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qgroundcontrol
Commit b4a632b2 authored by hengli's avatar hengli
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Fixed merge conflict in qgroundcontrol.pro.

parent f2e26de6
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Showing with 182 additions and 152 deletions
qgroundcontrol.pro
View file @ b4a632b2
......@@ -363,9 +363,7 @@ HEADERS += src/MG.h \
src/ui/mavlink/QGCMAVLinkMessageSender.h \
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
src/ui/QGCPluginHost.h \
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h \
src/ui/map3D/TerrainParamDialog.h \
src/ui/map3D/GLOverlayGeode.h
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h
# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
......@@ -392,14 +390,16 @@ contains(DEPENDENCIES_PRESENT, osg) {
src/ui/map3D/Texture.h \
src/ui/map3D/Imagery.h \
src/ui/map3D/HUDScaleGeode.h \
src/ui/map3D/WaypointGroupNode.h
src/ui/map3D/WaypointGroupNode.h \
src/ui/map3D/TerrainParamDialog.h
}
contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
message("Including headers for Protocol Buffers")
# Enable only if protobuf is available
HEADERS += thirdParty/mavlink/include/pixhawk/pixhawk.pb.h \
src/ui/map3D/ObstacleGroupNode.h
src/ui/map3D/ObstacleGroupNode.h \
src/ui/map3D/GLOverlayGeode.h
}
contains(DEPENDENCIES_PRESENT, libfreenect) {
message("Including headers for libfreenect")
......@@ -505,9 +505,7 @@ SOURCES += src/main.cc \
src/ui/mavlink/QGCMAVLinkMessageSender.cc \
src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \
src/ui/QGCPluginHost.cc \
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc \
src/ui/map3D/TerrainParamDialog.cc \
src/ui/map3D/GLOverlayGeode.cc
src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc
# Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
......@@ -536,7 +534,9 @@ contains(DEPENDENCIES_PRESENT, osg) {
src/ui/map3D/Texture.cc \
src/ui/map3D/Imagery.cc \
src/ui/map3D/HUDScaleGeode.cc \
src/ui/map3D/WaypointGroupNode.cc
src/ui/map3D/WaypointGroupNode.cc \
src/ui/map3D/TerrainParamDialog.cc
contains(DEPENDENCIES_PRESENT, osgearth) {
message("Including sources for osgEarth")
......@@ -549,7 +549,8 @@ contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
# Enable only if protobuf is available
SOURCES += thirdParty/mavlink/src/pixhawk/pixhawk.pb.cc \
src/ui/map3D/ObstacleGroupNode.cc
src/ui/map3D/ObstacleGroupNode.cc \
src/ui/map3D/GLOverlayGeode.cc
}
contains(DEPENDENCIES_PRESENT, libfreenect) {
message("Including sources for libfreenect")
......
src/comm/SerialLink.cc
View file @ b4a632b2
......@@ -645,20 +645,23 @@ void SerialLink::setName(QString name)
}
/**
* This function maps baud rate constants to numerical equivalents.
* It relies on the mapping given in qportsettings.h from the QSerialPort library.
*/
qint64 SerialLink::getNominalDataRate()
{
qint64 dataRate = 0;
switch (portSettings.baudRate()) {
#ifndef Q_OS_WIN
// Baud rates supported only by POSIX systems
#if defined(Q_OS_UNIX) || defined(Q_OS_LINUX) || defined(Q_OS_DARWIN)
case QPortSettings::BAUDR_50:
dataRate = 50;
break;
case QPortSettings::BAUDR_75:
dataRate = 75;
break;
case QPortSettings::BAUDR_110:
dataRate = 110;
break;
case QPortSettings::BAUDR_134:
dataRate = 134;
break;
......@@ -668,7 +671,48 @@ qint64 SerialLink::getNominalDataRate()
case QPortSettings::BAUDR_200:
dataRate = 200;
break;
case QPortSettings::BAUDR_1800:
dataRate = 1800;
break;
#endif
// Baud rates supported only by Linux
#ifdef Q_OS_LINUX
case QPortSettings::BAUDR_230400:
dataRate = 230400;
break;
case QPortSettings::BAUDR_460800:
dataRate = 460800;
break;
case QPortSettings::BAUDR_500000:
dataRate = 500000;
break;
case QPortSettings::BAUDR_576000:
dataRate = 576000;
break;
case QPortSettings::BAUDR_921600:
dataRate = 921600;
break;
#endif
// Baud rates supported only by Windows
#if defined(Q_OS_WIN32) || defined(Q_OS_WINCE)
case QPortSettings::BAUDR_14400:
dataRate = 14400;
break;
case QPortSettings::BAUDR_56000:
dataRate = 56000;
break;
case QPortSettings::BAUDR_128000:
dataRate = 128000;
break;
case QPortSettings::BAUDR_256000:
dataRate = 256000;
#endif
case QPortSettings::BAUDR_110:
dataRate = 110;
break;
case QPortSettings::BAUDR_300:
dataRate = 300;
break;
......@@ -678,11 +722,6 @@ qint64 SerialLink::getNominalDataRate()
case QPortSettings::BAUDR_1200:
dataRate = 1200;
break;
#ifndef Q_OS_WIN
case QPortSettings::BAUDR_1800:
dataRate = 1800;
break;
#endif
case QPortSettings::BAUDR_2400:
dataRate = 2400;
break;
......@@ -692,52 +731,22 @@ qint64 SerialLink::getNominalDataRate()
case QPortSettings::BAUDR_9600:
dataRate = 9600;
break;
#ifdef Q_OS_WIN
case QPortSettings::BAUDR_14400:
dataRate = 14400;
break;
#endif
case QPortSettings::BAUDR_19200:
dataRate = 19200;
break;
case QPortSettings::BAUDR_38400:
dataRate = 38400;
break;
#ifdef Q_OS_WIN
case QPortSettings::BAUDR_56000:
dataRate = 56000;
break;
#endif
case QPortSettings::BAUDR_57600:
dataRate = 57600;
break;
#ifdef Q_OS_WIN_XXXX // FIXME
case QPortSettings::BAUDR_76800:
dataRate = 76800;
break;
#endif
case QPortSettings::BAUDR_115200:
dataRate = 115200;
break;
#ifdef Q_OS_WIN
// Windows-specific high-end baudrates
case QPortSettings::BAUDR_128000:
dataRate = 128000;
break;
case QPortSettings::BAUDR_256000:
dataRate = 256000;
case QPortSettings::BAUDR_230400:
dataRate = 230400;
case QPortSettings::BAUDR_460800:
dataRate = 460800;
#endif
// All-OS high-speed
case QPortSettings::BAUDR_921600:
dataRate = 921600;
break;
// Otherwise do nothing.
case QPortSettings::BAUDR_UNKNOWN:
default:
// Do nothing
default:
break;
}
return dataRate;
......@@ -907,13 +916,19 @@ bool SerialLink::setBaudRateType(int rateIndex)
if(isConnected()) reconnect = true;
disconnect();
#ifdef Q_OS_WIN
const int minBaud = (int)QPortSettings::BAUDR_14400;
#else
// These minimum and maximum baud rates were based on those enumerated in qportsettings.h.
#if defined(Q_OS_WIN32) || defined(Q_OS_WINCE)
const int minBaud = (int)QPortSettings::BAUDR_110;
const int maxBaud = (int)QPortSettings::BAUDR_256000;
#elif defined(Q_OS_LINUX)
const int minBaud = (int)QPortSettings::BAUDR_50;
const int maxBaud = (int)QPortSettings::BAUDR_921600;
#elif defined(Q_OS_UNIX) || defined(Q_OS_DARWIN)
const int minBaud = (int)QPortSettings::BAUDR_50;
const int maxBaud = (int)QPortSettings::BAUDR_115200;
#endif
if (rateIndex >= minBaud && rateIndex <= (int)QPortSettings::BAUDR_921600)
if (rateIndex >= minBaud && rateIndex <= maxBaud)
{
portSettings.setBaudRate((QPortSettings::BaudRate)rateIndex);
}
......@@ -932,27 +947,24 @@ bool SerialLink::setBaudRateString(const QString& rate)
bool SerialLink::setBaudRate(int rate)
{
//qDebug() << "BAUD RATE:" << rate;
bool reconnect = false;
bool accepted = true; // This is changed if none of the data rates matches
if(isConnected()) {
reconnect = true;
}
disconnect();
// This switch-statment relies on the mapping given in qportsettings.h from the QSerialPort library.
switch (rate) {
#ifndef Q_OS_WIN
// Baud rates supported only by non-Windows systems
#if defined(Q_OS_UNIX) || defined(Q_OS_LINUX) || defined(Q_OS_DARWIN)
case 50:
portSettings.setBaudRate(QPortSettings::BAUDR_50);
break;
case 75:
portSettings.setBaudRate(QPortSettings::BAUDR_75);
break;
case 110:
portSettings.setBaudRate(QPortSettings::BAUDR_110);
break;
case 134:
portSettings.setBaudRate(QPortSettings::BAUDR_134);
break;
......@@ -962,7 +974,50 @@ bool SerialLink::setBaudRate(int rate)
case 200:
portSettings.setBaudRate(QPortSettings::BAUDR_200);
break;
case 1800:
portSettings.setBaudRate(QPortSettings::BAUDR_1800);
break;
#endif
// Supported only by Linux
#ifdef Q_OS_LINUX
case 230400:
portSettings.setBaudRate(QPortSettings::BAUDR_230400);
break;
case 460800:
portSettings.setBaudRate(QPortSettings::BAUDR_460800);
break;
case 500000:
portSettings.setBaudRate(QPortSettings::BAUDR_500000);
break;
case 576000:
portSettings.setBaudRate(QPortSettings::BAUDR_576000);
break;
case 921600:
portSettings.setBaudRate(QPortSettings::BAUDR_921600);
break;
#endif
// Baud rates supported only by windows
#if defined(Q_OS_WIN32) || defined(Q_OS_WINCE)
case 14400:
portSettings.setBaudRate(QPortSettings::BAUDR_14400);
break;
case 56000:
portSettings.setBaudRate(QPortSettings::BAUDR_56000);
break;
case 128000:
portSettings.setBaudRate(QPortSettings::BAUDR_128000);
break;
case 256000:
portSettings.setBaudRate(QPortSettings::BAUDR_256000);
break;
#endif
// Supported by all OSes:
case 110:
portSettings.setBaudRate(QPortSettings::BAUDR_110);
break;
case 300:
portSettings.setBaudRate(QPortSettings::BAUDR_300);
break;
......@@ -972,11 +1027,6 @@ bool SerialLink::setBaudRate(int rate)
case 1200:
portSettings.setBaudRate(QPortSettings::BAUDR_1200);
break;
#ifndef Q_OS_WIN
case 1800:
portSettings.setBaudRate(QPortSettings::BAUDR_1800);
break;
#endif
case 2400:
portSettings.setBaudRate(QPortSettings::BAUDR_2400);
break;
......@@ -986,50 +1036,18 @@ bool SerialLink::setBaudRate(int rate)
case 9600:
portSettings.setBaudRate(QPortSettings::BAUDR_9600);
break;
#ifdef Q_OS_WIN
case 14400:
portSettings.setBaudRate(QPortSettings::BAUDR_14400);
break;
#endif
case 19200:
portSettings.setBaudRate(QPortSettings::BAUDR_19200);
break;
case 38400:
portSettings.setBaudRate(QPortSettings::BAUDR_38400);
break;
#ifdef Q_OS_WIN
case 56000:
portSettings.setBaudRate(QPortSettings::BAUDR_56000);
break;
#endif
case 57600:
portSettings.setBaudRate(QPortSettings::BAUDR_57600);
break;
#ifdef Q_OS_WIN_XXXX // FIXME CHECK THIS
case 76800:
portSettings.setBaudRate(QPortSettings::BAUDR_76800);
break;
#endif
case 115200:
portSettings.setBaudRate(QPortSettings::BAUDR_115200);
break;
#ifdef Q_OS_WIN
case 128000:
portSettings.setBaudRate(QPortSettings::BAUDR_128000);
break;
case 230400:
portSettings.setBaudRate(QPortSettings::BAUDR_230400);
break;
case 256000:
portSettings.setBaudRate(QPortSettings::BAUDR_256000);
break;
case 460800:
portSettings.setBaudRate(QPortSettings::BAUDR_460800);
break;
#endif
case 921600:
portSettings.setBaudRate(QPortSettings::BAUDR_921600);
break;
default:
// If none of the above cases matches, there must be an error
accepted = false;
......
src/ui/HSIDisplay.cc
View file @ b4a632b2
......@@ -910,13 +910,7 @@ void HSIDisplay::sendBodySetPointCoordinates()
// Send the coordinates to the MAV
if (uas)
{
double dx = uiXSetCoordinate - uas->getLocalX();
double dy = uiYSetCoordinate - uas->getLocalY();
double dz = uiZSetCoordinate - uas->getLocalZ();
bool valid = (sqrt(dx*dx + dy*dy + dz*dz) < 200.0);//UASManager::instance()->isInLocalNEDSafetyLimits(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate);
// if (valid)
// {
uas->setLocalPositionSetpoint(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate, uiYawSet);
uas->setLocalPositionSetpoint(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate, uiYawSet);
}
}
......
src/ui/MainWindow.cc
View file @ b4a632b2
......@@ -1211,23 +1211,24 @@ void MainWindow::UASCreated(UASInterface* uas)
QIcon icon;
// Set matching icon
switch (uas->getSystemType()) {
case 0:
switch (uas->getSystemType())
{
case MAV_TYPE_GENERIC:
icon = QIcon(":/images/mavs/generic.svg");
break;
case 1:
case MAV_TYPE_FIXED_WING:
icon = QIcon(":/images/mavs/fixed-wing.svg");
break;
case 2:
case MAV_TYPE_QUADROTOR:
icon = QIcon(":/images/mavs/quadrotor.svg");
break;
case 3:
case MAV_TYPE_COAXIAL:
icon = QIcon(":/images/mavs/coaxial.svg");
break;
case 4:
case MAV_TYPE_HELICOPTER:
icon = QIcon(":/images/mavs/helicopter.svg");
break;
case 5:
case MAV_TYPE_GCS:
icon = QIcon(":/images/mavs/groundstation.svg");
break;
default:
......
src/ui/SerialConfigurationWindow.cc
View file @ b4a632b2
......@@ -59,39 +59,55 @@ SerialConfigurationWindow::SerialConfigurationWindow(LinkInterface* link, QWidge
// Set up baud rates
ui.baudRate->clear();
ui.baudRate->addItem("50", 50);
ui.baudRate->addItem("70", 70);
ui.baudRate->addItem("110", 110);
ui.baudRate->addItem("134", 134);
ui.baudRate->addItem("150", 150);
ui.baudRate->addItem("200", 200);
ui.baudRate->addItem("300", 300);
ui.baudRate->addItem("600", 600);
ui.baudRate->addItem("1200", 1200);
ui.baudRate->addItem("1800", 1800);
ui.baudRate->addItem("2400", 2400);
ui.baudRate->addItem("4800", 4800);
ui.baudRate->addItem("9600", 9600);
#ifdef Q_OS_WIN
ui.baudRate->addItem("14400", 14400);
#endif
ui.baudRate->addItem("19200", 19200);
ui.baudRate->addItem("38400", 38400);
#ifdef Q_OS_WIN
ui.baudRate->addItem("56000", 56000);
// Keep track of all desired baud rates by OS. These are iterated through
// later and added to ui.baudRate.
QList<int> supportedBaudRates;
// Baud rates supported only by POSIX systems
#if defined(Q_OS_UNIX) || defined(Q_OS_LINUX) || defined(Q_OS_DARWIN)
supportedBaudRates << 50;
supportedBaudRates << 75;
supportedBaudRates << 134;
supportedBaudRates << 150;
supportedBaudRates << 200;
supportedBaudRates << 1800;
#endif
ui.baudRate->addItem("57600", 57600);
#ifdef Q_OS_WIN
ui.baudRate->addItem("76800", 76800);
// Baud rates supported only by Linux
#if defined(Q_OS_LINUX)
supportedBaudRates << 230400;
supportedBaudRates << 460800;
supportedBaudRates << 500000;
supportedBaudRates << 576000;
supportedBaudRates << 921600;
#endif
ui.baudRate->addItem("115200", 115200);
#ifdef Q_OS_WIN
ui.baudRate->addItem("128000", 128000);
ui.baudRate->addItem("230400", 230400);
ui.baudRate->addItem("256000", 256000);
ui.baudRate->addItem("460800", 460800);
// Baud rates supported only by Windows
#if defined(Q_OS_WIN)
supportedBaudRates << 14400;
supportedBaudRates << 56000;
supportedBaudRates << 128000;
supportedBaudRates << 256000;
#endif
ui.baudRate->addItem("921600", 921600);
// Baud rates supported by everyone
supportedBaudRates << 110;
supportedBaudRates << 300;
supportedBaudRates << 600;
supportedBaudRates << 1200;
supportedBaudRates << 2400;
supportedBaudRates << 4800;
supportedBaudRates << 9600;
supportedBaudRates << 19200;
supportedBaudRates << 38400;
supportedBaudRates << 57600;
supportedBaudRates << 115200;
// Now actually add all of our supported baud rates to the UI.
qSort(supportedBaudRates.begin(), supportedBaudRates.end());
for (int i = 0; i < supportedBaudRates.size(); ++i) {
ui.baudRate->addItem(QString::number(supportedBaudRates.at(i)), supportedBaudRates.at(i));
}
connect(action, SIGNAL(triggered()), this, SLOT(configureCommunication()));
......
src/ui/mavlink/QGCMAVLinkMessageSender.cc
View file @ b4a632b2
......@@ -39,7 +39,7 @@ void QGCMAVLinkMessageSender::refresh()
bool QGCMAVLinkMessageSender::sendMessage()
{
sendMessage(ui->messageIdSpinBox->value());
return sendMessage(ui->messageIdSpinBox->value());
}
bool QGCMAVLinkMessageSender::sendMessage(unsigned int msgid)
......
thirdParty/qserialport/include/QtSerialPort/qportsettings.h
View file @ b4a632b2
......@@ -95,8 +95,11 @@ public:
//BAUDR_76800,
#endif
#ifdef Q_OS_LINUX
BAUDR_230400,
BAUDR_460800,
BAUDR_500000,
BAUDR_576000,
BAUDR_921600,
#endif
#ifdef TNX_WINDOWS_SERIAL_PORT
BAUDR_14400,
......@@ -115,10 +118,7 @@ public:
BAUDR_19200,
BAUDR_38400,
BAUDR_57600,
BAUDR_115200,
BAUDR_230400,
BAUDR_460800,
BAUDR_921600
BAUDR_115200
};
enum DataBits {
......@@ -186,8 +186,11 @@ public:
case BAUDR_256000: baudRateInt_=256000; break;
#endif
#if defined(Q_OS_LINUX)
case BAUDR_230400: baudRateInt_=230400; break;
case BAUDR_460800: baudRateInt_=460800; break;
case BAUDR_500000: baudRateInt_=500000; break;
case BAUDR_576000: baudRateInt_=576000; break;
case BAUDR_921600: baudRateInt_=921600; break;
#endif
// baud rates supported by all platforms
case BAUDR_110: baudRateInt_=110; break;
......@@ -201,9 +204,6 @@ public:
case BAUDR_38400: baudRateInt_=38400; break;
case BAUDR_57600: baudRateInt_=57600; break;
case BAUDR_115200: baudRateInt_=115200; break;
case BAUDR_230400: baudRateInt_=230400; break;
case BAUDR_460800: baudRateInt_=460800; break;
case BAUDR_921600: baudRateInt_=921600; break;
default:
baudRateInt_ = 0; // unknown baudrate
}
......
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