Skip to content

Q
qgroundcontrol
Commit acf7e9c4 authored by pixhawk's avatar pixhawk
Browse files
Options

Fixed a number of small bugs and issues, WP handling makes more sense now

parent e1bbb9f4
Hide whitespace changes
Inline Side-by-side
Showing with 83 additions and 47 deletions
src/uas/UASWaypointManager.cc
View file @ acf7e9c4
......@@ -46,7 +46,8 @@ UASWaypointManager::UASWaypointManager(UAS &_uas)
current_state(WP_IDLE),
current_partner_systemid(0),
current_partner_compid(0),
protocol_timer(this)
protocol_timer(this),
currentWaypoint(NULL)
{
connect(&protocol_timer, SIGNAL(timeout()), this, SLOT(timeout()));
connect(&uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(handleLocalPositionChanged(UASInterface*,double,double,double,quint64)));
......@@ -92,11 +93,11 @@ void UASWaypointManager::handleLocalPositionChanged(UASInterface* mav, double x,
{
Q_UNUSED(mav);
Q_UNUSED(time);
if (waypoints.count() > 0 && (waypoints[current_wp_id]->getFrame() == MAV_FRAME_LOCAL || waypoints[current_wp_id]->getFrame() == MAV_FRAME_LOCAL_ENU))
if (waypoints.count() > 0 && currentWaypoint && (currentWaypoint->getFrame() == MAV_FRAME_LOCAL || currentWaypoint->getFrame() == MAV_FRAME_LOCAL_ENU))
{
double xdiff = x-waypoints[current_wp_id]->getX();
double ydiff = y-waypoints[current_wp_id]->getY();
double zdiff = z-waypoints[current_wp_id]->getZ();
double xdiff = x-currentWaypoint->getX();
double ydiff = y-currentWaypoint->getY();
double zdiff = z-currentWaypoint->getZ();
double dist = sqrt(xdiff*xdiff + ydiff*ydiff + zdiff*zdiff);
emit waypointDistanceChanged(dist);
}
......@@ -146,6 +147,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
//// qDebug() << "Got WP: " << wp->seq << wp->x << wp->y << wp->z << wp->param4 << "auto:" << wp->autocontinue << "curr:" << wp->current << wp->param1 << wp->param2 << "Frame:"<< (MAV_FRAME) wp->frame << "Command:" << (MAV_CMD) wp->command;
Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->param1, wp->param2, wp->param3, wp->param4, wp->autocontinue, wp->current, (MAV_FRAME) wp->frame, (MAV_CMD) wp->command);
addWaypoint(lwp, false);
if (wp->current == 1) currentWaypoint = lwp;
//get next waypoint
current_wp_id++;
......@@ -164,6 +166,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
protocol_timer.stop();
emit readGlobalWPFromUAS(false);
if (currentWaypoint) emit currentWaypointChanged(currentWaypoint->getId());
emit updateStatusString("done.");
// qDebug() << "got all waypoints from ID " << systemId;
......@@ -232,6 +235,8 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
for(int i = 0; i < waypoints.size(); i++) {
if (waypoints[i]->getId() == wpc->seq) {
waypoints[i]->setCurrent(true);
currentWaypoint = waypoints[i];
} else {
waypoints[i]->setCurrent(false);
}
......@@ -267,6 +272,7 @@ int UASWaypointManager::setCurrentWaypoint(quint16 seq)
for(int i = 0; i < waypoints.size(); i++) {
if (waypoints[i]->getId() == seq) {
waypoints[i]->setCurrent(true);
currentWaypoint = waypoints[i];
} else {
waypoints[i]->setCurrent(false);
}
......@@ -302,7 +308,11 @@ void UASWaypointManager::addWaypoint(Waypoint *wp, bool enforceFirstActive)
{
if (wp) {
wp->setId(waypoints.size());
if (enforceFirstActive && waypoints.size() == 0) wp->setCurrent(true);
if (enforceFirstActive && waypoints.size() == 0)
{
wp->setCurrent(true);
currentWaypoint = wp;
}
waypoints.insert(waypoints.size(), wp);
connect(wp, SIGNAL(changed(Waypoint*)), this, SLOT(notifyOfChange(Waypoint*)));
......@@ -318,7 +328,11 @@ Waypoint* UASWaypointManager::createWaypoint(bool enforceFirstActive)
{
Waypoint* wp = new Waypoint();
wp->setId(waypoints.size());
if (enforceFirstActive && waypoints.size() == 0) wp->setCurrent(true);
if (enforceFirstActive && waypoints.size() == 0)
{
wp->setCurrent(true);
currentWaypoint = wp;
}
waypoints.insert(waypoints.size(), wp);
connect(wp, SIGNAL(changed(Waypoint*)), this, SLOT(notifyOfChange(Waypoint*)));
......
src/uas/UASWaypointManager.h
View file @ acf7e9c4
......@@ -163,6 +163,7 @@ private:
quint8 current_partner_compid; ///< The current protocol communication target component
QVector<Waypoint *> waypoints; ///< local waypoint list (main storage)
Waypoint* currentWaypoint; ///< The currently used waypoint
QVector<mavlink_waypoint_t *> waypoint_buffer; ///< buffer for waypoints during communication
QTimer protocol_timer; ///< Timer to catch timeouts
};
......
src/ui/HSIDisplay.cc
View file @ acf7e9c4
......@@ -42,7 +42,7 @@ This file is part of the QGROUNDCONTROL project
#include "UASWaypointManager.h"
#include <qmath.h>
//#include "Waypoint2DIcon.h"
//#include "MAV2DIcon.h"
#include "MAV2DIcon.h"
#include <QDebug>
......@@ -115,24 +115,6 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
xCenterPos = vwidth/2.0f;
yCenterPos = vheight/2.0f + topMargin - bottomMargin;
//qDebug() << "CENTER" << xCenterPos << yCenterPos;
// Add interaction elements
QHBoxLayout* layout = new QHBoxLayout(this);
layout->setMargin(0);
layout->setSpacing(12);
QDoubleSpinBox* spinBox = new QDoubleSpinBox(this);
spinBox->setMinimum(0.1);
spinBox->setMaximum(9999);
spinBox->setMaximumWidth(50);
spinBox->setValue(metricWidth);
spinBox->setToolTip(tr("Ground width in meters shown on instrument"));
spinBox->setStatusTip(tr("Ground width in meters shown on instrument"));
connect(spinBox, SIGNAL(valueChanged(double)), this, SLOT(setMetricWidth(double)));
connect(this, SIGNAL(metricWidthChanged(double)), spinBox, SLOT(setValue(double)));
layout->addWidget(spinBox);
layout->setAlignment(spinBox, Qt::AlignBottom | Qt::AlignRight);
this->setLayout(layout);
uas = NULL;
resetMAVState();
......@@ -246,6 +228,7 @@ void HSIDisplay::renderOverlay()
// Translate to center
painter.translate((xCenterPos)*scalingFactor, (yCenterPos)*scalingFactor);
QColor uasColor = uas->getColor();
MAV2DIcon::drawAirframePolygon(uas->getAirframe(), painter, static_cast<int>((vwidth/4.0f)*scalingFactor*1.1f), uasColor, 0.0f);
//MAV2DIcon::drawAirframePolygon(uas->getAirframe(), painter, static_cast<int>((vwidth/4.0f)*scalingFactor*1.1f), uasColor, 0.0f);
// Translate back
painter.translate(-(xCenterPos)*scalingFactor, -(yCenterPos)*scalingFactor);
......@@ -309,8 +292,8 @@ void HSIDisplay::renderOverlay()
// Draw crosstrack error to top right
float crossTrackError = 0;
paintText(tr("XTRACK"), QGC::colorCyan, 2.2f, 57, 11, &painter);
paintText(tr("%1 m").arg(crossTrackError, 5, 'f', 2, '0'), Qt::white, 2.2f, 70, 11, &painter);
paintText(tr("XTRACK"), QGC::colorCyan, 2.2f, 54, 11, &painter);
paintText(tr("%1 m").arg(crossTrackError, 5, 'f', 2, '0'), Qt::white, 2.2f, 67, 11, &painter);
// Draw position to bottom left
if (localAvailable > 0 && globalAvailable == 0) {
......@@ -330,7 +313,7 @@ void HSIDisplay::renderOverlay()
}
// Draw Field of view to bottom right
paintText(tr("FOV"), QGC::colorCyan, 2.6f, 62, vheight- 5.0f, &painter);
paintText(tr("FOV %1 m").arg(metricWidth, 5, 'f', 1, ' '), QGC::colorCyan, 2.6f, 55, vheight- 5.0f, &painter);
}
void HSIDisplay::drawStatusFlag(float x, float y, QString label, bool status, bool known, QPainter& painter)
......
src/ui/MainWindow.cc
View file @ acf7e9c4
......@@ -134,7 +134,7 @@ MainWindow::MainWindow(QWidget *parent):
toolBar->addPerspectiveChangeAction(ui.actionOperatorsView);
toolBar->addPerspectiveChangeAction(ui.actionEngineersView);
toolBar->addPerspectiveChangeAction(ui.actionPilotsView);
toolBar->addPerspectiveChangeAction(ui.actionUnconnectedView);
// toolBar->addPerspectiveChangeAction(ui.actionUnconnectedView);
buildCommonWidgets();
connectCommonWidgets();
......@@ -296,7 +296,6 @@ void MainWindow::setDefaultSettingsForAp()
void MainWindow::resizeEvent(QResizeEvent * event)
{
Q_UNUSED(event);
if (height() < 800)
{
ui.statusBar->setVisible(false);
......@@ -306,6 +305,17 @@ void MainWindow::resizeEvent(QResizeEvent * event)
ui.statusBar->setVisible(true);
ui.statusBar->setSizeGripEnabled(true);
}
if (width() > 1200)
{
toolBar->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
}
else
{
toolBar->setToolButtonStyle(Qt::ToolButtonIconOnly);
}
QMainWindow::resizeEvent(event);
}
QString MainWindow::getWindowStateKey()
......@@ -730,8 +740,8 @@ void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const
{
// Will only be loaded if not already a custom widget with
// the same name is present
qDebug() << "Tried to load file: " << file;
loadCustomWidget(defaultsDir+"/"+file, true);
qDebug() << "Tried to load file: " << defaultsDir+file;
loadCustomWidget(defaultsDir+file, true);
}
}
}
......
src/ui/QGCToolBar.cc
View file @ acf7e9c4
......@@ -41,10 +41,9 @@ QGCToolBar::QGCToolBar(QWidget *parent) :
logReplayAction = new QAction(QIcon(":"), "Replay", this);
logReplayAction->setCheckable(true);
addSeparator();
addAction(toggleLoggingAction);
addAction(logReplayAction);
// addSeparator();
// CREATE TOOLBAR ITEMS
// Add internal actions
......@@ -64,11 +63,10 @@ QGCToolBar::QGCToolBar(QWidget *parent) :
toolBarBatteryBar->setStyleSheet("QProgressBar:horizontal { margin: 0px 4px 0px 0px; border: 1px solid #4A4A4F; border-radius: 4px; text-align: center; padding: 2px; color: #111111; background-color: #111118; height: 10px; } QProgressBar:horizontal QLabel { font-size: 9px; color: #111111; } QProgressBar::chunk { background-color: green; }");
toolBarBatteryBar->setMinimum(0);
toolBarBatteryBar->setMaximum(100);
toolBarBatteryBar->setMinimumWidth(200);
toolBarBatteryBar->setMinimumWidth(20);
toolBarBatteryBar->setMaximumWidth(200);
toolBarBatteryVoltageLabel = new QLabel("xx.x V");
toolBarBatteryVoltageLabel->setStyleSheet(QString("QLabel { margin: 0px 0px 0px 4px; font: 14px; color: %1; }").arg(QColor(Qt::green).name()));
//symbolButton->setIcon(":");
symbolButton->setStyleSheet("QWidget { background-color: #050508; color: #DDDDDF; background-clip: border; } QToolButton { font-weight: bold; font-size: 12px; border: 0px solid #999999; border-radius: 5px; min-width:22px; max-width: 22px; min-height: 22px; max-height: 22px; padding: 0px; margin: 0px 0px 0px 20px; background-color: none; }");
addWidget(symbolButton);
addWidget(toolBarNameLabel);
......
src/ui/linechart/LinechartPlot.cc
View file @ acf7e9c4
......@@ -126,10 +126,7 @@ LinechartPlot::LinechartPlot(QWidget *parent, int plotid, quint64 interval): Qwt
connect(updateTimer, SIGNAL(timeout()), this, SLOT(paintRealtime()));
//updateTimer->start(DEFAULT_REFRESH_RATE);
// QwtPlot::setAutoReplot();
// canvas()->setPaintAttribute(QwtPlotCanvas::PaintCached, false);
// canvas()->setPaintAttribute(QwtPlotCanvas::PaintPacked, false);
connect(&timeoutTimer, SIGNAL(timeout()), this, SLOT(removeTimedOutCurves()));
}
LinechartPlot::~LinechartPlot()
......@@ -206,6 +203,34 @@ void LinechartPlot::setActive(bool active)
m_active = active;
}
void LinechartPlot::removeTimedOutCurves()
{
foreach(QString key, lastUpdate.keys())
{
quint64 time = lastUpdate.value(key);
if (QGC::groundTimeMilliseconds() - time > 20000)
{
// Remove this curve
// Delete curves
QwtPlotCurve* curve = curves.take(key);
// Delete the object
delete curve;
// Set the pointer null
curve = NULL;
// Notify connected components about the removal
emit curveRemoved(key);
// Remove from data list
TimeSeriesData* d = data.take(key);
// Delete the object
delete d;
// Set the pointer null
d = NULL;
}
}
}
/**
* @brief Set the zero (center line) value
* The zero value defines the centerline of the plot.
......@@ -235,18 +260,18 @@ void LinechartPlot::appendData(QString dataname, quint64 ms, double value)
// Add new value
TimeSeriesData* dataset = data.value(dataname);
quint64 time;
quint64 time = QGC::groundTimeMilliseconds();
// Append data
if (m_groundTime) {
// Use the current (receive) time
time = QGC::groundTimeUsecs()/1000;
} else {
if (!m_groundTime)
{
// Use timestamp from dataset
time = ms;
}
dataset->append(time, value);
lastUpdate.insert(dataname, time);
// Scaling values
if(ms < minTime) minTime = ms;
if(ms > maxTime) maxTime = ms;
......
src/ui/linechart/LinechartPlot.h
View file @ acf7e9c4
......@@ -39,6 +39,7 @@ This file is part of the PIXHAWK project
#include <QList>
#include <QMutex>
#include <QTime>
#include <QTimer>
#include <qwt_plot_panner.h>
#include <qwt_plot_curve.h>
#include <qwt_scale_draw.h>
......@@ -47,7 +48,7 @@ This file is part of the PIXHAWK project
#include <qwt_array.h>
#include <qwt_plot.h>
#include <ScrollZoomer.h>
#include <MG.h>
#include "MG.h"
class TimeScaleDraw: public QwtScaleDraw
{
......@@ -266,13 +267,16 @@ public slots:
/** @brief Set the number of values to average over */
void setAverageWindow(int windowSize);
void removeTimedOutCurves();
public:
QColor getColorForCurve(QString id);
protected:
QMap<QString, QwtPlotCurve*> curves;
QMap<QString, TimeSeriesData*> data;
QMap<QString, QwtScaleMap*> scaleMaps;
QMap<QString, quint64> lastUpdate;
ScrollZoomer* zoomer;
QList<QColor> colors;
......@@ -306,6 +310,7 @@ protected:
int plotid;
bool m_active; ///< Decides wether the plot is active or not
bool m_groundTime; ///< Enforce the use of the receive timestamp instead of the data timestamp
QTimer timeoutTimer;
// Methods
void addCurve(QString id);
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment