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qgroundcontrol
Commit 94abcb70 authored by Helen Oleynikova's avatar Helen Oleynikova
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Merge branch 'master' of git://github.com/mavlink/qgroundcontrol

parents 4b34688a 4992f93d
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.gitignore
View file @ 94abcb70
......@@ -21,7 +21,6 @@ tmp
debug
release
/qgroundcontrol
mavlinkgen-build-desktop
qgroundcontrol.xcodeproj/**
doc/html
doc/doxy.log
......
QGCExternalLibs.pri
View file @ 94abcb70
......@@ -123,34 +123,6 @@ INCLUDEPATH += $$MAVLINKPATH
INCLUDEPATH += $$MAVLINKPATH/common
}
#
# [DEPRECATED] MAVLink generator UI. Provides a GUI interface for generating MAVLink dialects.
# Replaced by mavgenerator.py within the MAVLink project.
#
contains(DEFINES, ENABLE_MAVGEN) {
warning("Including support for MAVLink generator GUI (manual override from command line, CAUTION: deprecated)")
} else:infile(user_config.pri, DEFINES, ENABLE_MAVGEN) {
DEFINES += ENABLE_MAVGEN # infile doesn't automatically include everything in the specified file
warning("Including support for MAVLink generator GUI (manual override from user_config.pri, CAUTION: deprecated)")
}
contains(DEFINES, ENABLE_MAVGEN) {
# Rename the macro to be consistent with other QGC feature existance macros.
DEFINES -= ENABLE_MAVGEN
DEFINES += QGC_MAVGEN_ENABLED
DEPENDPATH += \
src/apps/mavlinkgen
INCLUDEPATH += \
src/apps/mavlinkgen \
src/apps/mavlinkgen/ui \
src/apps/mavlinkgen/generator
include(src/apps/mavlinkgen/mavlinkgen.pri)
} else {
message("Skipping support for MAVLink generator GUI (deprecated, see README)")
}
#
# [OPTIONAL] OpenSceneGraph
# Allow the user to override OpenSceneGraph compilation through a DISABLE_OPEN_SCENE_GRAPH
......@@ -348,7 +320,9 @@ INCLUDEPATH += \
#
# [REQUIRED] QWT plotting library dependency. Provides plotting capabilities.
#
include(libs/qwt/qwt.pri)
include(libs/qwt.pri)
DEPENDPATH += libs/qwt
INCLUDEPATH += libs/qwt
#
# [REQUIRED] QSerialPort library. Provides serial port wrapper library.
......@@ -416,9 +390,10 @@ contains(DEFINES, DISABLE_3DMOUSE) {
exists(/usr/local/lib/libxdrvlib.so) {
message("Including support for 3DConnexion mice")
DEFINES +=
DEFINES += \
QGC_MOUSE_ENABLED_LINUX \
ParameterCheck # Hack: Has to be defined for magellan usage
ParameterCheck
# Hack: Has to be defined for magellan usage
HEADERS += src/input/Mouse6dofInput.h
SOURCES += src/input/Mouse6dofInput.cpp
......
README.md
View file @ 94abcb70
# QGroundControl
# QGroundControl
## Open Source Micro Air Vehicle Ground Control Station
......@@ -16,8 +16,8 @@
For generating documentation, refer to /doc/README.
## Notes
Please make sure to delete your build folder before re-building. Independent of which
build system you use (this is not related to Qt or your OS) the dependency checking and
Please make sure to delete your build folder before re-building. Independent of which
build system you use (this is not related to Qt or your OS) the dependency checking and
cleaning is based on the current project revision. So if you change the project and don't remove the build folder before your next build, incremental building can leave you with stale object files.
## Additional functionality
......@@ -37,9 +37,6 @@ The QUpgrade module relies on `libudev` on Linux platforms, so be sure to instal
### Specifying MAVLink dialects
The MAVLink dialect compiled by default by QGC is for the ardupilotmega. This will happen if no other dialects are specified. Setting the `MAVLINK_CONF` variable sets the dialects, with more than one specified in a space-separated list. Note that doing this may result in compilation errors as certain dialects may conflict with each other!
### MAVLink dialect generator
An add-on is available for QGC that provides a UI for generating MAVLink dialects from within QGC. This feature has been deprecated since identical functionality now exists within the MAVLink project itself. Enable this functionality by specifying the `DEFINES` variable `ENABLE_MAVGEN`.
### Opal-RT's RT-LAB simulator
Integration with Opal-RT's RT-LAB simulator can be enabled on Windows by installing RT-LAB 7.2.4. This allows vehicles to be simulated in RT-LAB and communicate directly with QGC on the same computer as if the UAS was actually deployed. This support is enabled by default once the requisite RT-LAB software is installed. Disabling this can be done by adding `DISABLE_RTLAB` to the `DEFINES` variable.
......@@ -83,14 +80,15 @@ To build on Mac OSX (10.6 or later):
3. Run `make -j4`
# Build on Linux
# Build on Linux
To build on Linux:
- - -
1. Install base dependencies (QT + phonon/webkit, SDL)
* For Ubuntu: `sudo apt-get install libqt4-dev libphonon-dev libphonon4 phonon-backend-gstreamer qtcreator libsdl1.2-dev build-essential libudev-dev`
* For Fedora: `sudo yum install qt qt-creator qt-webkit-devel SDL-devel SDL-static systemd-devel`
* For Fedora: `sudo yum install qt qt-creator qt-webkit-devel phonon-devel SDL-devel SDL-static systemd-devel`
* For Arch Linux: `pacman -Sy qtwebkit phonon-qt4`
2. **[OPTIONAL]** Install additional libraries
* For text-to-speech (espeak)
......
files/flightgear/Aircraft/EasyStar/easystar.xml
View file @ 94abcb70
......@@ -91,7 +91,7 @@
<damping_coeff_rebound unit="LBS/FT/SEC"> 4.0 </damping_coeff_rebound>
<max_steer unit="DEG">0</max_steer>
<brake_group>NONE</brake_group>
<retractable>FIXED</retractable>
<retractable>0</retractable>
</contact>
<contact type="BOGEY" name="NOSE">
<location unit="M">
......@@ -107,7 +107,7 @@
<damping_coeff_rebound unit="LBS/FT/SEC"> 4.0 </damping_coeff_rebound>
<max_steer unit="DEG">0</max_steer>
<brake_group>NONE</brake_group>
<retractable>FIXED</retractable>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="TAIL">
......
files/flightgear/Aircraft/arducopter/arducopter.xml
View file @ 94abcb70
......@@ -103,11 +103,11 @@
</ground_reactions>
<!-- the front and rear motors spin clockwise, and the left and right motors spin counter-clockwise. -->
<propulsion>
<engine file="a2830-12" name="front">
<engine file="a2830-12" name="right">
<location unit="M">
<x> -0.283 </x>
<y> 0.00 </y>
<z> 0.00 </z>
<x> 0.000 </x>
<y> 0.283 </y>
<z> 0.000 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
......@@ -117,8 +117,8 @@
<feed>0</feed>
<thruster file="prop10x4.5">
<location unit="M">
<x> -0.283 </x>
<y> 0.00 </y>
<x> 0.000 </x>
<y> 0.283 </y>
<z> 0.125 </z>
</location>
<orient unit="DEG">
......@@ -130,11 +130,12 @@
<p_factor> 10 </p_factor>
</thruster>
</engine>
<engine file="a2830-12" name="rear">
<engine file="a2830-12" name="left">
<location unit="M">
<x> 0.283 </x>
<y> 0.000 </y>
<z> 0.000 </z>
<x> 0.00 </x>
<y> -0.283 </y>
<z> 0.00 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
......@@ -144,8 +145,8 @@
<feed>0</feed>
<thruster file="prop10x4.5">
<location unit="M">
<x> 0.283 </x>
<y> 0.000 </y>
<x> 0.00 </x>
<y> -0.283 </y>
<z> 0.125 </z>
</location>
<orient unit="DEG">
......@@ -157,11 +158,12 @@
<p_factor> 10 </p_factor>
</thruster>
</engine>
<engine file="a2830-12" name="left">
<engine file="a2830-12" name="front">
<location unit="M">
<x> 0.00 </x>
<y> 0.283 </y>
<z> 0.00 </z>
<x> -0.283 </x>
<y> 0.00 </y>
<z> 0.00 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
......@@ -171,8 +173,8 @@
<feed>0</feed>
<thruster file="prop10x4.5">
<location unit="M">
<x> 0.00 </x>
<y> 0.283 </y>
<x> -0.283 </x>
<y> 0.00 </y>
<z> 0.125 </z>
</location>
<orient unit="DEG">
......@@ -184,10 +186,11 @@
<p_factor> 10 </p_factor>
</thruster>
</engine>
<engine file="a2830-12" name="right">
<engine file="a2830-12" name="rear">
<location unit="M">
<x> 0.000 </x>
<y> -0.283 </y>
<x> 0.283 </x>
<y> 0.000 </y>
<z> 0.000 </z>
</location>
<orient unit="DEG">
......@@ -198,8 +201,8 @@
<feed>0</feed>
<thruster file="prop10x4.5">
<location unit="M">
<x> 0.000 </x>
<y> -0.283 </y>
<x> 0.283 </x>
<y> 0.000 </y>
<z> 0.125 </z>
</location>
<orient unit="DEG">
......@@ -211,6 +214,7 @@
<p_factor> 10 </p_factor>
</thruster>
</engine>
<tank type="FUEL" number="0">
<location unit="M">
<x> 0.00 </x>
......@@ -222,6 +226,7 @@
<contents unit="KG"> 0.0 </contents>
</tank>
</propulsion>
<aerodynamics>
<axis name="LIFT">
</axis>
......
files/flightgear/Protocol/qgroundcontrol-quadrotor.xml
View file @ 94abcb70
......@@ -6,7 +6,7 @@
<output>
<line_separator>newline</line_separator>
<var_separator>tab</var_separator>
<chunk>
<name>time (sec)</name>
<type>float</type>
......@@ -46,7 +46,7 @@
<node>/orientation/roll-deg</node>
<factor>0.01745329251994329576</factor> <!-- degrees to radians -->
</chunk>
<chunk>
<name>pitch angle (rad)</name>
<type>float</type>
......@@ -54,7 +54,7 @@
<node>/orientation/pitch-deg</node>
<factor>0.01745329251994329576</factor> <!-- degrees to radians -->
</chunk>
<chunk>
<name>yaw angle</name>
<type>float</type>
......@@ -109,7 +109,7 @@
</chunk>
<!-- Velocities -->
<chunk>
<name>Velocity North ("vn" mps)</name>
<type>float</type>
......@@ -141,7 +141,42 @@
<node>/velocities/airspeed-kt</node>
<factor>0.514444444444444</factor> <!-- knots to mps -->
</chunk>
<!-- Magnetometer -->
<chunk>
<name>Magnetic Variation (rad)</name>
<type>float</type>
<format>%.8f</format>
<node>/environment/magnetic-variation-deg</node>
<factor>0.01745329251994329576</factor> <!-- degrees to radians -->
</chunk>
<chunk>
<name>Magnetic Dip (rad)</name>
<type>float</type>
<format>%.8f</format>
<node>/environment/magnetic-dip-deg</node>
<factor>0.01745329251994329576</factor> <!-- degrees to radians -->
</chunk>
<!-- Temperature -->
<chunk>
<name>Temperature (deg C)</name>
<type>float</type>
<format>%.8f</format>
<node>/environment/temperature-degc</node>
<factor>1</factor>
</chunk>
<!-- Pressure -->
<chunk>
<name>Pressure (hPa)</name>
<type>float</type>
<format>%.8f</format>
<node>/environment/pressure-inhg</node>
<factor>33.86389</factor> <!-- inhg to hpa -->
</chunk>
</output>
<input>
......@@ -152,28 +187,33 @@
<!-- motors, in range 0.0 to 1.0 -->
<chunk>
<name>throttle0</name>
<type>double</type>
<type>float</type>
<node>/controls/engines/engine[0]/throttle</node>
</chunk>
</chunk>
<chunk>
<name>throttle1</name>
<type>double</type>
<type>float</type>
<node>/controls/engines/engine[1]/throttle</node>
</chunk>
</chunk>
<chunk>
<name>throttle2</name>
<type>double</type>
<type>float</type>
<node>/controls/engines/engine[2]/throttle</node>
</chunk>
</chunk>
<chunk>
<name>running</name>
<type>bool</type>
<node>/engines/engine/running</node>
</chunk>
<chunk>
<name>throttle3</name>
<type>double</type>
<type>float</type>
<node>/controls/engines/engine[3]/throttle</node>
</chunk>
</chunk>
</input>
</generic>
</PropertyList>
\ No newline at end of file
</PropertyList>
libs/README.md 0 → 100644
View file @ 94abcb70
This folder contains the various required libraries for QGC to compile. They are distributed with the codebase to ease development.
# Qwt
Qt Widgets for Technical Applications
Version: 6.1
Source obtained: `svn checkout svn://svn.code.sf.net/p/qwt/code/branches/qwt-6.1 qwt`
Contents of `/libs/qwt` is the contents of the `/src` directory from the Qwt repository.
qwt.pri file is custom made to compile all necessary Qwt code in with QGC.
libs/mavlink/include/mavlink/v1.0/checksum.h
View file @ 94abcb70
......@@ -73,7 +73,7 @@ static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
* @param data new bytes to hash
* @param crcAccum the already accumulated checksum
**/
static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint16_t length)
{
const uint8_t *p = (const uint8_t *)pBuffer;
while (length--) {
......
libs/mavlink/include/mavlink/v1.0/common/common.h
View file @ 94abcb70
......@@ -5,6 +5,10 @@
#ifndef COMMON_H
#define COMMON_H
#ifndef MAVLINK_H
#error Wrong include order: common.h MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set all defines from mavlink.h manually.
#endif
#ifdef __cplusplus
extern "C" {
#endif
......
libs/mavlink/include/mavlink/v1.0/mavlink_helpers.h
View file @ 94abcb70
......@@ -73,7 +73,6 @@ MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, ui
#endif
{
// This code part is the same for all messages;
uint16_t checksum;
msg->magic = MAVLINK_STX;
msg->len = length;
msg->sysid = system_id;
......@@ -81,12 +80,13 @@ MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, ui
// One sequence number per component
msg->seq = mavlink_get_channel_status(chan)->current_tx_seq;
mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1;
checksum = crc_calculate((uint8_t*)&msg->len, length + MAVLINK_CORE_HEADER_LEN);
msg->checksum = crc_calculate(((const uint8_t*)(msg)) + 3, MAVLINK_CORE_HEADER_LEN);
crc_accumulate_buffer(&msg->checksum, _MAV_PAYLOAD(msg), msg->len);
#if MAVLINK_CRC_EXTRA
crc_accumulate(crc_extra, &checksum);
crc_accumulate(crc_extra, &msg->checksum);
#endif
mavlink_ck_a(msg) = (uint8_t)(checksum & 0xFF);
mavlink_ck_b(msg) = (uint8_t)(checksum >> 8);
mavlink_ck_a(msg) = (uint8_t)(msg->checksum & 0xFF);
mavlink_ck_b(msg) = (uint8_t)(msg->checksum >> 8);
return length + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
......@@ -133,7 +133,7 @@ MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint
buf[4] = mavlink_system.compid;
buf[5] = msgid;
status->current_tx_seq++;
checksum = crc_calculate((uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN);
checksum = crc_calculate((const uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN);
crc_accumulate_buffer(&checksum, packet, length);
#if MAVLINK_CRC_EXTRA
crc_accumulate(crc_extra, &checksum);
......@@ -158,6 +158,7 @@ MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_m
ck[0] = (uint8_t)(msg->checksum & 0xFF);
ck[1] = (uint8_t)(msg->checksum >> 8);
// XXX use the right sequence here
MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len);
_mavlink_send_uart(chan, (const char *)&msg->magic, MAVLINK_NUM_HEADER_BYTES);
......@@ -172,7 +173,13 @@ MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_m
*/
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
{
memcpy(buffer, (const uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
memcpy(buffer, (const uint8_t *)&msg->magic, MAVLINK_NUM_HEADER_BYTES + (uint16_t)msg->len);
uint8_t *ck = buffer + (MAVLINK_NUM_HEADER_BYTES + (uint16_t)msg->len);
ck[0] = (uint8_t)(msg->checksum & 0xFF);
ck[1] = (uint8_t)(msg->checksum >> 8);
return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len;
}
......
libs/mavlink/include/mavlink/v1.0/mavlink_types.h
View file @ 94abcb70
......@@ -28,6 +28,7 @@
#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
#pragma pack(push, 1)
typedef struct param_union {
union {
float param_float;
......@@ -62,13 +63,12 @@ typedef struct __mavlink_message {
uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
} mavlink_message_t;
typedef struct __mavlink_extended_message {
mavlink_message_t base_msg;
int32_t extended_payload_len; ///< Length of extended payload if any
uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
} mavlink_extended_message_t;
#pragma pack(pop)
typedef enum {
MAVLINK_TYPE_CHAR = 0,
......
libs/opmapcontrol/src/core/urlfactory.cpp
View file @ 94abcb70
This diff is collapsed.
libs/opmapcontrol/src/core/urlfactory.h
View file @ 94abcb70
......@@ -61,6 +61,7 @@ namespace core {
Placemark GetPlacemarkFromGeocoder(internals::PointLatLng location);
int Timeout;
private:
int Random(int low, int high);
void GetSecGoogleWords(const core::Point &pos, QString &sec1, QString &sec2);
int GetServerNum(const core::Point &pos,const int &max) const;
void TryCorrectGoogleVersions();
......
libs/opmapcontrol/src/internals/core.cpp
View file @ 94abcb70
......@@ -360,7 +360,7 @@ namespace internals {
{
SetProjection(new MercatorProjection());
}
maxzoom=19;
maxzoom=21;
}
break;
......
libs/opmapcontrol/src/mapwidget/mapripper.cpp
View file @ 94abcb70
......@@ -52,31 +52,37 @@ namespace mapcontrol
}
void MapRipper::finish()
{
if(zoom<maxzoom)
if(zoom<maxzoom)
{
++zoom;
QMessageBox msgBox;
msgBox.setText(tr("Continue Ripping at zoom level %1? (Continuing automatically after 3s)").arg(zoom));
// msgBox.setInformativeText("Do you want to save your changes?");
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
msgBox.setDefaultButton(QMessageBox::Yes);
QTimer::singleShot(3000, &msgBox, SLOT(accept()));
msgBox.exec();
int ret = msgBox.result();
++zoom;
QMessageBox msgBox;
msgBox.setText(tr("Continue Ripping at zoom level %1? (Continuing automatically after 3s)").arg(zoom));
// msgBox.setInformativeText("Do you want to save your changes?");
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
msgBox.setDefaultButton(QMessageBox::Yes);
QTimer::singleShot(3000, &msgBox, SLOT(accept()));
msgBox.exec();
int ret = msgBox.result();
if(ret==QMessageBox::Yes || ret == 1)
{
points.clear();
points=core->Projection()->GetAreaTileList(area,zoom,0);
this->start();
}
else
{
progressForm->close();
delete progressForm;
this->deleteLater();
}
}
if(ret==QMessageBox::Yes || ret == 1)
{
points.clear();
points=core->Projection()->GetAreaTileList(area,zoom,0);
this->start();
}
else
{
progressForm->close();
delete progressForm;
this->deleteLater();
}
}
else
{
progressForm->close();
delete progressForm;
this->deleteLater();
}
}
......
libs/opmapcontrol/src/mapwidget/waypointitem.cpp
View file @ 94abcb70
......@@ -308,7 +308,7 @@ namespace mapcontrol
}
void WayPointItem::RefreshToolTip()
{
QString coord_str = QString::number(coord.Lat(), 'f', 6) + " " + QString::number(coord.Lng(), 'f', 6);