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Commit b5f30ae4 authored by Gus Grubba's avatar Gus Grubba
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MAVLink message receive status 

Fixed the core MAVLink receiver. Among other things, it wasn't accounting for fragmented messages.
Fixed code that monitors messages received (and lost)
Added a section within the MAVLink panel to show the current status (for the current vehicle)
Remove some old, unused exposed interfaces
parent 1457b6ed
Hide whitespace changes
Inline Side-by-side
Showing with 238 additions and 172 deletions
src/Vehicle/Vehicle.cc
View file @ b5f30ae4
......@@ -202,7 +202,8 @@ Vehicle::Vehicle(LinkInterface* link,
_mavlink = _toolbox->mavlinkProtocol();
connect(_mavlink, &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
connect(_mavlink, &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
connect(_mavlink, &MAVLinkProtocol::mavlinkMessageStatus, this, &Vehicle::_mavlinkMessageStatus);
_addLink(link);
......@@ -3594,6 +3595,17 @@ void Vehicle::_updateHighLatencyLink(bool sendCommand)
}
}
void Vehicle::_mavlinkMessageStatus(int uasId, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, float lossPercent)
{
if(uasId == _id) {
_mavlinkSentCount = totalSent;
_mavlinkReceivedCount = totalReceived;
_mavlinkLossCount = totalLoss;
_mavlinkLossPercent = lossPercent;
emit mavlinkStatusChanged();
}
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
......
src/Vehicle/Vehicle.h
View file @ b5f30ae4
......@@ -622,6 +622,10 @@ public:
Q_PROPERTY(QString priorityLinkName READ priorityLinkName WRITE setPriorityLinkByName NOTIFY priorityLinkNameChanged)
Q_PROPERTY(QVariantList links READ links NOTIFY linksChanged)
Q_PROPERTY(LinkInterface* priorityLink READ priorityLink NOTIFY priorityLinkNameChanged)
Q_PROPERTY(quint64 mavlinkSentCount READ mavlinkSentCount NOTIFY mavlinkStatusChanged)
Q_PROPERTY(quint64 mavlinkReceivedCount READ mavlinkReceivedCount NOTIFY mavlinkStatusChanged)
Q_PROPERTY(quint64 mavlinkLossCount READ mavlinkLossCount NOTIFY mavlinkStatusChanged)
Q_PROPERTY(float mavlinkLossPercent READ mavlinkLossPercent NOTIFY mavlinkStatusChanged)
// Vehicle state used for guided control
Q_PROPERTY(bool flying READ flying NOTIFY flyingChanged) ///< Vehicle is flying
......@@ -1044,6 +1048,11 @@ public:
/// Vehicle is about to be deleted
void prepareDelete();
quint64 mavlinkSentCount () { return _mavlinkSentCount; } /// Calculated total number of messages sent to us
quint64 mavlinkReceivedCount () { return _mavlinkReceivedCount; } /// Total number of sucessful messages received
quint64 mavlinkLossCount () { return _mavlinkLossCount; } /// Total number of lost messages
float mavlinkLossPercent () { return _mavlinkLossPercent; } /// Running loss rate
signals:
void allLinksInactive(Vehicle* vehicle);
void coordinateChanged(QGeoCoordinate coordinate);
......@@ -1147,6 +1156,7 @@ signals:
// MAVLink protocol version
void requestProtocolVersion(unsigned version);
void mavlinkStatusChanged();
private slots:
void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
......@@ -1179,6 +1189,7 @@ private slots:
void _updateHobbsMeter(void);
void _vehicleParamLoaded(bool ready);
void _sendQGCTimeToVehicle(void);
void _mavlinkMessageStatus(int uasId, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, float lossPercent);
private:
bool _containsLink(LinkInterface* link);
......@@ -1405,6 +1416,11 @@ private:
SharedLinkInterfacePointer _priorityLink; // We always keep a reference to the priority link to manage shutdown ordering
bool _priorityLinkCommanded;
uint64_t _mavlinkSentCount = 0;
uint64_t _mavlinkReceivedCount = 0;
uint64_t _mavlinkLossCount = 0;
float _mavlinkLossPercent = 0.0f;
// FactGroup facts
Fact _rollFact;
......
src/comm/MAVLinkProtocol.cc
View file @ b5f30ae4
......@@ -61,14 +61,14 @@ MAVLinkProtocol::MAVLinkProtocol(QGCApplication* app, QGCToolbox* toolbox)
, _logSuspendReplay(false)
, _vehicleWasArmed(false)
, _tempLogFile(QString("%2.%3").arg(_tempLogFileTemplate).arg(_logFileExtension))
, _linkMgr(NULL)
, _multiVehicleManager(NULL)
, _linkMgr(nullptr)
, _multiVehicleManager(nullptr)
{
memset(&totalReceiveCounter, 0, sizeof(totalReceiveCounter));
memset(&totalLossCounter, 0, sizeof(totalLossCounter));
memset(&totalErrorCounter, 0, sizeof(totalErrorCounter));
memset(&currReceiveCounter, 0, sizeof(currReceiveCounter));
memset(&currLossCounter, 0, sizeof(currLossCounter));
memset(totalReceiveCounter, 0, sizeof(totalReceiveCounter));
memset(totalSentCounter, 0, sizeof(totalSentCounter));
memset(totalLossCounter, 0, sizeof(totalLossCounter));
memset(runningLossPercent, 0, sizeof(runningLossPercent));
memset(firstMessage, 1, sizeof(firstMessage));
}
MAVLinkProtocol::~MAVLinkProtocol()
......@@ -109,15 +109,6 @@ void MAVLinkProtocol::setToolbox(QGCToolbox *toolbox)
// All the *Counter variables are not initialized here, as they should be initialized
// on a per-link basis before those links are used. @see resetMetadataForLink().
// Initialize the list for tracking dropped messages to invalid.
for (int i = 0; i < 256; i++)
{
for (int j = 0; j < 256; j++)
{
lastIndex[i][j] = -1;
}
}
connect(this, &MAVLinkProtocol::protocolStatusMessage, _app, &QGCApplication::criticalMessageBoxOnMainThread);
connect(this, &MAVLinkProtocol::saveTelemetryLog, _app, &QGCApplication::saveTelemetryLogOnMainThread);
connect(this, &MAVLinkProtocol::checkTelemetrySavePath, _app, &QGCApplication::checkTelemetrySavePathOnMainThread);
......@@ -157,10 +148,12 @@ void MAVLinkProtocol::resetMetadataForLink(LinkInterface *link)
{
int channel = link->mavlinkChannel();
totalReceiveCounter[channel] = 0;
totalLossCounter[channel] = 0;
totalErrorCounter[channel] = 0;
currReceiveCounter[channel] = 0;
currLossCounter[channel] = 0;
totalLossCounter[channel] = 0;
totalSentCounter[channel] = 0;
runningLossPercent[channel] = 0.0f;
for(int i = 0; i < 256; i++) {
firstMessage[channel][i] = 1;
}
link->setDecodedFirstMavlinkPacket(false);
}
......@@ -171,6 +164,7 @@ void MAVLinkProtocol::resetMetadataForLink(LinkInterface *link)
* @param link The interface to read from
* @see LinkInterface
**/
void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
{
// Since receiveBytes signals cross threads we can end up with signals in the queue
......@@ -180,56 +174,70 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
return;
}
// receiveMutex.lock();
mavlink_message_t message;
mavlink_status_t status;
uint8_t mavlinkChannel = link->mavlinkChannel();
int mavlinkChannel = link->mavlinkChannel();
static int nonmavlinkCount = 0;
static int nonmavlinkCount = 0;
static bool checkedUserNonMavlink = false;
static bool warnedUserNonMavlink = false;
static bool warnedUserNonMavlink = false;
for (int position = 0; position < b.size(); position++) {
unsigned int decodeState = mavlink_parse_char(mavlinkChannel, (uint8_t)(b[position]), &message, &status);
if (decodeState == 0 && !link->decodedFirstMavlinkPacket())
{
nonmavlinkCount++;
if (nonmavlinkCount > 1000 && !warnedUserNonMavlink)
{
// 500 bytes with no mavlink message. Are we connected to a mavlink capable device?
if (!checkedUserNonMavlink)
{
link->requestReset();
checkedUserNonMavlink = true;
}
else
{
warnedUserNonMavlink = true;
// Disconnect the link since its some other device and
// QGC clinging on to it and feeding it data might have unintended
// side effects (e.g. if its a modem)
qDebug() << "disconnected link" << link->getName() << "as it contained no MAVLink data";
QMetaObject::invokeMethod(_linkMgr, "disconnectLink", Q_ARG( LinkInterface*, link ) );
return;
}
}
}
if (decodeState == 1)
{
if (mavlink_parse_char(mavlinkChannel, static_cast<uint8_t>(b[position]), &_message, &_status)) {
// Got a valid message
if (!link->decodedFirstMavlinkPacket()) {
link->setDecodedFirstMavlinkPacket(true);
mavlink_status_t* mavlinkStatus = mavlink_get_channel_status(mavlinkChannel);
if (!(mavlinkStatus->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) && (mavlinkStatus->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) {
qDebug() << "Switching outbound to mavlink 2.0 due to incoming mavlink 2.0 packet:" << mavlinkStatus << mavlinkChannel << mavlinkStatus->flags;
mavlinkStatus->flags &= ~MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
// Set all links to v2
setVersion(200);
}
}
//-----------------------------------------------------------------
// MAVLink Status
uint8_t lastSeq = lastIndex[_message.sysid][_message.compid];
uint8_t expectedSeq = lastSeq + 1;
// Increase receive counter
totalReceiveCounter[mavlinkChannel]++;
// Determine what the next expected sequence number is, accounting for
// never having seen a message for this system/component pair.
if(firstMessage[_message.sysid][_message.compid]) {
firstMessage[_message.sysid][_message.compid] = 0;
lastSeq = _message.seq;
expectedSeq = _message.seq;
}
// And if we didn't encounter that sequence number, record the error
//int foo = 0;
if (_message.seq != expectedSeq)
{
//foo = 1;
int lostMessages = 0;
//-- Account for overflow during packet loss
if(_message.seq < expectedSeq) {
lostMessages = (_message.seq + 255) - expectedSeq;
} else {
lostMessages = _message.seq - expectedSeq;
}
// Log how many were lost
totalLossCounter[mavlinkChannel] += static_cast<uint64_t>(lostMessages);
// Compute actual count of sent messages
totalSentCounter[mavlinkChannel] += static_cast<uint64_t>(lostMessages);
} else {
totalSentCounter[mavlinkChannel]++;
}
// And update the last sequence number for this system/component pair
lastIndex[_message.sysid][_message.compid] = _message.seq;;
// Calculate new loss ratio
float receiveLossPercent = static_cast<float>(totalLossCounter[mavlinkChannel]) / static_cast<float>(totalSentCounter[mavlinkChannel]);
receiveLossPercent *= 100.0f;
receiveLossPercent = (receiveLossPercent * 0.5f) + (runningLossPercent[mavlinkChannel] * 0.5f);
runningLossPercent[mavlinkChannel] = receiveLossPercent;
//qDebug() << foo << _message.seq << expectedSeq << lastSeq << totalLossCounter[mavlinkChannel] << totalReceiveCounter[mavlinkChannel] << totalSentCounter[mavlinkChannel] << "(" << _message.sysid << _message.compid << ")";
//-----------------------------------------------------------------
// Log data
if (!_logSuspendError && !_logSuspendReplay && _tempLogFile.isOpen()) {
uint8_t buf[MAVLINK_MAX_PACKET_LEN+sizeof(quint64)];
......@@ -237,17 +245,17 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
// Write the uint64 time in microseconds in big endian format before the message.
// This timestamp is saved in UTC time. We are only saving in ms precision because
// getting more than this isn't possible with Qt without a ton of extra code.
quint64 time = (quint64)QDateTime::currentMSecsSinceEpoch() * 1000;
quint64 time = static_cast<quint64>(QDateTime::currentMSecsSinceEpoch() * 1000);
qToBigEndian(time, buf);
// Then write the message to the buffer
int len = mavlink_msg_to_send_buffer(buf + sizeof(quint64), &message);
int len = mavlink_msg_to_send_buffer(buf + sizeof(quint64), &_message);
// Determine how many bytes were written by adding the timestamp size to the message size
len += sizeof(quint64);
// Now write this timestamp/message pair to the log.
QByteArray b((const char*)buf, len);
QByteArray b(reinterpret_cast<const char*>(buf), len);
if(_tempLogFile.write(b) != len)
{
// If there's an error logging data, raise an alert and stop logging.
......@@ -257,32 +265,32 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
}
// Check for the vehicle arming going by. This is used to trigger log save.
if (!_vehicleWasArmed && message.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
if (!_vehicleWasArmed && _message.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
mavlink_heartbeat_t state;
mavlink_msg_heartbeat_decode(&message, &state);
mavlink_msg_heartbeat_decode(&_message, &state);
if (state.base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY) {
_vehicleWasArmed = true;
}
}
}
if (message.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
if (_message.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
_startLogging();
mavlink_heartbeat_t heartbeat;
mavlink_msg_heartbeat_decode(&message, &heartbeat);
emit vehicleHeartbeatInfo(link, message.sysid, message.compid, heartbeat.autopilot, heartbeat.type);
mavlink_msg_heartbeat_decode(&_message, &heartbeat);
emit vehicleHeartbeatInfo(link, _message.sysid, _message.compid, heartbeat.autopilot, heartbeat.type);
}
if (message.msgid == MAVLINK_MSG_ID_HIGH_LATENCY2) {
if (_message.msgid == MAVLINK_MSG_ID_HIGH_LATENCY2) {
_startLogging();
mavlink_high_latency2_t highLatency2;
mavlink_msg_high_latency2_decode(&message, &highLatency2);
emit vehicleHeartbeatInfo(link, message.sysid, message.compid, highLatency2.autopilot, highLatency2.type);
mavlink_msg_high_latency2_decode(&_message, &highLatency2);
emit vehicleHeartbeatInfo(link, _message.sysid, _message.compid, highLatency2.autopilot, highLatency2.type);
}
// Detect if we are talking to an old radio not supporting v2
mavlink_status_t* mavlinkStatus = mavlink_get_channel_status(mavlinkChannel);
if (message.msgid == MAVLINK_MSG_ID_RADIO_STATUS) {
if (_message.msgid == MAVLINK_MSG_ID_RADIO_STATUS) {
if ((mavlinkStatus->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1)
&& !(mavlinkStatus->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) {
......@@ -300,53 +308,36 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
mavlinkStatus->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
}
// Increase receive counter
totalReceiveCounter[mavlinkChannel]++;
currReceiveCounter[mavlinkChannel]++;
// Determine what the next expected sequence number is, accounting for
// never having seen a message for this system/component pair.
int lastSeq = lastIndex[message.sysid][message.compid];
int expectedSeq = (lastSeq == -1) ? message.seq : (lastSeq + 1);
// And if we didn't encounter that sequence number, record the error
if (message.seq != expectedSeq)
{
// Determine how many messages were skipped
int lostMessages = message.seq - expectedSeq;
// Out of order messages or wraparound can cause this, but we just ignore these conditions for simplicity
if (lostMessages < 0)
{
lostMessages = 0;
}
// And log how many were lost for all time and just this timestep
totalLossCounter[mavlinkChannel] += lostMessages;
currLossCounter[mavlinkChannel] += lostMessages;
}
// And update the last sequence number for this system/component pair
lastIndex[message.sysid][message.compid] = expectedSeq;
// Update on every 32th packet
if ((totalReceiveCounter[mavlinkChannel] & 0x1F) == 0)
{
// Calculate new loss ratio
// Receive loss
float receiveLossPercent = (double)currLossCounter[mavlinkChannel]/(double)(currReceiveCounter[mavlinkChannel]+currLossCounter[mavlinkChannel]);
receiveLossPercent *= 100.0f;
currLossCounter[mavlinkChannel] = 0;
currReceiveCounter[mavlinkChannel] = 0;
emit receiveLossPercentChanged(message.sysid, receiveLossPercent);
emit receiveLossTotalChanged(message.sysid, totalLossCounter[mavlinkChannel]);
// Update MAVLink status on every 32th packet
if ((totalReceiveCounter[mavlinkChannel] & 0x1F) == 0) {
emit mavlinkMessageStatus(_message.sysid, totalSentCounter[mavlinkChannel], totalReceiveCounter[mavlinkChannel], totalLossCounter[mavlinkChannel], receiveLossPercent);
}
// The packet is emitted as a whole, as it is only 255 - 261 bytes short
// kind of inefficient, but no issue for a groundstation pc.
// It buys as reentrancy for the whole code over all threads
emit messageReceived(link, message);
emit messageReceived(link, _message);
// Reset message parsing
memset(&_status, 0, sizeof(_status));
memset(&_message, 0, sizeof(_message));
} else if (!link->decodedFirstMavlinkPacket()) {
// No formed message yet
nonmavlinkCount++;
if (nonmavlinkCount > 1000 && !warnedUserNonMavlink) {
// 1000 bytes with no mavlink message. Are we connected to a mavlink capable device?
if (!checkedUserNonMavlink) {
link->requestReset();
checkedUserNonMavlink = true;
} else {
warnedUserNonMavlink = true;
// Disconnect the link since it's some other device and
// QGC clinging on to it and feeding it data might have unintended
// side effects (e.g. if its a modem)
qDebug() << "disconnected link" << link->getName() << "as it contained no MAVLink data";
QMetaObject::invokeMethod(_linkMgr, "disconnectLink", Q_ARG( LinkInterface*, link ) );
return;
}
}
}
}
}
......
src/comm/MAVLinkProtocol.h
View file @ b5f30ae4
......@@ -65,27 +65,6 @@ public:
unsigned getCurrentVersion() {
return _current_version;
}
/**
* Retrieve a total of all successfully parsed packets for the specified link.
* @returns -1 if this is not available for this protocol, # of packets otherwise.
*/
qint32 getReceivedPacketCount(const LinkInterface *link) const {
return totalReceiveCounter[link->mavlinkChannel()];
}
/**
* Retrieve a total of all parsing errors for the specified link.
* @returns -1 if this is not available for this protocol, # of errors otherwise.
*/
qint32 getParsingErrorCount(const LinkInterface *link) const {
return totalErrorCounter[link->mavlinkChannel()];
}
/**
* Retrieve a total of all dropped packets for the specified link.
* @returns -1 if this is not available for this protocol, # of packets otherwise.
*/
qint32 getDroppedPacketCount(const LinkInterface *link) const {
return totalLossCounter[link->mavlinkChannel()];
}
/**
* Reset the counters for all metadata for this link.
*/
......@@ -122,18 +101,21 @@ public slots:
void checkForLostLogFiles(void);
protected:
bool m_enable_version_check; ///< Enable checking of version match of MAV and QGC
QMutex receiveMutex; ///< Mutex to protect receiveBytes function
int lastIndex[256][256]; ///< Store the last received sequence ID for each system/componenet pair
int totalReceiveCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< The total number of successfully received messages
int totalLossCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< Total messages lost during transmission.
int totalErrorCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< Total count of all parsing errors. Generally <= totalLossCounter.
int currReceiveCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< Received messages during this sample time window. Used for calculating loss %.
int currLossCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< Lost messages during this sample time window. Used for calculating loss %.
bool versionMismatchIgnore;
int systemId;
unsigned _current_version;
unsigned _radio_version_mismatch_count;
bool m_enable_version_check; ///< Enable checking of version match of MAV and QGC
uint8_t lastIndex[256][256]; ///< Store the last received sequence ID for each system/componenet pair
uint8_t firstMessage[256][256]; ///< First message flag
uint64_t totalReceiveCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< The total number of successfully received messages
uint64_t totalSentCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< The calculated total number of messages sent to us
uint64_t totalLossCounter[MAVLINK_COMM_NUM_BUFFERS]; ///< Total messages lost during transmission.
float runningLossPercent[MAVLINK_COMM_NUM_BUFFERS]; ///< Loss rate
mavlink_message_t _message = {};
mavlink_status_t _status = {};
bool versionMismatchIgnore;
int systemId;
unsigned _current_version;
unsigned _radio_version_mismatch_count;
signals:
/// Heartbeat received on link
......@@ -148,8 +130,7 @@ signals:
/** @brief Emitted if a new system ID was set */
void systemIdChanged(int systemId);
void receiveLossPercentChanged(int uasId, float lossPercent);
void receiveLossTotalChanged(int uasId, int totalLoss);
void mavlinkMessageStatus(int uasId, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, float lossPercent);
/**
* @brief Emitted if a new radio status packet received
......
src/comm/ProtocolInterface.h
View file @ b5f30ae4
......@@ -16,8 +16,7 @@
*
*/
#ifndef _PROTOCOLINTERFACE_H_
#define _PROTOCOLINTERFACE_H_
#pragma once
#include <QThread>
#include <QString>
......@@ -37,26 +36,8 @@ class ProtocolInterface : public QThread
{
Q_OBJECT
public:
virtual ~ProtocolInterface () {}
virtual QString getName() = 0;
/**
* Retrieve a total of all successfully parsed packets for the specified link.
* @param link The link to return metadata about.
* @returns -1 if this is not available for this protocol, # of packets otherwise.
*/
virtual qint32 getReceivedPacketCount(const LinkInterface *link) const = 0;
/**
* Retrieve a total of all parsing errors for the specified link.
* @param link The link to return metadata about.
* @returns -1 if this is not available for this protocol, # of errors otherwise.
*/
virtual qint32 getParsingErrorCount(const LinkInterface *link) const = 0;
/**
* Retrieve a total of all dropped packets for the specified link.
* @param link The link to return metadata about.
* @returns -1 if this is not available for this protocol, # of packets otherwise.
*/
virtual qint32 getDroppedPacketCount(const LinkInterface *link) const = 0;
virtual ~ProtocolInterface () {}
virtual QString getName () = 0;
/**
* Reset the received, error, and dropped counts for the given link. Useful for
* when reconnecting a link.
......@@ -65,13 +46,11 @@ public:
virtual void resetMetadataForLink(LinkInterface *link) = 0;
public slots:
virtual void receiveBytes(LinkInterface *link, QByteArray b) = 0;
virtual void linkStatusChanged(bool connected) = 0;
virtual void receiveBytes (LinkInterface *link, QByteArray b) = 0;
virtual void linkStatusChanged (bool connected) = 0;
signals:
/** @brief Update the packet loss from one system */
void receiveLossChanged(int uasId, float loss);
void receiveLossChanged (int uasId, float loss);
};
#endif // _PROTOCOLINTERFACE_H_
src/ui/preferences/MavlinkSettings.qml
View file @ b5f30ae4
......@@ -30,6 +30,7 @@ Rectangle {
property int _selectedCount: 0
property real _columnSpacing: ScreenTools.defaultFontPixelHeight * 0.25
property bool _uploadedSelected: false
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
QGCPalette { id: qgcPal }
......@@ -152,6 +153,92 @@ Rectangle {
}
}
//-----------------------------------------------------------------
//-- Mavlink Status
Item {
width: __mavlinkRoot.width * 0.8
height: mavStatusLabel.height
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
id: mavStatusLabel
text: qsTr("MAVLink Link Status (Current Vehicle)")
font.family: ScreenTools.demiboldFontFamily
}
}
Rectangle {
height: mavStatusColumn.height + (ScreenTools.defaultFontPixelHeight * 2)
width: __mavlinkRoot.width * 0.8
color: qgcPal.windowShade
anchors.margins: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
Column {
id: mavStatusColumn
width: gcsColumn.width
spacing: _columnSpacing
anchors.centerIn: parent
//-----------------------------------------------------------------
Row {
spacing: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
width: _labelWidth
text: qsTr("Total messages sent (computed):")
anchors.verticalCenter: parent.verticalCenter
}
QGCLabel {
width: _valueWidth
text: _activeVehicle ? _activeVehicle.mavlinkSentCount : qsTr("Not Connected")
anchors.verticalCenter: parent.verticalCenter
}
}
//-----------------------------------------------------------------
Row {
spacing: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
width: _labelWidth
text: qsTr("Total messages received:")
anchors.verticalCenter: parent.verticalCenter
}
QGCLabel {
width: _valueWidth
text: _activeVehicle ? _activeVehicle.mavlinkReceivedCount : qsTr("Not Connected")
anchors.verticalCenter: parent.verticalCenter
}
}
//-----------------------------------------------------------------
Row {
spacing: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
width: _labelWidth
text: qsTr("Total message loss:")
anchors.verticalCenter: parent.verticalCenter
}
QGCLabel {
width: _valueWidth
text: _activeVehicle ? _activeVehicle.mavlinkLossCount : qsTr("Not Connected")
anchors.verticalCenter: parent.verticalCenter
}
}
//-----------------------------------------------------------------
Row {
spacing: ScreenTools.defaultFontPixelWidth
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel {
width: _labelWidth
text: qsTr("Loss rate:")
anchors.verticalCenter: parent.verticalCenter
}
QGCLabel {
width: _valueWidth
text: _activeVehicle ? _activeVehicle.mavlinkLossPercent.toFixed(0) + '%' : qsTr("Not Connected")
anchors.verticalCenter: parent.verticalCenter
}
}
}
}
//-----------------------------------------------------------------
//-- Mavlink Logging
Item {
width: __mavlinkRoot.width * 0.8
......
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