Minor improvements and fixes, added a few new MAVLink packets

src/Core.cc

@@ -23,7 +23,7 @@ This file is part of the PIXHAWK project
 
 /**
  * @file
- *   @brief Implementation of main class
+ *   @brief Implementation of class Core
  *
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
  *
@@ -115,7 +115,7 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
         QMessageBox msgBox;
         msgBox.setIcon(QMessageBox::Critical);
         msgBox.setText("Could not connect UDP port. Is already an instance of " + qAppName() + " running?");
-        msgBox.setInformativeText("You will not be able to receive data via UDP. Do you want to close the application?");
+        msgBox.setInformativeText("You will not be able to receive data via UDP. Please check that you're running the right executable and then re-start " + qAppName() + ". Do you want to close the application?");
         msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
         msgBox.setDefaultButton(QMessageBox::Cancel);
         int ret = msgBox.exec();
@@ -126,9 +126,8 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
         // Exit application
         if (ret == QMessageBox::Yes)
         {
-            qDebug() << "EXITING";
-            mainWindow->close();
-            this->exit(EXIT_SUCCESS);
+            //mainWindow->close();
+            QTimer::singleShot(200, mainWindow, SLOT(close()));
         }
     }
 

src/GAudioOutput.cc

@@ -104,6 +104,8 @@ emergency(false)
 
 bool GAudioOutput::say(QString text, int severity)
 {
+    // TODO Add severity filter
+    Q_UNUSED(severity);
     bool res = false;
     if (!emergency)
     {

src/comm/MAVLinkSimulationLink.cc

@@ -321,7 +321,7 @@ void MAVLinkSimulationLink::mainloop()
                 streampointer += bufferlength;
 
                 // IMU
-                rawImuValues.msec = time;
+                rawImuValues.usec = time;
                 rawImuValues.xmag = 0;
                 rawImuValues.ymag = 0;
                 rawImuValues.zmag = 0;

src/uas/UAS.cc

@@ -258,7 +258,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 mavlink_raw_imu_t raw;
                 mavlink_msg_raw_imu_decode(&message, &raw);
-                quint64 time = getUnixTime(raw.msec);
+                quint64 time = getUnixTime(raw.usec);
 
                 emit valueChanged(uasId, "Accel. X", raw.xacc, time);
                 emit valueChanged(uasId, "Accel. Y", raw.yacc, time);
@@ -330,12 +330,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 positionLock = true;
             }
             break;
-        case MAVLINK_MSG_ID_POSITION:
+        case MAVLINK_MSG_ID_LOCAL_POSITION:
             //std::cerr << std::endl;
             //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
             {
-                mavlink_position_t pos;
-                mavlink_msg_position_decode(&message, &pos);
+                mavlink_local_position_t pos;
+                mavlink_msg_local_position_decode(&message, &pos);
                 quint64 time = getUnixTime(pos.usec);
                 emit valueChanged(uasId, "x", pos.x, time);
                 emit valueChanged(uasId, "y", pos.y, time);
@@ -346,6 +346,38 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
             }
             break;
+        case MAVLINK_MSG_ID_GLOBAL_POSITION:
+            //std::cerr << std::endl;
+            //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
+            {
+                mavlink_global_position_t pos;
+                mavlink_msg_global_position_decode(&message, &pos);
+                quint64 time = getUnixTime(pos.usec);
+                emit valueChanged(uasId, "lat", pos.lat, time);
+                emit valueChanged(uasId, "lon", pos.lon, time);
+                emit valueChanged(uasId, "alt", pos.alt, time);
+                emit valueChanged(uasId, "g-vx", pos.vx, time);
+                emit valueChanged(uasId, "g-vy", pos.vy, time);
+                emit valueChanged(uasId, "g-vz", pos.vz, time);
+                emit globalPositionChanged(this, pos.lon, pos.lat, pos.alt, time);
+            }
+            break;
+        case MAVLINK_MSG_ID_GPS_RAW:
+            //std::cerr << std::endl;
+            //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
+            {
+                mavlink_gps_raw_t pos;
+                mavlink_msg_gps_raw_decode(&message, &pos);
+                quint64 time = getUnixTime(pos.usec);
+                emit valueChanged(uasId, "lat", pos.lat, time);
+                emit valueChanged(uasId, "lon", pos.lon, time);
+                emit valueChanged(uasId, "alt", pos.alt, time);
+                emit valueChanged(uasId, "g-vx", pos.vx, time);
+                emit valueChanged(uasId, "g-vy", pos.vy, time);
+                emit valueChanged(uasId, "g-vz", pos.vz, time);
+                emit globalPositionChanged(this, pos.lon, pos.lat, pos.alt, time);
+            }
+            break;
         case MAVLINK_MSG_ID_PARAM_VALUE:
             {
                 mavlink_param_value_t value;

src/ui/HDDisplay.cc

@@ -316,7 +316,8 @@ void HDDisplay::drawGauge(float xRef, float yRef, float radius, float min, float
     circlePen.setColor(color);
     painter->setBrush(Qt::NoBrush);
     painter->setPen(circlePen);
-    drawCircle(xRef, yRef+nameHeight, radius, 0.0f, 170.0f, 1.0f, color, painter);
+    drawCircle(xRef, yRef+nameHeight, radius, 0.0f, color, painter);
+    //drawCircle(xRef, yRef+nameHeight, radius, 0.0f, 170.0f, 1.0f, color, painter);
 
     QString label;
     label.sprintf("%05.1f", value);
@@ -466,7 +467,8 @@ void HDDisplay::drawChangeIndicatorGauge(float xRef, float yRef, float radius, f
     circlePen.setColor(defaultColor);
     painter->setBrush(Qt::NoBrush);
     painter->setPen(circlePen);
-    drawCircle(xRef, yRef, radius, 200.0f, 170.0f, 1.0f, color, painter);
+    drawCircle(xRef, yRef, radius, 200.0f, color, painter);
+    //drawCircle(xRef, yRef, radius, 200.0f, 170.0f, 1.0f, color, painter);
 
     QString label;
     label.sprintf("%05.1f", value);
@@ -582,7 +584,7 @@ void HDDisplay::drawLine(float refX1, float refY1, float refX2, float refY2, flo
     painter->drawLine(QPoint(refToScreenX(refX1), refToScreenY(refY1)), QPoint(refToScreenX(refX2), refToScreenY(refY2)));
 }
 
-void HDDisplay::drawEllipse(float refX, float refY, float radiusX, float radiusY, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter)
+void HDDisplay::drawEllipse(float refX, float refY, float radiusX, float radiusY, float lineWidth, const QColor& color, QPainter* painter)
 {
     QPen pen(painter->pen().style());
     pen.setWidth(refLineWidthToPen(lineWidth));
@@ -591,9 +593,9 @@ void HDDisplay::drawEllipse(float refX, float refY, float radiusX, float radiusY
     painter->drawEllipse(QPointF(refToScreenX(refX), refToScreenY(refY)), refToScreenX(radiusX), refToScreenY(radiusY));
 }
 
-void HDDisplay::drawCircle(float refX, float refY, float radius, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter)
+void HDDisplay::drawCircle(float refX, float refY, float radius, float lineWidth, const QColor& color, QPainter* painter)
 {
-    drawEllipse(refX, refY, radius, radius, startDeg, endDeg, lineWidth, color, painter);
+    drawEllipse(refX, refY, radius, radius, lineWidth, color, painter);
 }
 
 void HDDisplay::changeEvent(QEvent *e)

src/ui/HDDisplay.h

@@ -73,8 +73,8 @@ protected:
     void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin);
     void drawPolygon(QPolygonF refPolygon, QPainter* painter);
     void drawLine(float refX1, float refY1, float refX2, float refY2, float width, const QColor& color, QPainter* painter);
-    void drawEllipse(float refX, float refY, float radiusX, float radiusY, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter);
-    void drawCircle(float refX, float refY, float radius, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter);
+    void drawEllipse(float refX, float refY, float radiusX, float radiusY, float lineWidth, const QColor& color, QPainter* painter);
+    void drawCircle(float refX, float refY, float radius, float lineWidth, const QColor& color, QPainter* painter);
 
     void drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter);
     void drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid=true);