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qgroundcontrol
Commit 9c256d6e authored by lm's avatar lm
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Fixed some issues in HUD and Head down display

parent d0a07f19
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Showing with 100 additions and 81 deletions
.gitignore
View file @ 9c256d6e
......@@ -8,7 +8,6 @@ obj
bin/*.exe
bin/*.txt
bin/mac
mavground
*pro.user
qrc_*.cpp
*.Debug
......@@ -17,4 +16,5 @@ tmp
debug
release
opengroundcontrol.xcodeproj/**
opengroundcontrol
qgroundcontrol
src/uas/UAS.cc
View file @ 9c256d6e
......@@ -85,8 +85,6 @@ void UAS::setSelected()
void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
if (!links->contains(link))
{
addLink(link);
......
src/ui/HDDisplay.cc
View file @ 9c256d6e
......@@ -134,7 +134,7 @@ void HDDisplay::paintGL()
for (int i = 0; i < acceptList->size(); ++i)
{
QString value = acceptList->at(i);
drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, 0.0f), maxValues.value(value, 1.0f), value, values.value(value, minValues.value(value, 0.0f)), gaugeColor, &painter, goodRanges.value(value, qMakePair(0.0f, 0.5f)), critRanges.value(value, qMakePair(0.7f, 1.0f)), true);
drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, -1.0f), maxValues.value(value, 1.0f), value, values.value(value, minValues.value(value, 0.0f)), gaugeColor, &painter, goodRanges.value(value, qMakePair(0.0f, 0.5f)), critRanges.value(value, qMakePair(0.7f, 1.0f)), true);
xCoord += gaugeWidth + leftSpacing;
// Move one row down if necessary
if (xCoord + gaugeWidth > vwidth)
......@@ -511,8 +511,8 @@ float HDDisplay::refLineWidthToPen(float line)
void HDDisplay::updateValue(UASInterface* uas, QString name, double value, quint64 msec)
{
if (this->uas == uas)
{
//if (this->uas == uas)
//{
// Update mean
const float oldMean = valuesMean.value(name, 0.0f);
const int meanCount = valuesCount.value(name, 0);
......@@ -521,7 +521,7 @@ void HDDisplay::updateValue(UASInterface* uas, QString name, double value, quint
valuesDot.insert(name, (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f));
values.insert(name, value);
lastUpdate.insert(name, msec);
}
//}
}
/**
......
src/ui/HDDisplay.h
View file @ 9c256d6e
......@@ -80,23 +80,23 @@ protected:
void drawSystemIndicator(float xRef, float yRef, int maxNum, float maxWidth, float maxHeight, QPainter* painter);
void paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter);
UASInterface* uas; ///< The uas currently monitored
QMap<QString, float> values; ///< The variables this HUD displays
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
UASInterface* uas; ///< The uas currently monitored
QMap<QString, float> values; ///< The variables this HUD displays
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, 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, 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
double scalingFactor; ///< Factor used to scale all absolute values to screen coordinates
float xCenterOffset, yCenterOffset; ///< Offset from center of window in mm coordinates
float vwidth; ///< Virtual width of this window, 200 mm per default. This allows to hardcode positions and aspect ratios. This virtual image plane is then scaled to the window size.
float vheight; ///< Virtual height of this window, 150 mm per default
float vwidth; ///< Virtual width of this window, 200 mm per default. This allows to hardcode positions and aspect ratios. This virtual image plane is then scaled to the window size.
float vheight; ///< Virtual height of this window, 150 mm per default
int xCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
int yCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
int xCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
int yCenter; ///< Center of the HUD instrument in pixel coordinates. Allows to off-center the whole instrument in its OpenGL window, e.g. to fit another instrument
// HUD colors
QColor backgroundColor; ///< Background color
......
src/ui/HUD.cc
View file @ 9c256d6e
......@@ -45,7 +45,7 @@ This file is part of the PIXHAWK project
template<typename T>
inline bool isnan(T value)
{
return value != value;
return value != value;
}
......@@ -65,48 +65,48 @@ inline bool isinf(T value)
* @param parent
*/
HUD::HUD(int width, int height, QWidget* parent)
: QGLWidget(parent),
uas(NULL),
values(QMap<QString, float>()),
valuesDot(QMap<QString, float>()),
valuesMean(QMap<QString, float>()),
valuesCount(QMap<QString, int>()),
lastUpdate(QMap<QString, quint64>()),
yawInt(0.0f),
mode(tr("UNKNOWN MODE")),
state(tr("UNKNOWN STATE")),
fuelStatus(tr("00.0V (00m:00s)")),
xCenterOffset(0.0f),
yCenterOffset(0.0f),
vwidth(200.0f),
vheight(150.0f),
vGaugeSpacing(50.0f),
vPitchPerDeg(6.0f), ///< 4 mm y translation per degree)
rawBuffer1(NULL),
rawBuffer2(NULL),
rawImage(NULL),
rawLastIndex(0),
rawExpectedBytes(0),
bytesPerLine(1),
imageStarted(false),
receivedDepth(8),
receivedChannels(1),
receivedWidth(640),
receivedHeight(480),
defaultColor(QColor(70, 200, 70)),
setPointColor(QColor(200, 20, 200)),
warningColor(Qt::yellow),
criticalColor(Qt::red),
infoColor(QColor(20, 200, 20)),
fuelColor(criticalColor),
warningBlinkRate(5),
refreshTimer(new QTimer(this)),
noCamera(true),
hardwareAcceleration(true),
strongStrokeWidth(1.5f),
normalStrokeWidth(1.0f),
fineStrokeWidth(0.5f),
waypointName("")
: QGLWidget(parent),
uas(NULL),
values(QMap<QString, float>()),
valuesDot(QMap<QString, float>()),
valuesMean(QMap<QString, float>()),
valuesCount(QMap<QString, int>()),
lastUpdate(QMap<QString, quint64>()),
yawInt(0.0f),
mode(tr("UNKNOWN MODE")),
state(tr("UNKNOWN STATE")),
fuelStatus(tr("00.0V (00m:00s)")),
xCenterOffset(0.0f),
yCenterOffset(0.0f),
vwidth(200.0f),
vheight(150.0f),
vGaugeSpacing(50.0f),
vPitchPerDeg(6.0f), ///< 4 mm y translation per degree)
rawBuffer1(NULL),
rawBuffer2(NULL),
rawImage(NULL),
rawLastIndex(0),
rawExpectedBytes(0),
bytesPerLine(1),
imageStarted(false),
receivedDepth(8),
receivedChannels(1),
receivedWidth(640),
receivedHeight(480),
defaultColor(QColor(70, 200, 70)),
setPointColor(QColor(200, 20, 200)),
warningColor(Qt::yellow),
criticalColor(Qt::red),
infoColor(QColor(20, 200, 20)),
fuelColor(criticalColor),
warningBlinkRate(5),
refreshTimer(new QTimer(this)),
noCamera(true),
hardwareAcceleration(true),
strongStrokeWidth(1.5f),
normalStrokeWidth(1.0f),
fineStrokeWidth(0.5f),
waypointName("")
{
// Set auto fill to false
setAutoFillBackground(false);
......@@ -171,8 +171,9 @@ void HUD::stop()
void HUD::updateValue(UASInterface* uas, QString name, double value, quint64 msec)
{
// if (this->uas == uas)
// if (this->uas == uas)
//{
if (!isnan(value) && !isinf(value))
{
// Update mean
......@@ -184,11 +185,14 @@ void HUD::updateValue(UASInterface* uas, QString name, double value, quint64 mse
valuesCount.insert(name, meanCount + 1);
// Two-value sliding average
double dot = (valuesDot.value(name) + (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f))/2.0f;
if (isnan(dot) || isinf(dot)) dot = 0.0;
if (isnan(dot) || isinf(dot))
{
dot = 0.0;
}
valuesDot.insert(name, dot);
values.insert(name, value);
lastUpdate.insert(name, msec);
//}
//}
//qDebug() << __FILE__ << __LINE__ << "VALUE:" << value << "MEAN:" << mean << "DOT:" << dot << "COUNT:" << meanCount;
}
......@@ -211,7 +215,8 @@ void HUD::setActiveUAS(UASInterface* uas)
disconnect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
disconnect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
disconnect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
disconnect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString,QString)));
disconnect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
disconnect(uas, SIGNAL(modeChanged(UASInterface*,QString,QString)), this, SLOT(updateMode(UASInterface*,QString)));
disconnect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
disconnect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeThrustSetPoint(UASInterface*,double,double,double,double,quint64)));
disconnect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
......@@ -247,6 +252,7 @@ void HUD::updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double
void HUD::updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp)
{
//qDebug() << __FILE__ << __LINE__ << "ROLL" << roll;
updateValue(uas, "roll", roll, timestamp);
updateValue(uas, "pitch", pitch, timestamp);
updateValue(uas, "yaw", yaw, timestamp);
......@@ -307,14 +313,21 @@ void HUD::updateSpeed(UASInterface* uas,double x,double y,double z,quint64 times
*
* @param uas the system the state message originates from
* @param state short state text, displayed in HUD
* @param description longer state text, currently unused
*/
void HUD::updateState(UASInterface* uas,QString state, QString description)
void HUD::updateState(UASInterface* uas,QString state)
{
if (this->uas == uas)
{
this->state = state;
}
this->state = state;
}
/**
* Updates the current system mode, but only if the uas matches the currently monitored uas.
*
* @param uas the system the state message originates from
* @param mode short mode text, displayed in HUD
*/
void HUD::updateMode(UASInterface* uas,QString mode)
{
this->mode = mode;
}
void HUD::updateLoad(UASInterface* uas, double load)
......@@ -501,9 +514,9 @@ void HUD::paintRollPitchStrips()
void HUD::paintGL()
{
// Read out most important values to limit hash table lookups
static float roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f);
static float pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f);
static float yaw = yaw * 0.5 + 0.5 * values.value("yaw", 0.0f);
float roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f);
float pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f);
float yaw = yaw * 0.5 + 0.5 * values.value("yaw", 0.0f);
//qDebug() << __FILE__ << __LINE__ << "ROLL:" << roll << "PITCH:" << pitch << "YAW:" << yaw;
......@@ -557,7 +570,8 @@ void HUD::paintGL()
// Position the coordinate frame according to the setup
QPainter painter(this);
painter.setRenderHint(QPainter::HighQualityAntialiasing);
painter.setRenderHint(QPainter::Antialiasing, true);
painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);
// COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET
......@@ -566,8 +580,10 @@ void HUD::paintGL()
// Draw all fixed indicators
// MODE
paintText(mode, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 10, &painter);
// STATE
paintText(state, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
// BATTERY
paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 20, &painter);
// Waypoint
paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);
......@@ -659,13 +675,17 @@ void HUD::paintGL()
yawInt *= 0.6f;
//qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw << "asin(yawInt)" << asinYaw;
painter.translate(0, (pitch/M_PI)* -180.0f * refToScreenY(2.0f));
painter.translate(refToScreenX(yawTrans), 0);
painter.translate(0, (pitch/M_PI)* -180.0f * refToScreenY(2.0f));
// Rotate view and draw all roll-dependent indicators
painter.rotate((roll/M_PI)* -180.0f);
qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);
// CENTER
// SETPOINT
......
src/ui/HUD.h
View file @ 9c256d6e
......@@ -79,7 +79,8 @@ public slots:
void updateLocalPosition(UASInterface*,double,double,double,quint64);
void updateGlobalPosition(UASInterface*,double,double,double,quint64);
void updateSpeed(UASInterface*,double,double,double,quint64);
void updateState(UASInterface*,QString,QString);
void updateState(UASInterface*,QString);
void updateMode(UASInterface*,QString);
void updateLoad(UASInterface*, double);
void selectWaypoint(UASInterface* uas, int id);
......
src/ui/MainWindow.cc
View file @ 9c256d6e
......@@ -172,7 +172,7 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent)
LinkManager::instance()->addProtocol(simulationLink, mavlink);
//CommConfigurationWindow* simulationWidget = new CommConfigurationWindow(simulationLink, mavlink, this);
//ui.menuNetwork->addAction(commWidget->getAction());
//simulationLink->connect();
simulationLink->connect();
}
MainWindow::~MainWindow()
......
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