Fixed battery voltage setting, fixed mean in linechart

src/comm/MAVLinkSimulationMAV.cc

@@ -163,7 +163,7 @@ void MAVLinkSimulationMAV::mainloop()
         status.packet_drop = 0;
         status.vbat = 10500;
         status.status = sys_state;
-        status.battery_remaining = 900;
+        status.battery_remaining = 912;
         mavlink_msg_sys_status_encode(systemid, MAV_COMP_ID_IMU, &msg, &status);
         link->sendMAVLinkMessage(&msg);
         timer10Hz = 5;

src/uas/UAS.cc

@@ -41,8 +41,10 @@ thrustSum(0),
 thrustMax(10),
 startVoltage(0),
 warnVoltage(9.5f),
+warnLevelPercent(20.0f),
 currentVoltage(12.0f),
 lpVoltage(12.0f),
+batteryRemainingEstimateEnabled(true),
 mode(MAV_MODE_UNINIT),
 status(MAV_STATE_UNINIT),
 onboardTimeOffset(0),
@@ -305,6 +307,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 lpVoltage = filterVoltage(currentVoltage);
                 if (startVoltage == 0) startVoltage = currentVoltage;
                 timeRemaining = calculateTimeRemaining();
+                if (!batteryRemainingEstimateEnabled)
+                {
+                    chargeLevel = state.battery_remaining/10.0f;
+                }
                 //qDebug() << "Voltage: " << currentVoltage << " Chargelevel: " << getChargeLevel() << " Time remaining " << timeRemaining;
                 emit batteryChanged(this, lpVoltage, getChargeLevel(), timeRemaining);
                 emit voltageChanged(message.sysid, state.vbat/1000.0f);
@@ -1906,29 +1912,49 @@ void UAS::setBattery(BatteryType type, int cells)
 
 void UAS::setBatterySpecs(const QString& specs)
 {
-    QString stringList = specs;
-    stringList = stringList.remove("V");
-    stringList = stringList.remove("v");
-    QStringList parts = stringList.split(",");
-    if (parts.length() == 3)
+    if (specs.length() == 0 || specs.contains("%"))
     {
-        float temp;
+        batteryRemainingEstimateEnabled = false;
         bool ok;
-        // Get the empty voltage
-        temp = parts.at(0).toFloat(&ok);
-        if (ok) emptyVoltage = temp;
-        // Get the warning voltage
-        temp = parts.at(1).toFloat(&ok);
-        if (ok) warnVoltage = temp;
-        // Get the full voltage
-        temp = parts.at(2).toFloat(&ok);
-        if (ok) fullVoltage = temp;
+        QString percent = specs;
+        percent = percent.remove("%");
+        float temp = percent.toFloat(&ok);
+        if (ok) warnLevelPercent = temp;
+    }
+    else
+    {
+        batteryRemainingEstimateEnabled = true;
+        QString stringList = specs;
+        stringList = stringList.remove("V");
+        stringList = stringList.remove("v");
+        QStringList parts = stringList.split(",");
+        if (parts.length() == 3)
+        {
+            float temp;
+            bool ok;
+            // Get the empty voltage
+            temp = parts.at(0).toFloat(&ok);
+            if (ok) emptyVoltage = temp;
+            // Get the warning voltage
+            temp = parts.at(1).toFloat(&ok);
+            if (ok) warnVoltage = temp;
+            // Get the full voltage
+            temp = parts.at(2).toFloat(&ok);
+            if (ok) fullVoltage = temp;
+        }
     }
 }
 
 QString UAS::getBatterySpecs()
 {
-    return QString("%1V,%2V,%3V").arg(emptyVoltage).arg(warnVoltage).arg(fullVoltage);
+    if (batteryRemainingEstimateEnabled)
+    {
+        return QString("%1V,%2V,%3V").arg(emptyVoltage).arg(warnVoltage).arg(fullVoltage);
+    }
+    else
+    {
+        return QString("%1%").arg(warnLevelPercent);
+    }
 }
 
 int UAS::calculateTimeRemaining()
@@ -1947,20 +1973,22 @@ int UAS::calculateTimeRemaining()
 /**
  * @return charge level in percent - 0 - 100
  */
-double UAS::getChargeLevel()
+float UAS::getChargeLevel()
 {
-    float chargeLevel;
-    if (lpVoltage < emptyVoltage)
+    if (batteryRemainingEstimateEnabled)
     {
-        chargeLevel = 0.0f;
-    }
-    else if (lpVoltage > fullVoltage)
-    {
-        chargeLevel = 100.0f;
-    }
-    else
-    {
-        chargeLevel = 100.0f * ((lpVoltage - emptyVoltage)/(fullVoltage - emptyVoltage));
+        if (lpVoltage < emptyVoltage)
+        {
+            chargeLevel = 0.0f;
+        }
+        else if (lpVoltage > fullVoltage)
+        {
+            chargeLevel = 100.0f;
+        }
+        else
+        {
+            chargeLevel = 100.0f * ((lpVoltage - emptyVoltage)/(fullVoltage - emptyVoltage));
+        }
     }
     return chargeLevel;
 }

src/uas/UAS.h

@@ -124,8 +124,11 @@ protected: //COMMENTS FOR TEST UNIT
     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 status;                 ///< The current status of the MAV
@@ -167,7 +170,7 @@ public:
     /** @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 Check if vehicle is in autonomous mode */

src/ui/linechart/LinechartPlot.cc

@@ -789,13 +789,13 @@ void TimeSeriesData::append(quint64 ms, double value)
     this->value[count] = value;
     this->lastValue = value;
     this->mean = 0;
-    QList<double> medianList = QList<double>();
+    //QList<double> medianList = QList<double>();
     for (unsigned int i = 0; (i < averageWindow) && (((int)count - (int)i) >= 0); ++i)
     {
         this->mean += this->value[count-i];
-        medianList.append(this->value[count-i]);
+        //medianList.append(this->value[count-i]);
     }
-    mean = mean / static_cast<double>(qMin(averageWindow,static_cast<unsigned int>(count)));
+    this->mean = mean / static_cast<double>(qMin(averageWindow,static_cast<unsigned int>(count)));
 
     this->variance = 0;
     for (unsigned int i = 0; (i < averageWindow) && (((int)count - (int)i) >= 0); ++i)
@@ -804,19 +804,19 @@ void TimeSeriesData::append(quint64 ms, double value)
     }
     this->variance = this->variance / static_cast<double>(qMin(averageWindow,static_cast<unsigned int>(count)));
 
-    qSort(medianList);
-
-    if (medianList.count() > 2)
-    {
-        if (medianList.count() % 2 == 0)
-        {
-            median = (medianList.at(medianList.count()/2) + medianList.at(medianList.count()/2+1)) / 2.0;
-        }
-        else
-        {
-            median = medianList.at(medianList.count()/2+1);
-        }
-    }
+//    qSort(medianList);
+
+//    if (medianList.count() > 2)
+//    {
+//        if (medianList.count() % 2 == 0)
+//        {
+//            median = (medianList.at(medianList.count()/2) + medianList.at(medianList.count()/2+1)) / 2.0;
+//        }
+//        else
+//        {
+//            median = medianList.at(medianList.count()/2+1);
+//        }
+//    }
 
     // Update statistical values
     if(ms < startTime) startTime = ms;

src/ui/linechart/LinechartWidget.cc

@@ -416,7 +416,7 @@ void LinechartWidget::refresh()
     QMap<QString, QLabel*>::iterator j;
     for (j = curveMeans->begin(); j != curveMeans->end(); ++j)
     {
-        double val = activePlot->getCurrentValue(j.key());
+        double val = activePlot->getMean(j.key());
         int intval = static_cast<int>(val);
         if (intval >= 100000 || intval <= -100000)
         {

src/ui/uas/UASView.cc

@@ -435,7 +435,7 @@ void UASView::setBatterySpecs()
     {
         bool ok;
         QString newName = QInputDialog::getText(this, tr("Set Battery Specifications for %1").arg(uas->getUASName()),
-                                                tr("Specs: (empty,warn,full), e.g. (9V,9.5V,12.6V)"), QLineEdit::Normal,
+                                                tr("Specs: (empty,warn,full), e.g. (9V,9.5V,12.6V) or just warn level in percent (e.g. 15%) to use estimate from MAV"), QLineEdit::Normal,
                                                 uas->getBatterySpecs(), &ok);
 
         if (ok && !newName.isEmpty()) uas->setBatterySpecs(newName);