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qgroundcontrol
Commit a412dfef authored by pixhawk's avatar pixhawk
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parents 49a778ed a11ca3da
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Showing with 1219 additions and 294 deletions
images/style-mission.css
View file @ a412dfef
......@@ -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;
}
lib/QMapControl/src/mapnetwork.cpp
View file @ a412dfef
......@@ -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__;
}
}
......
qgroundcontrol.pro
View file @ a412dfef
......@@ -157,7 +157,8 @@ FORMS += src/ui/MainWindow.ui \
src/ui/QGCMAVLinkLogPlayer.ui \
src/ui/QGCWaypointListMulti.ui \
src/ui/mission/QGCCustomWaypointAction.ui \
src/ui/QGCUDPLinkConfiguration.ui
src/ui/QGCUDPLinkConfiguration.ui \
src/ui/QGCSettingsWidget.ui
INCLUDEPATH += src \
src/ui \
......@@ -268,7 +269,8 @@ HEADERS += src/MG.h \
src/comm/MAVLinkSimulationMAV.h \
src/uas/QGCMAVLinkUASFactory.h \
src/ui/QGCWaypointListMulti.h \
src/ui/QGCUDPLinkConfiguration.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: {
......@@ -394,7 +396,8 @@ SOURCES += src/main.cc \
src/comm/MAVLinkSimulationMAV.cc \
src/uas/QGCMAVLinkUASFactory.cc \
src/ui/QGCWaypointListMulti.cc \
src/ui/QGCUDPLinkConfiguration.cc
src/ui/QGCUDPLinkConfiguration.cc \
src/ui/QGCSettingsWidget.cc
macx|win32-msvc2008: {
SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
......
src/GAudioOutput.cc
View file @ a412dfef
......@@ -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()
......
src/GAudioOutput.h
View file @ a412dfef
......@@ -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/comm/LinkManager.h
View file @ a412dfef
......@@ -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 @ a412dfef
......@@ -44,6 +44,11 @@ MAVLinkProtocol::MAVLinkProtocol() :
m_loggingEnabled(false),
m_logfile(NULL),
m_enable_version_check(true),
m_paramRetransmissionTimeout(350),
m_paramRewriteTimeout(500),
m_paramGuardEnabled(true),
m_actionGuardEnabled(false),
m_actionRetransmissionTimeout(100),
versionMismatchIgnore(false),
systemId(QGC::defaultSystemId)
{
......@@ -95,6 +100,14 @@ void MAVLinkProtocol::loadSettings()
{
systemId = temp;
}
// Parameter interface settings
bool ok;
temp = settings.value("PARAMETER_RETRANSMISSION_TIMEOUT", m_paramRetransmissionTimeout).toInt(&ok);
if (ok) m_paramRetransmissionTimeout = temp;
temp = settings.value("PARAMETER_REWRITE_TIMEOUT", m_paramRewriteTimeout).toInt(&ok);
if (ok) m_paramRewriteTimeout = temp;
m_paramGuardEnabled = settings.value("PARAMETER_TRANSMISSION_GUARD_ENABLED", m_paramGuardEnabled).toBool();
settings.endGroup();
}
......@@ -113,6 +126,10 @@ void MAVLinkProtocol::storeSettings()
// Logfile exists, store the name
settings.setValue("LOGFILE_NAME", m_logfile->fileName());
}
// Parameter interface settings
settings.setValue("PARAMETER_RETRANSMISSION_TIMEOUT", m_paramRetransmissionTimeout);
settings.setValue("PARAMETER_REWRITE_TIMEOUT", m_paramRewriteTimeout);
settings.setValue("PARAMETER_TRANSMISSION_GUARD_ENABLED", m_paramGuardEnabled);
settings.endGroup();
settings.sync();
//qDebug() << "Storing settings!";
......@@ -418,6 +435,51 @@ void MAVLinkProtocol::enableMultiplexing(bool enabled)
if (changed) emit multiplexingChanged(m_multiplexingEnabled);
}
void MAVLinkProtocol::enableParamGuard(bool enabled)
{
if (enabled != m_paramGuardEnabled)
{
m_paramGuardEnabled = enabled;
emit paramGuardChanged(m_paramGuardEnabled);
}
}
void MAVLinkProtocol::enableActionGuard(bool enabled)
{
if (enabled != m_actionGuardEnabled)
{
m_actionGuardEnabled = enabled;
emit actionGuardChanged(m_actionGuardEnabled);
}
}
void MAVLinkProtocol::setParamRetransmissionTimeout(int ms)
{
if (ms != m_paramRetransmissionTimeout)
{
m_paramRetransmissionTimeout = ms;
emit paramRetransmissionTimeoutChanged(m_paramRetransmissionTimeout);
}
}
void MAVLinkProtocol::setParamRewriteTimeout(int ms)
{
if (ms != m_paramRewriteTimeout)
{
m_paramRewriteTimeout = ms;
emit paramRewriteTimeoutChanged(m_paramRewriteTimeout);
}
}
void MAVLinkProtocol::setActionRetransmissionTimeout(int ms)
{
if (ms != m_actionRetransmissionTimeout)
{
m_actionRetransmissionTimeout = ms;
emit actionRetransmissionTimeoutChanged(m_actionRetransmissionTimeout);
}
}
void MAVLinkProtocol::enableLogging(bool enabled)
{
bool changed = false;
......
src/comm/MAVLinkProtocol.h
View file @ a412dfef
......@@ -77,6 +77,16 @@ public:
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 */
......@@ -99,6 +109,21 @@ public slots:
/** @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);
......@@ -121,6 +146,11 @@ protected:
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;
......@@ -143,6 +173,18 @@ signals:
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 @ a412dfef
......@@ -817,8 +817,8 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
qDebug() << "GCS REQUESTED PARAM LIST FROM SIMULATION";
mavlink_param_request_list_t read;
mavlink_msg_param_request_list_decode(&msg, &read);
if (read.target_system == systemId)
{
// if (read.target_system == systemId)
// {
// Output all params
// Iterate through all components, through all parameters and emit them
QMap<QString, float>::iterator i;
......@@ -826,18 +826,21 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
int j = 0;
for (i = onboardParams.begin(); i != onboardParams.end(); ++i)
{
// Pack message and get size of encoded byte string
mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)i.key().toStdString().c_str(), i.value(), onboardParams.size(), j);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer+=bufferlength;
if (j != 5)
{
// Pack message and get size of encoded byte string
mavlink_msg_param_value_pack(read.target_system, componentId, &msg, (int8_t*)i.key().toStdString().c_str(), i.value(), onboardParams.size(), j);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer+=bufferlength;
}
j++;
}
qDebug() << "SIMULATION SENT PARAMETERS TO GCS";
}
// }
}
break;
case MAVLINK_MSG_ID_PARAM_SET:
......@@ -845,8 +848,8 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
qDebug() << "SIMULATION RECEIVED COMMAND TO SET PARAMETER";
mavlink_param_set_t set;
mavlink_msg_param_set_decode(&msg, &set);
if (set.target_system == systemId)
{
// if (set.target_system == systemId)
// {
QString key = QString((char*)set.param_id);
if (onboardParams.contains(key))
{
......@@ -854,13 +857,46 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
onboardParams.insert(key, set.param_value);
// Pack message and get size of encoded byte string
mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)key.toStdString().c_str(), set.param_value, onboardParams.size(), 0);
mavlink_msg_param_value_pack(set.target_system, componentId, &msg, (int8_t*)key.toStdString().c_str(), set.param_value, onboardParams.size(), onboardParams.keys().indexOf(key));
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer+=bufferlength;
}
// }
}
case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
{
qDebug() << "SIMULATION RECEIVED COMMAND TO SEND PARAMETER";
mavlink_param_request_read_t read;
mavlink_msg_param_request_read_decode(&msg, &read);
QByteArray bytes((char*)read.param_id, MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN);
QString key = QString(bytes);
if (onboardParams.contains(key))
{
float paramValue = onboardParams.value(key);
// Pack message and get size of encoded byte string
mavlink_msg_param_value_pack(read.target_system, componentId, &msg, (int8_t*)key.toStdString().c_str(), paramValue, onboardParams.size(), onboardParams.keys().indexOf(key));
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer+=bufferlength;
}
else if (read.param_index < onboardParams.size())
{
key = onboardParams.keys().at(read.param_index);
float paramValue = onboardParams.value(key);
// Pack message and get size of encoded byte string
mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)key.toStdString().c_str(), paramValue, onboardParams.size(), onboardParams.keys().indexOf(key));
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer+=bufferlength;
}
}
break;
......@@ -868,10 +904,10 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
}
//unsigned char v=data[i];
//fprintf(stderr,"%02x ", v);
unsigned char v=data[i];
fprintf(stderr,"%02x ", v);
}
//fprintf(stderr,"\n");
fprintf(stderr,"\n");
readyBufferMutex.lock();
for (int i = 0; i < streampointer; i++)
......@@ -903,22 +939,22 @@ void MAVLinkSimulationLink::readBytes() {
readyBufferMutex.unlock();
// if (len > 0)
// {
// qDebug() << "Simulation sent " << len << " bytes to groundstation: ";
//
// /* Increase write counter */
// //bitsSentTotal += size * 8;
//
// //Output all bytes as hex digits
// int i;
// for (i=0; i<len; i++)
// {
// unsigned int v=data[i];
// fprintf(stderr,"%02x ", v);
// }
// fprintf(stderr,"\n");
// }
// if (len > 0)
// {
// qDebug() << "Simulation sent " << len << " bytes to groundstation: ";
// /* Increase write counter */
// //bitsSentTotal += size * 8;
// //Output all bytes as hex digits
// int i;
// for (i=0; i<len; i++)
// {
// unsigned int v=data[i];
// fprintf(stderr,"%02x ", v);
// }
// fprintf(stderr,"\n");
// }
}
/**
......@@ -957,8 +993,9 @@ bool MAVLinkSimulationLink::connect()
start(LowPriority);
MAVLinkSimulationMAV* mav1 = new MAVLinkSimulationMAV(this, 1, 47.376, 8.548);
//MAVLinkSimulationMAV* mav2 = new MAVLinkSimulationMAV(this, 2);
Q_UNUSED(mav1);
//MAVLinkSimulationMAV* mav2 = new MAVLinkSimulationMAV(this, 2);
//
//Q_UNUSED(mav2);
// timer->start(rate);
return true;
......
src/comm/MAVLinkSimulationMAV.cc
View file @ a412dfef
......@@ -96,7 +96,7 @@ void MAVLinkSimulationMAV::mainloop()
{
//float trueyaw = atan2f(xm, ym);
float newYaw = atan2f(xm, ym);
float newYaw = atan2f(ym, xm);
if (fabs(yaw - newYaw) < 90)
{
......@@ -112,8 +112,8 @@ void MAVLinkSimulationMAV::mainloop()
//if (sqrt(xm*xm+ym*ym) > 0.0000001)
if (flying)
{
x += sin(yaw)*radPer100ms;
y += cos(yaw)*radPer100ms;
x += cos(yaw)*radPer100ms;
y += sin(yaw)*radPer100ms;
z += altPer100ms*zsign;
}
......@@ -135,7 +135,7 @@ void MAVLinkSimulationMAV::mainloop()
pos.alt = z*1000.0;
pos.lat = x*1E7;
pos.lon = y*1E7;
pos.vx = 10.0f*100.0f;
pos.vx = sin(yaw)*10.0f*100.0f;
pos.vy = 0;
pos.vz = altPer100ms*10.0f*100.0f*zsign*-1.0f;
mavlink_msg_global_position_int_encode(systemid, MAV_COMP_ID_IMU, &msg, &pos);
......@@ -147,7 +147,7 @@ void MAVLinkSimulationMAV::mainloop()
attitude.usec = 0;
attitude.roll = 0.0f;
attitude.pitch = 0.0f;
attitude.yaw = yaw-(M_PI/2.0);
attitude.yaw = yaw;
attitude.rollspeed = 0.0f;
attitude.pitchspeed = 0.0f;
attitude.yawspeed = 0.0f;
......@@ -170,11 +170,11 @@ void MAVLinkSimulationMAV::mainloop()
// VFR HUD
mavlink_vfr_hud_t hud;
hud.airspeed = pos.vx;
hud.groundspeed = pos.vx;
hud.alt = pos.alt;
hud.airspeed = pos.vx/100.0f;
hud.groundspeed = pos.vx/100.0f;
hud.alt = z;
hud.heading = static_cast<int>((yaw/M_PI)*180.0f+180.0f) % 360;
hud.climb = pos.vz;
hud.climb = pos.vz/100.0f;
hud.throttle = 90;
mavlink_msg_vfr_hud_encode(systemid, MAV_COMP_ID_IMU, &msg, &hud);
link->sendMAVLinkMessage(&msg);
......@@ -323,6 +323,7 @@ void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
{
case MAV_ACTION_TAKEOFF:
flying = true;
nav_mode = MAV_NAV_LIFTOFF;
ack.result = 1;
break;
default:
......@@ -345,6 +346,7 @@ void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
mavlink_msg_local_position_setpoint_set_decode(&msg, &sp);
if (sp.target_system == this->systemid)
{
nav_mode = MAV_NAV_WAYPOINT;
previousSPX = nextSPX;
previousSPY = nextSPY;
previousSPZ = nextSPZ;
......
src/comm/MAVLinkSimulationWaypointPlanner.cc
View file @ a412dfef
......@@ -575,9 +575,9 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
float x = static_cast<double>(pos.lat)/1E7;
float y = static_cast<double>(pos.lon)/1E7;
float z = static_cast<double>(pos.alt)/1000;
//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;
......
src/uas/PxQuadMAV.cc
View file @ a412dfef
......@@ -143,7 +143,7 @@ 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());
emit valueChanged(uasId, "Load", "%", ((float)status.load)/10.0f, getUnixTime());
}
break;
default:
......
src/uas/UAS.cc
View file @ a412dfef
This diff is collapsed.
src/uas/UAS.h
View file @ a412dfef
......@@ -130,8 +130,9 @@ protected: //COMMENTS FOR TEST UNIT
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
......@@ -173,6 +174,8 @@ public:
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();
......@@ -259,6 +262,9 @@ 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);
......
src/uas/UASInterface.h
View file @ a412dfef
......@@ -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 */
......@@ -304,7 +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
*
......
src/uas/UASWaypointManager.cc
View file @ a412dfef
......@@ -236,6 +236,7 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
{
if (systemId == uas.getUASID() && compId == MAV_COMP_ID_WAYPOINTPLANNER)
{
// FIXME Petri
if (current_state == WP_SETCURRENT)
{
protocol_timer.stop();
......@@ -257,11 +258,12 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
}
}
emit updateStatusString(QString("New current waypoint %1").arg(wpc->seq));
//emit update to UI widgets
emit currentWaypointChanged(wpc->seq);
//qDebug() << "Updated waypoints list";
}
qDebug() << "new current waypoint" << wpc->seq;
emit updateStatusString(QString("New current waypoint %1").arg(wpc->seq));
//emit update to UI widgets
emit currentWaypointChanged(wpc->seq);
//qDebug() << "new current waypoint" << wpc->seq;
}
}
......
src/ui/DebugConsole.cc
View file @ a412dfef
......@@ -67,7 +67,7 @@ DebugConsole::DebugConsole(QWidget *parent) :
// Hide sent text field - it is only useful after send has been hit
m_ui->sentText->setVisible(false);
// Hide auto-send checkbox
m_ui->specialCheckBox->setVisible(false);
//m_ui->specialCheckBox->setVisible(false);
// Make text area not editable
m_ui->receiveText->setReadOnly(true);
// Limit to 500 lines
......@@ -85,10 +85,10 @@ DebugConsole::DebugConsole(QWidget *parent) :
snapShotTimer.setInterval(snapShotInterval);
snapShotTimer.start();
// Set hex checkbox checked
m_ui->hexCheckBox->setChecked(!convertToAscii);
m_ui->mavlinkCheckBox->setChecked(filterMAVLINK);
m_ui->holdCheckBox->setChecked(autoHold);
// // Set hex checkbox checked
// m_ui->hexCheckBox->setChecked(!convertToAscii);
// m_ui->mavlinkCheckBox->setChecked(filterMAVLINK);
// m_ui->holdCheckBox->setChecked(autoHold);
// Get a list of all existing links
links = QList<LinkInterface*>();
......@@ -116,12 +116,10 @@ DebugConsole::DebugConsole(QWidget *parent) :
// Connect Checkbox
connect(m_ui->specialComboBox, SIGNAL(highlighted(QString)), this, SLOT(specialSymbolSelected(QString)));
// Set add button invisible if auto add checkbox is checked
connect(m_ui->specialCheckBox, SIGNAL(clicked(bool)), m_ui->addSymbolButton, SLOT(setHidden(bool)));
//connect(m_ui->specialCheckBox, SIGNAL(clicked(bool)), m_ui->addSymbolButton, SLOT(setHidden(bool)));
// Allow to send via return
connect(m_ui->sendText, SIGNAL(returnPressed()), this, SLOT(sendBytes()));
hold(false);
loadSettings();
// Warn user about not activated hold
......@@ -131,6 +129,12 @@ DebugConsole::DebugConsole(QWidget *parent) :
}
}
void DebugConsole::hideEvent(QHideEvent* event)
{
Q_UNUSED(event);
storeSettings();
}
DebugConsole::~DebugConsole()