Merge branch 'radio'

src/comm/OpalLink.cc

@@ -246,6 +246,29 @@ void OpalLink::getSignals()
                                              values[OpalRT::B_W_2]
                                              );
             receiveMessage(bias);
+
+            /* send radio outputs */
+            mavlink_message_t rc;
+            mavlink_msg_rc_channels_pack(systemID, componentID, &rc,
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_1]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_2]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_3]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_4]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_5]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_6]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_7]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_8]),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_1]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_2]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_3]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_4]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_5]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_6]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_7]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_8]*255),
+                                             0 //rssi unused
+                                             );
+            receiveMessage(rc);
         }        
         else if (returnVal != EAGAIN) // if returnVal == EAGAIN => data just wasn't ready
         {
@@ -294,6 +317,12 @@ bool OpalLink::isConnected() {
     return connectState;
 }
 
+uint16_t OpalLink::duty2PulseMicros(double duty)
+{
+    /* duty cycle assumed to be of a signal at 70 Hz */
+    return static_cast<uint16_t>(duty/70*1000000);
+}
+
 
 
 

src/comm/OpalLink.h

@@ -151,6 +151,8 @@ protected:
     OpalRT::ParameterList *params;
 
     unsigned short opalInstID;
+
+    uint16_t duty2PulseMicros(double duty);
 };
 
 #endif // OPALLINK_H

src/comm/OpalRT.h

@@ -41,7 +41,7 @@ namespace OpalRT
       Configuration info for the model
      */
 
-    const unsigned short NUM_OUTPUT_SIGNALS=39;
+    const unsigned short NUM_OUTPUT_SIGNALS=57;
 
     /*  ------------------------------ Outputs ------------------------------
     *
@@ -85,7 +85,25 @@ namespace OpalRT
         B_F_2,
         B_W_0,
         B_W_1,
-        B_W_2
+        B_W_2,
+        RAW_CHANNEL_1 = 39,
+        RAW_CHANNEL_2,
+        RAW_CHANNEL_3,
+        RAW_CHANNEL_4,
+        RAW_CHANNEL_5,
+        RAW_CHANNEL_6,
+        RAW_CHANNEL_7,
+        RAW_CHANNEL_8,
+        NORM_CHANNEL_1,
+        NORM_CHANNEL_2,
+        NORM_CHANNEL_3,
+        NORM_CHANNEL_4,
+        NORM_CHANNEL_5,
+        NORM_CHANNEL_6,
+        NORM_CHANNEL_7,
+        NORM_CHANNEL_8,
+        CONTROLLER_AILERON,
+        CONTROLLER_ELEVATOR
     };       
 
     /** Component IDs of the parameters.  Currently they are all 1 becuase there is no advantage

src/ui/MainWindow.cc

@@ -979,6 +979,13 @@ void MainWindow::loadEngineerView()
         parametersDockWidget->show();
     }
 
+    // RADIO CONTROL VIEW
+    if (rcViewDockWidget)
+    {
+        addDockWidget(Qt::BottomDockWidgetArea, rcViewDockWidget);
+        rcViewDockWidget->show();
+    }
+
     this->show();
 }
 

src/ui/QGCRemoteControlView.cc

@@ -45,6 +45,7 @@ QGCRemoteControlView::QGCRemoteControlView(QWidget *parent) :
     channelLayout(new QVBoxLayout()),
     ui(new Ui::QGCRemoteControlView)
 {
+
     //ui->setupUi(this);
     QGridLayout* layout = new QGridLayout(this);
     layout->addLayout(channelLayout, 1, 0, 1, 2);