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Commit b23f464f authored by Anton Babushkin's avatar Anton Babushkin
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Merge branch 'master' into rc_cal_cleanup

parents b114e1bd 8371276c
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Showing with 120 additions and 79 deletions
src/qgcunittest/UASUnitTest.cc
View file @ b23f464f
......@@ -73,15 +73,20 @@ void UASUnitTest::getCommunicationStatus_test()
void UASUnitTest::filterVoltage_test()
{
float verificar=uas->filterVoltage(0.4f);
// Verify that upon construction the Comm status is disconnected
QCOMPARE(verificar, 8.52f);
// We allow the voltage returned to be within a small delta
const float allowedDelta = 0.05f;
const float desiredVoltage = 7.36f;
QVERIFY(verificar > (desiredVoltage - allowedDelta) && verificar < (desiredVoltage + allowedDelta));
}
void UASUnitTest:: getAutopilotType_test()
{
int type = uas->getAutopilotType();
// Verify that upon construction the autopilot is set to -1
QCOMPARE(type, -1);
}
void UASUnitTest::setAutopilotType_test()
{
uas->setAutopilotType(2);
......
src/uas/UAS.cc
View file @ b23f464f
......@@ -2552,76 +2552,110 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
parameters.insert(compId, new QMap<QString, QVariant>());
}
// Insert parameter into registry
if (parameters.value(compId)->contains(paramName)) {
parameters.value(compId)->remove(paramName);
}
QVariant param;
// Insert with correct type
// TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
switch (rawValue.param_type) {
case MAV_PARAM_TYPE_REAL32:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(paramValue.param_float);
} else {
param = QVariant(paramValue.param_float);
}
break;
case MAV_PARAM_TYPE_UINT8:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(QChar((unsigned char)paramValue.param_float));
} else {
param = QVariant(QChar((quint8)paramValue.param_float));
}
break;
case MAV_PARAM_TYPE_INT8:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(QChar((char)paramValue.param_float));
} else {
param = QVariant(QChar((qint8)paramValue.param_float));
}
break;
case MAV_PARAM_TYPE_INT16:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((short)paramValue.param_float);
} else {
param = QVariant((qint16)paramValue.param_float);
}
break;
case MAV_PARAM_TYPE_UINT16:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((unsigned short)paramValue.param_float);
} else {
param = QVariant((quint16)paramValue.param_float);
}
break;
case MAV_PARAM_TYPE_UINT32:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((unsigned int)paramValue.param_float);
} else {
param = QVariant((quint32)paramValue.param_float);
}
break;
case MAV_PARAM_TYPE_INT32:
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((int)paramValue.param_float);
} else {
param = QVariant((qint32)paramValue.param_float);
}
break;
default:
qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
return;
switch (rawValue.param_type)
{
case MAV_PARAM_TYPE_REAL32:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(paramValue.param_float);
}
else {
param = QVariant(paramValue.param_float);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
// qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAV_PARAM_TYPE_UINT8:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(QChar((unsigned char)paramValue.param_float));
}
else {
param = QVariant(QChar((unsigned char)paramValue.param_uint8));
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
//qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAV_PARAM_TYPE_INT8:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(QChar((char)paramValue.param_float));
}
else {
param = QVariant(QChar((char)paramValue.param_int8));
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
//qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAV_PARAM_TYPE_INT16:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((short)paramValue.param_float);
}
else {
param = QVariant(paramValue.param_int16);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
//qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAV_PARAM_TYPE_UINT32:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((unsigned int)paramValue.param_float);
}
else {
param = QVariant(paramValue.param_uint32);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
}
break;
case MAV_PARAM_TYPE_INT32:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((int)paramValue.param_float);
}
else {
param = QVariant(paramValue.param_int32);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
// qDebug() << "RECEIVED PARAM:" << param;
}
break;
default:
qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
} //switch (value.param_type)
// We did not return a critical error, now insert parameter into registry
if (parameters.value(compId)->contains(paramName)) {
parameters.value(compId)->remove(paramName);
}
// add new values
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
}
/**
......
src/ui/px4_configuration/QGCPX4AirframeConfig.cc
View file @ b23f464f
......@@ -99,6 +99,7 @@ QGCPX4AirframeConfig::QGCPX4AirframeConfig(QWidget *parent) :
ui->hComboBox->addItem(tr("3DR Iris"), 10016);
ui->hComboBox->addItem(tr("TBS Discovery"), 10015);
ui->hComboBox->addItem(tr("SteadiDrone QU4D"), 10017);
connect(ui->hPushButton, SIGNAL(clicked()), this, SLOT(hSelected()));
connect(ui->hComboBox, SIGNAL(activated(int)), this, SLOT(hSelected(int)));
......
src/ui/uas/UASView.cc
View file @ b23f464f
......@@ -634,16 +634,26 @@ void UASView::refresh()
// Thrust
m_ui->thrustBar->setValue(thrust * 100);
// Time Elapsed
//QDateTime time = MG::TIME::msecToQDateTime(uas->getUptime());
quint64 filterTime = uas->getUptime() / 1000;
int hours = static_cast<int>(filterTime / 3600);
int min = static_cast<int>((filterTime - 3600 * hours) / 60);
int sec = static_cast<int>(filterTime - 60 * min - 3600 * hours);
QString timeText;
timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
m_ui->timeElapsedLabel->setText(timeText);
if(this->timeRemaining > 1 && this->timeRemaining < QGC::MAX_FLIGHT_TIME)
{
// Filter output to get a higher stability
filterTime = static_cast<int>(this->timeRemaining);
filterTime = 0.8 * filterTime + 0.2 * static_cast<int>(this->timeRemaining);
int sec = static_cast<int>(filterTime - static_cast<int>(filterTime / 60.0f) * 60);
int min = static_cast<int>(filterTime / 60);
int hours = static_cast<int>(filterTime - min * 60 - sec);
// filterTime = 0.8 * filterTime + 0.2 * static_cast<int>(this->timeRemaining);
hours = static_cast<int>(filterTime / 3600);
min = static_cast<int>((filterTime - 3600 * hours) / 60);
sec = static_cast<int>(filterTime - 60 * min - 3600 * hours);
QString timeText;
timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
m_ui->timeRemainingLabel->setText(timeText);
}
......@@ -652,16 +662,7 @@ void UASView::refresh()
m_ui->timeRemainingLabel->setText(tr("Calc.."));
}
// Time Elapsed
//QDateTime time = MG::TIME::msecToQDateTime(uas->getUptime());
quint64 filterTime = uas->getUptime() / 1000;
int sec = static_cast<int>(filterTime - static_cast<int>(filterTime / 60) * 60);
int min = static_cast<int>(filterTime / 60);
int hours = static_cast<int>(filterTime - min * 60 - sec);
QString timeText;
timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
m_ui->timeElapsedLabel->setText(timeText);
}
generalUpdateCount++;
......
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