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Commit afd634b4 authored by Lorenz Meier's avatar Lorenz Meier
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Made HUD a bit more readable for cell phone tests

parent a89fd4d3
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Showing with 49 additions and 48 deletions
src/ui/HUD.cc
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......@@ -70,7 +70,7 @@ HUD::HUD(int width, int height, QWidget* parent)
yCenterOffset(0.0f),
vwidth(200.0f),
vheight(150.0f),
vGaugeSpacing(50.0f),
vGaugeSpacing(65.0f),
vPitchPerDeg(6.0f), ///< 4 mm y translation per degree)
rawBuffer1(NULL),
rawBuffer2(NULL),
......@@ -335,7 +335,7 @@ void HUD::updateAttitude(UASInterface* uas, int component, double roll, double p
void HUD::updateBattery(UASInterface* uas, double voltage, double percent, int seconds)
{
Q_UNUSED(uas);
fuelStatus = tr("BAT [%1% | %2V] (%3:%4)").arg(percent, 2, 'f', 0, QChar('0')).arg(voltage, 4, 'f', 1, QChar('0')).arg(seconds/60, 2, 10, QChar('0')).arg(seconds%60, 2, 10, QChar('0'));
fuelStatus = tr("BAT [%1% | %2V]").arg(percent, 2, 'f', 0, QChar('0')).arg(voltage, 4, 'f', 1, QChar('0'));
if (percent < 20.0f) {
fuelColor = warningColor;
} else if (percent < 10.0f) {
......@@ -622,7 +622,7 @@ void HUD::paintHUD()
// Low-pass roll, pitch and yaw
rollLP = roll;//rollLP * 0.2f + 0.8f * roll;
pitchLP = pitch;//pitchLP * 0.2f + 0.8f * pitch;
yawLP = yaw;//yawLP * 0.2f + 0.8f * yaw;
yawLP = (!isinf(yaw) && !isnan(yaw)) ? yaw : yawLP;//yawLP * 0.2f + 0.8f * yaw;
// Translate for yaw
const float maxYawTrans = 60.0f;
......@@ -650,6 +650,8 @@ void HUD::paintHUD()
// Negate to correct direction
yawTrans = -yawTrans;
yawTrans = 0;
//qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw;
// Update scaling factor
......@@ -714,20 +716,20 @@ void HUD::paintHUD()
painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);
// COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET
// Draw all fixed indicators
// MODE
paintText(mode, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 10, &painter);
// STATE
paintText(state, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
// BATTERY
paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 20, &painter);
paintText(fuelStatus, fuelColor, 6.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 6, &painter);
// Waypoint
paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);
paintText(waypointName, defaultColor, 6.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);
QPen linePen(Qt::SolidLine);
linePen.setWidth(refLineWidthToPen(1.0f));
linePen.setColor(defaultColor);
painter.setBrush(Qt::NoBrush);
painter.setPen(linePen);
// YAW INDICATOR
//
......@@ -735,15 +737,15 @@ void HUD::paintHUD()
// . .
// .......
//
const float yawIndicatorWidth = 4.0f;
const float yawIndicatorY = vheight/2.0f - 10.0f;
const float yawIndicatorWidth = 12.0f;
const float yawIndicatorY = vheight/2.0f - 15.0f;
QPolygon yawIndicator(4);
yawIndicator.setPoint(0, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
yawIndicator.setPoint(1, QPoint(refToScreenX(yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
yawIndicator.setPoint(2, QPoint(refToScreenX(-yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
yawIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
painter.setPen(defaultColor);
painter.drawPolyline(yawIndicator);
painter.setPen(linePen);
// CENTER
......@@ -752,7 +754,7 @@ void HUD::paintHUD()
// __ __
// \/\/
//
const float hIndicatorWidth = 7.0f;
const float hIndicatorWidth = 20.0f;
const float hIndicatorY = -25.0f;
const float hIndicatorYLow = hIndicatorY + hIndicatorWidth / 6.0f;
const float hIndicatorSegmentWidth = hIndicatorWidth / 7.0f;
......@@ -764,18 +766,15 @@ void HUD::paintHUD()
hIndicator.setPoint(4, QPoint(refToScreenX(0.0f+hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
hIndicator.setPoint(5, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f-hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
hIndicator.setPoint(6, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
painter.setPen(defaultColor);
painter.drawPolyline(hIndicator);
// SETPOINT
const float centerWidth = 4.0f;
painter.setPen(defaultColor);
painter.setBrush(Qt::NoBrush);
const float centerWidth = 8.0f;
// TODO
//painter.drawEllipse(QPointF(refToScreenX(qMin(10.0f, values.value("roll desired", 0.0f) * 10.0f)), refToScreenY(qMin(10.0f, values.value("pitch desired", 0.0f) * 10.0f))), refToScreenX(centerWidth/2.0f), refToScreenX(centerWidth/2.0f));
const float centerCrossWidth = 10.0f;
const float centerCrossWidth = 20.0f;
// left
painter.drawLine(QPointF(refToScreenX(-centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(-centerCrossWidth / 2.0f), refToScreenY(0.0f)));
// right
......@@ -786,12 +785,11 @@ void HUD::paintHUD()
// COMPASS
const float compassY = -vheight/2.0f + 10.0f;
QRectF compassRect(QPointF(refToScreenX(-5.0f), refToScreenY(compassY)), QSizeF(refToScreenX(10.0f), refToScreenY(5.0f)));
const float compassY = -vheight/2.0f + 6.0f;
QRectF compassRect(QPointF(refToScreenX(-12.0f), refToScreenY(compassY)), QSizeF(refToScreenX(24.0f), refToScreenY(12.0f)));
painter.setBrush(Qt::NoBrush);
painter.setPen(Qt::SolidLine);
painter.setPen(defaultColor);
painter.drawRoundedRect(compassRect, 2, 2);
painter.setPen(linePen);
painter.drawRoundedRect(compassRect, 3, 3);
QString yawAngle;
// const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;
......@@ -803,13 +801,16 @@ void HUD::paintHUD()
/* final safeguard for really stupid systems */
int yawCompass = static_cast<int>(yawDeg) % 360;
yawAngle.sprintf("%03d", yawCompass);
paintText(yawAngle, defaultColor, 3.5f, -4.3f, compassY+ 0.97f, &painter);
paintText(yawAngle, defaultColor,8.5f, -9.8f, compassY+ 1.7f, &painter);
painter.setBrush(Qt::NoBrush);
painter.setPen(linePen);
// CHANGE RATE STRIPS
drawChangeRateStrip(-51.0f, -50.0f, 15.0f, -1.0f, 1.0f, -zSpeed, &painter);
drawChangeRateStrip(-65.0f, -60.0f, 25.0f, -10.0f, 10.0f, -zSpeed, &painter);
// CHANGE RATE STRIPS
drawChangeRateStrip(49.0f, -50.0f, 15.0f, -1.0f, 1.0f, totalAcc, &painter);
drawChangeRateStrip(65.0f, -60.0f, 25.0f, -10.0f, 10.0f, totalAcc, &painter);
// GAUGES
......@@ -822,10 +823,15 @@ void HUD::paintHUD()
gaugeAltitude = -zPos;
}
drawChangeIndicatorGauge(-vGaugeSpacing, -15.0f, 10.0f, 2.0f, gaugeAltitude, defaultColor, &painter, false);
painter.setBrush(Qt::NoBrush);
painter.setPen(linePen);
drawChangeIndicatorGauge(-vGaugeSpacing, 35.0f, 30.0f, 10.0f, gaugeAltitude, defaultColor, &painter, false);
paintText("alt m", defaultColor, 5.5f, -73.0f, 50, &painter);
// Right speed gauge
drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, totalSpeed, defaultColor, &painter, false);
drawChangeIndicatorGauge(vGaugeSpacing, 35.0f, 30.0f, 10.0f, totalSpeed, defaultColor, &painter, false);
paintText("v m/s", defaultColor, 5.5f, 55.0f, 50, &painter);
// Waypoint name
......@@ -961,8 +967,8 @@ void HUD::paintPitchLinePos(QString text, float refPosX, float refPosY, QPainter
const float pitchWidth = 30.0f;
const float pitchGap = pitchWidth / 2.5f;
const float pitchHeight = pitchWidth / 12.0f;
const float textSize = pitchHeight * 1.1f;
const float lineWidth = 0.5f;
const float textSize = pitchHeight * 1.6f;
const float lineWidth = 1.5f;
// Positive pitch indicator:
//
......@@ -975,7 +981,7 @@ void HUD::paintPitchLinePos(QString text, float refPosX, float refPosY, QPainter
// Left horizontal line
drawLine(refPosX-pitchWidth/2.0f, refPosY, refPosX-pitchGap/2.0f, refPosY, lineWidth, defaultColor, painter);
// Text left
paintText(text, defaultColor, textSize, refPosX-pitchWidth/2.0 + 0.75f, refPosY + pitchHeight - 1.75f, painter);
paintText(text, defaultColor, textSize, refPosX-pitchWidth/2.0 + 0.75f, refPosY + pitchHeight - 1.3f, painter);
// Right vertical line
drawLine(refPosX+pitchWidth/2.0f, refPosY, refPosX+pitchWidth/2.0f, refPosY+pitchHeight, lineWidth, defaultColor, painter);
......@@ -988,10 +994,10 @@ void HUD::paintPitchLineNeg(QString text, float refPosX, float refPosY, QPainter
const float pitchWidth = 30.0f;
const float pitchGap = pitchWidth / 2.5f;
const float pitchHeight = pitchWidth / 12.0f;
const float textSize = pitchHeight * 1.1f;
const float textSize = pitchHeight * 1.6f;
const float segmentWidth = ((pitchWidth - pitchGap)/2.0f) / 7.0f; ///< Four lines and three gaps -> 7 segments
const float lineWidth = 0.1f;
const float lineWidth = 1.5f;
// Negative pitch indicator:
//
......@@ -1007,7 +1013,7 @@ void HUD::paintPitchLineNeg(QString text, float refPosX, float refPosY, QPainter
drawLine(refPosX-pitchWidth/2.0+(i*segmentWidth), refPosY, refPosX-pitchWidth/2.0+(i*segmentWidth)+segmentWidth, refPosY, lineWidth, defaultColor, painter);
}
// Text left
paintText(text, defaultColor, textSize, refPosX-pitchWidth/2.0f + 0.75f, refPosY + pitchHeight - 1.75f, painter);
paintText(text, defaultColor, textSize, refPosX-pitchWidth/2.0f + 0.75f, refPosY + pitchHeight - 1.3f, painter);
// Right vertical line
drawLine(refPosX+pitchGap/2.0, refPosY, refPosX+pitchGap/2.0, refPosY-pitchHeight, lineWidth, defaultColor, painter);
......@@ -1080,13 +1086,6 @@ void HUD::drawPolygon(QPolygonF refPolygon, QPainter* painter)
void HUD::drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter)
{
QBrush brush(defaultColor, Qt::NoBrush);
painter->setBrush(brush);
QPen rectPen(Qt::SolidLine);
rectPen.setWidth(0);
rectPen.setColor(defaultColor);
painter->setPen(rectPen);
float scaledValue = value;
// Saturate value
......@@ -1105,7 +1104,7 @@ void HUD::drawChangeRateStrip(float xRef, float yRef, float height, float minRat
// -
const float width = height / 8.0f;
const float lineWidth = 0.5f;
const float lineWidth = 1.5f;
// Indicator lines
// Top horizontal line
......@@ -1120,7 +1119,7 @@ void HUD::drawChangeRateStrip(float xRef, float yRef, float height, float minRat
// Text
QString label;
label.sprintf("< %+06.2f", value);
paintText(label, defaultColor, 3.0f, xRef+width/2.0f, yRef+height-((scaledValue - minRate)/(maxRate-minRate))*height - 1.6f, painter);
paintText(label, defaultColor, 6.0f, xRef+width/2.0f, yRef+height-((scaledValue - minRate)/(maxRate-minRate))*height - 1.6f, painter);
}
//void HUD::drawSystemIndicator(float xRef, float yRef, int maxNum, float maxWidth, float maxHeight, QPainter* painter)
......@@ -1205,17 +1204,19 @@ void HUD::drawChangeIndicatorGauge(float xRef, float yRef, float radius, float e
// Draw the circle
QPen circlePen(Qt::SolidLine);
if (!solid) circlePen.setStyle(Qt::DotLine);
circlePen.setWidth(refLineWidthToPen(0.5f));
circlePen.setColor(defaultColor);
circlePen.setWidth(refLineWidthToPen(2.0f));
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, 170.0f, 1.5f, color, painter);
QString label;
label.sprintf("%05.1f", value);
float textSize = radius / 2.5;
// Draw the value
paintText(label, color, 4.5f, xRef-7.5f, yRef-2.0f, painter);
paintText(label, color, textSize, xRef-textSize*1.7f, yRef-textSize*0.4f, painter);
// Draw the needle
// Scale the rotation so that the gauge does one revolution
......
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