
int imagePacketsArrived; ///< Number of data packets recieved
int imagePayload; ///< Payload size per transmitted packet (bytes). Standard is 254, and decreases when image resolution increases.
int imageQuality; ///< JPEG-Quality of the transmitted image (percentage)
QByteArray imageRecBuffer; ///< Buffer for the incoming bytestream
QImage image; ///< Image data of last completely transmitted image
quint64 imageStart;
QMap<int, QMap<QString, float>* > parameters; ///< All parameters
bool paramsOnceRequested; ///< If the parameter list has been read at least once
int airframe; ///< The airframe type
bool attitudeKnown; ///< True if attitude was received, false else
public:
/** @brief Set the current battery type */
void setBattery(BatteryType type, int cells);
/** @brief Estimate how much flight time is remaining */
int calculateTimeRemaining();
/** @brief Get the current charge level */
double getChargeLevel();
float getChargeLevel();
/** @brief Get the human-readable status message for this code */
void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
/** @brief Get the human-readable navigation mode translation for this mode */
QString getNavModeText(int mode);
/** @brief Check if vehicle is in autonomous mode */
bool isAuto();
public:
UASWaypointManager* getWaypointManager() { return &waypointManager; }
int getSystemType();
QImage getImage();
void requestImage(); // ?
int getAutopilotType() {return autopilot;}
public slots:
/** @brief Set the autopilot type */
void setAutopilotType(int apType) { autopilot = apType; emit systemSpecsChanged(uasId); }
/** @brief Set the type of airframe */
void setSystemType(int systemType) { type = systemType; emit systemSpecsChanged(uasId); }
void setSystemType(int systemType);
/** @brief Set the specific airframe type */
void setAirframe(int airframe) { this->airframe = airframe; emit systemSpecsChanged(uasId); }
/** @brief Set a new name **/
void setUASName(const QString& name);
/** @brief Executes an action **/
void setAction(MAV_ACTION action);
/** @brief Set the current battery type and voltages */
void setBatterySpecs(const QString& specs);
/** @brief Get the current battery type and specs */
QString getBatterySpecs();
/** @brief Launches the system **/
void launch();
......@@ -252,6 +276,9 @@ public slots:
/** @brief Request all parameters */
void requestParameters();
/** @brief Request a single parameter by index */
void requestParameter(int component, int parameter);
/** @brief Set a system parameter */
void setParameter(const int component, const QString& id, const float value);
......@@ -271,7 +298,7 @@ public slots:
void enableExtendedSystemStatusTransmission(int rate);
void enableRCChannelDataTransmission(int rate);
void enableRawControllerDataTransmission(int rate);
void enableRawSensorFusionTransmission(int rate);
//void enableRawSensorFusionTransmission(int rate);
void enablePositionTransmission(int rate);
void enableExtra1Transmission(int rate);
void enableExtra2Transmission(int rate);
......@@ -310,10 +337,12 @@ signals:
/** @brief Propagate a heartbeat received from the system */
void heartbeat(UASInterface* uas);
void imageStarted(quint64 timestamp);
/** @brief A new camera image has arrived */
void imageReady(UASInterface* uas);
protected:
/** @brief Get the UNIX timestamp in microseconds */
quint64 getUnixTime(quint64 time);
/** @brief Get the UNIX timestamp in milliseconds */
quint64 getUnixTime(quint64 time=0);
protected slots:
/** @brief Write settings to disk */
......
src/uas/UASInterface.h
View file @ 8e0714eb
......@@ -226,6 +226,8 @@ public slots:
virtual void setLocalOriginAtCurrentGPSPosition() = 0;
/** @brief Request all onboard parameters of all components */
virtual void requestParameters() = 0;
/** @brief Request one specific onboard parameter */
virtual void requestParameter(int component, int parameter) = 0;
/** @brief Write parameter to permanent storage */
virtual void writeParametersToStorage() = 0;
/** @brief Read parameter from permanent storage */
......@@ -259,7 +261,7 @@ public slots:
virtual void enableExtendedSystemStatusTransmission(int rate) = 0;
virtual void enableRCChannelDataTransmission(int rate) = 0;
virtual void enableRawControllerDataTransmission(int rate) = 0;
virtual void enableRawSensorFusionTransmission(int rate) = 0;
//virtual void enableRawSensorFusionTransmission(int rate) = 0;
virtual void setLocalPositionSetpoint(float x, float y, float z, float yaw) = 0;
virtual void setLocalPositionOffset(float x, float y, float z, float yaw) = 0;
......@@ -269,7 +271,10 @@ public slots:
virtual void startGyroscopeCalibration() = 0;
virtual void startPressureCalibration() = 0;
/** @brief Set the current battery type and voltages */
virtual void setBatterySpecs(const QString& specs) = 0;
/** @brief Get the current battery type and specs */
virtual QString getBatterySpecs() = 0;
protected:
QColor color;
......@@ -301,7 +306,11 @@ signals:
void poiFound(UASInterface* uas, int type, int colorIndex, QString message, float x, float y, float z);
void poiConnectionFound(UASInterface* uas, int type, int colorIndex, QString message, float x1, float y1, float z1, float x2, float y2, float z2);
/** @brief A text message from the system has been received */
void textMessageReceived(int uasid, int componentid, int severity, QString text);
void navModeChanged(int uasid, int mode, const QString& text);
/**
* @brief Update the error count of a device
*
......@@ -366,6 +375,7 @@ signals:
void waypointReached(UASInterface* uas, int id);
void autoModeChanged(bool autoMode);
void parameterChanged(int uas, int component, QString parameterName, float value);
void parameterChanged(int uas, int component, int parameterCount, int parameterId, QString parameterName, float value);
void patternDetected(int uasId, QString patternPath, float confidence, bool detected);
void letterDetected(int uasId, QString letter, float confidence, bool detected);
/**
......@@ -382,10 +392,12 @@ signals:
void thrustChanged(UASInterface*, double thrust);
void heartbeat(UASInterface* uas);
void attitudeChanged(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
void attitudeSpeedChanged(int uas, double rollspeed, double pitchspeed, double yawspeed, quint64 usec);
void attitudeThrustSetPointChanged(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
void positionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec);
void localPositionChanged(UASInterface*, double x, double y, double z, quint64 usec);
void globalPositionChanged(UASInterface*, double lat, double lon, double alt, quint64 usec);
void altitudeChanged(int uasid, double altitude);
/** @brief Update the status of one satellite used for localization */
void gpsSatelliteStatusChanged(int uasid, int satid, float azimuth, float direction, float snr, bool used);
void speedChanged(UASInterface*, double x, double y, double z, quint64 usec);
......
src/uas/UASManager.cc
View file @ 8e0714eb
......@@ -58,21 +58,26 @@ UASManager* UASManager::instance()
UASManager::UASManager() :
activeUAS(NULL)
{
systems = QList<UASInterface*>();
start(QThread::LowPriority);
}
UASManager::~UASManager()
{
// Delete all systems
foreach (UASInterface* mav, systems)
{
delete mav;
}
}
void UASManager::run()
{
forever
{
QGC::SLEEP::msleep(5000);
}
// forever
// {
// QGC::SLEEP::msleep(5000);
// }
exec();
}
void UASManager::addUAS(UASInterface* uas)
......
src/uas/UASWaypointManager.cc
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src/uas/UASWaypointManager.h
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......@@ -86,7 +86,13 @@ public:
/** @name Waypoint list operations */
/*@{*/
const QVector<Waypoint *> &getWaypointList(void) { return waypoints; } ///< Returns a const reference to the waypoint list.
int getIndexOf(Waypoint* wp); ///< Get the index of a waypoint in the list
const QVector<Waypoint *> getGlobalFrameWaypointList(); ///< Returns a global waypoint list
int getIndexOf(Waypoint* wp); ///< Get the index of a waypoint in the list
int getGlobalFrameIndexOf(Waypoint* wp); ///< Get the index of a waypoint in the list, counting only global waypoints
int getLocalFrameIndexOf(Waypoint* wp); ///< Get the index of a waypoint in the list, counting only local waypoints
int getMissionFrameIndexOf(Waypoint* wp); ///< Get the index of a waypoint in the list, counting only mission waypoints
int getGlobalFrameCount(); ///< Get the count of global waypoints in the list
int getLocalFrameCount(); ///< Get the count of local waypoints in the list
/*@}*/
UAS& getUAS() { return this->uas; } ///< Returns the owning UAS
......
src/ui/CommConfigurationWindow.cc
View file @ 8e0714eb
......@@ -47,6 +47,7 @@ This file is part of the QGROUNDCONTROL project
#endif
#include "MAVLinkProtocol.h"
#include "MAVLinkSettingsWidget.h"
#include "QGCUDPLinkConfiguration.h"
#include "LinkManager.h"
CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolInterface* protocol, QWidget *parent, Qt::WindowFlags flags) : QWidget(parent, flags)
......@@ -57,20 +58,24 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
ui.setupUi(this);
// add link types
ui.linkType->addItem("Serial",QGC_LINK_SERIAL);
ui.linkType->addItem("UDP",QGC_LINK_UDP);
ui.linkType->addItem("Simulation",QGC_LINK_SIMULATION);
ui.linkType->addItem("Serial Forwarding",QGC_LINK_FORWARDING);
ui.linkType->addItem(tr("Serial"), QGC_LINK_SERIAL);
ui.linkType->addItem(tr("UDP"), QGC_LINK_UDP);
ui.linkType->addItem(tr("Simulation"), QGC_LINK_SIMULATION);
ui.linkType->addItem(tr("Opal-RT Link"), QGC_LINK_OPAL);
ui.linkType->setEditable(false);
//ui.linkType->setEnabled(false);
ui.connectionType->addItem("MAVLink", QGC_PROTOCOL_MAVLINK);
ui.connectionType->addItem("GPS NMEA", QGC_PROTOCOL_NMEA);
//ui.connectionType->addItem("GPS NMEA", QGC_PROTOCOL_NMEA);
// Create action to open this menu
// Create configuration action for this link
// Connect the current UAS
action = new QAction(QIcon(":/images/devices/network-wireless.svg"), "", link);
action = new QAction(QIcon(":/images/devices/network-wireless.svg"), "", this);
LinkManager::instance()->add(link);
action->setData(LinkManager::instance()->getLinks().indexOf(link));
action->setEnabled(true);
action->setVisible(true);
setLinkName(link->getName());
connect(action, SIGNAL(triggered()), this, SLOT(show()));
......@@ -110,17 +115,24 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
layout->addWidget(conf);
ui.linkGroupBox->setLayout(layout);
ui.linkGroupBox->setTitle(tr("Serial Link"));
ui.linkType->setCurrentIndex(0);
//ui.linkGroupBox->setTitle(link->getName());
//connect(link, SIGNAL(nameChanged(QString)), ui.linkGroupBox, SLOT(setTitle(QString)));
}
UDPLink* udp = dynamic_cast<UDPLink*>(link);
if (udp != 0)
{
QWidget* conf = new QGCUDPLinkConfiguration(udp, this);
QBoxLayout* layout = new QBoxLayout(QBoxLayout::LeftToRight, ui.linkGroupBox);
layout->addWidget(conf);
ui.linkGroupBox->setLayout(layout);
ui.linkGroupBox->setTitle(tr("UDP Link"));
ui.linkType->setCurrentIndex(1);
}
MAVLinkSimulationLink* sim = dynamic_cast<MAVLinkSimulationLink*>(link);
if (sim != 0)
{
ui.linkType->setCurrentIndex(2);
ui.linkGroupBox->setTitle(tr("MAVLink Simulation Link"));
}
#ifdef OPAL_RT
......@@ -131,6 +143,7 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
QBoxLayout* layout = new QBoxLayout(QBoxLayout::LeftToRight, ui.linkGroupBox);
layout->addWidget(conf);
ui.linkGroupBox->setLayout(layout);
ui.linkType->setCurrentIndex(3);
ui.linkGroupBox->setTitle(tr("Opal-RT Link"));
}
#endif
......@@ -201,10 +214,9 @@ void CommConfigurationWindow::setConnection()
void CommConfigurationWindow::setLinkName(QString name)
{
Q_UNUSED(name); // FIXME
action->setText(tr("Configure ") + link->getName());
action->setStatusTip(tr("Configure ") + link->getName());
this->window()->setWindowTitle(tr("Settings for ") + this->link->getName());
action->setText(tr("%1 Settings").arg(name));
action->setStatusTip(tr("Adjust setting for link %1").arg(name));
this->window()->setWindowTitle(tr("Settings for %1").arg(name));
}
void CommConfigurationWindow::remove()
......
src/ui/CommConfigurationWindow.h
View file @ 8e0714eb
......@@ -44,7 +44,8 @@ enum qgc_link_t
QGC_LINK_SERIAL,
QGC_LINK_UDP,
QGC_LINK_SIMULATION,
QGC_LINK_FORWARDING
QGC_LINK_FORWARDING,
QGC_LINK_OPAL
};
enum qgc_protocol_t
......
src/ui/DebugConsole.cc
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src/ui/DebugConsole.h
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......@@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project
#include <QList>
#include <QByteArray>
#include <QTimer>
#include <QKeyEvent>
#include "LinkInterface.h"
......@@ -95,10 +96,20 @@ public slots:
void paintEvent(QPaintEvent *event);
/** @brief Update traffic measurements */
void updateTrafficMeasurements();
void loadSettings();
void storeSettings();
protected:
void changeEvent(QEvent *e);
void hideEvent(QHideEvent* event);
/** @brief Convert a symbol name to the byte representation */
QByteArray symbolNameToBytes(const QString& symbol);
/** @brief Convert a symbol byte to the name */
QString bytesToSymbolNames(const QByteArray& b);
/** @brief Handle keypress events */
void keyPressEvent(QKeyEvent * event);
/** @brief Cycle through the command history */
void cycleCommandHistory(bool up);
QList<LinkInterface*> links;
LinkInterface* currLink;
......@@ -106,6 +117,7 @@ protected:
bool holdOn; ///< Hold current view, ignore new data
bool convertToAscii; ///< Convert data to ASCII
bool filterMAVLINK; ///< Set true to filter out MAVLink in output
bool autoHold; ///< Auto-hold mode sets view into hold if the data rate is too high
int bytesToIgnore; ///< Number of bytes to ignore
char lastByte; ///< The last received byte
QList<QString> sentBytes; ///< Transmitted bytes, per transmission
......@@ -118,7 +130,9 @@ protected:
float dataRate; ///< Current data rate
float lowpassDataRate; ///< Lowpass filtered data rate
float dataRateThreshold; ///< Threshold where to enable auto-hold
bool autoHold; ///< Auto-hold mode sets view into hold if the data rate is too high
QStringList commandHistory;
QString currCommand;
int commandIndex;
private:
Ui::DebugConsole *m_ui;
......
src/ui/DebugConsole.ui
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src/ui/HDDisplay.h
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......@@ -63,9 +63,11 @@ public:
~HDDisplay();
public slots:
/** @brief Update a HDD value */
/** @brief Update a HDD double value */
void updateValue(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec);
void setActiveUAS(UASInterface* uas);
/** @brief Update a HDD integer value */
void updateValue(const int uasId, const QString& name, const QString& unit, const int value, const quint64 msec);
virtual void setActiveUAS(UASInterface* uas);
/** @brief Removes a plot item by the action data */
void removeItemByAction();
......@@ -137,14 +139,15 @@ protected:
UASInterface* uas; ///< The uas currently monitored
QMap<QString, float> values; ///< The variables this HUD displays
QMap<QString, QString> units; ///< The units
QMap<QString, QString> units; ///< The units
QMap<QString, float> valuesDot; ///< First derivative of the variable
QMap<QString, float> valuesMean; ///< Mean since system startup for this variable
QMap<QString, int> valuesCount; ///< Number of values received so far
QMap<QString, quint64> lastUpdate; ///< The last update time for this variable
QMap<QString, float> minValues; ///< The minimum value this variable is assumed to have
QMap<QString, float> maxValues; ///< The maximum value this variable is assumed to have
QMap<QString, bool> symmetric; ///< Draw the gauge / dial symmetric bool = yes
QMap<QString, bool> symmetric; ///< Draw the gauge / dial symmetric bool = yes
QMap<QString, bool> intValues; ///< Is the gauge value an integer?
QMap<QString, QPair<float, float> > goodRanges; ///< The range of good values
QMap<QString, QPair<float, float> > critRanges; ///< The range of critical values
double scalingFactor; ///< Factor used to scale all absolute values to screen coordinates
......
src/ui/HSIDisplay.cc
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