Added support for HIL SIM state. Changed the labels that are show for certain modes that SLUGS uses

src/uas/UAS.cc

@@ -286,30 +286,44 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     case (uint8_t)MAV_MODE_MANUAL:
                         mode = "MANUAL MODE";
                         break;
+
+                    #ifdef MAVLINK_ENABLED_SLUGS
+                    case (uint8_t)MAV_MODE_AUTO:
+                        mode = "WAYPOINT MODE";
+                        break;
+                    case (uint8_t)MAV_MODE_GUIDED:
+                        mode = "MID-L CMDS MODE";
+                        break;
+
+                    case (uint8_t)MAV_MODE_TEST1:
+                        mode = "PASST MODE";
+                        break;
+                    case (uint8_t)MAV_MODE_TEST2:
+                        mode = "SEL PT MODE";
+                        break;
+                    #else
                     case (uint8_t)MAV_MODE_AUTO:
                         mode = "AUTO MODE";
                         break;
                     case (uint8_t)MAV_MODE_GUIDED:
                         mode = "GUIDED MODE";
                         break;
-                    case (uint8_t)MAV_MODE_READY:
-                        mode = "READY MODE";
-                        break;
+
                     case (uint8_t)MAV_MODE_TEST1:
                         mode = "TEST1 MODE";
                         break;
                     case (uint8_t)MAV_MODE_TEST2:
                         mode = "TEST2 MODE";
                         break;
-                    #ifdef MAVLINK_ENABLED_SLUGS
-                    case (uint8_t)MAV_MODE_TEST3:
-                        mode = "HIL MODE";
+                    #endif
+                    case (uint8_t)MAV_MODE_READY:
+                        mode = "READY MODE";
                         break;
-                    #else
+
                     case (uint8_t)MAV_MODE_TEST3:
                         mode = "TEST3 MODE";
                     break;
-                    #endif
+
                     case (uint8_t)MAV_MODE_RC_TRAINING:
                         mode = "RC TRAINING MODE";
                         break;
@@ -1404,10 +1418,16 @@ void UAS::getStatusForCode(int statusCode, QString& uasState, QString& stateDesc
         uasState = tr("EMERGENCY");
         stateDescription = tr("EMERGENCY: Land Immediately!");
         break;
+    case MAV_STATE_HILSIM:
+        uasState = tr("HIL SIM");
+        stateDescription = tr("HIL Simulation, Sensors read from SIM");
+        break;
+
     case MAV_STATE_POWEROFF:
         uasState = tr("SHUTDOWN");
         stateDescription = tr("Powering off system.");
         break;
+
     default:
         uasState = tr("UNKNOWN");
         stateDescription = tr("Unknown system state");
@@ -2000,12 +2020,14 @@ void UAS::clearWaypointList()
 
 void UAS::halt()
 {
+
     mavlink_message_t msg;
     // TODO Replace MG System ID with static function call and allow to change ID in GUI
     mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_HALT);
     // Send message twice to increase chance of reception
     sendMessage(msg);
     sendMessage(msg);
+
 }
 
 void UAS::go()
@@ -2035,6 +2057,7 @@ void UAS::home()
  */
 void UAS::emergencySTOP()
 {
+
     mavlink_message_t msg;
     // TODO Replace MG System ID with static function call and allow to change ID in GUI
     mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_EMCY_LAND);
@@ -2077,6 +2100,29 @@ bool UAS::emergencyKILL()
     return result;
 }
 
+void UAS::startHil(){
+
+    mavlink_message_t msg;
+  // TODO Replace MG System ID with static function call and allow to change ID in GUI
+  mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(int)MAV_ACTION_START_HILSIM);
+  // Send message twice to increase chance of reception
+  sendMessage(msg);
+  sendMessage(msg);
+
+}
+
+void UAS::stopHil(){
+
+    mavlink_message_t msg;
+  // TODO Replace MG System ID with static function call and allow to change ID in GUI
+  mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(int)MAV_ACTION_STOP_HILSIM);
+  // Send message twice to increase chance of reception
+  sendMessage(msg);
+  sendMessage(msg);
+
+}
+
+
 void UAS::shutdown()
 {
     bool result = false;
@@ -2084,6 +2130,7 @@ void UAS::shutdown()
     msgBox.setIcon(QMessageBox::Critical);
     msgBox.setText("Shutting down the UAS");
     msgBox.setInformativeText("Do you want to shut down the onboard computer?");
+
     msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
     msgBox.setDefaultButton(QMessageBox::Cancel);
     int ret = msgBox.exec();
@@ -2101,6 +2148,7 @@ void UAS::shutdown()
         // Send message twice to increase chance of reception
         sendMessage(msg);
         sendMessage(msg);
+
         result = true;
     }
 }

src/uas/UAS.h

@@ -233,6 +233,13 @@ public slots:
     void home();
     void halt();
     void go();
+    /** @brief Places the UAV in Hardware-in-the-Loop simulation status **/
+    void startHil();
+
+    /** @brief Stops the UAV's Hardware-in-the-Loop simulation status **/
+    void stopHil();
+
+
     /** @brief Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/
     void emergencySTOP();
 

src/ui/SlugsHilSim.cc

@@ -108,6 +108,8 @@ void SlugsHilSim::putInHilMode(void){
 
       ui->bt_startHil->setText(buttonCaption);
 
+      activeUas->startHil();
+
     } else {
       ui->bt_startHil->setChecked(false);
     }
@@ -120,6 +122,7 @@ void SlugsHilSim::putInHilMode(void){
     ui->bt_startHil->setText(buttonCaption);
 
     rxSocket->disconnectFromHost();
+    activeUas->stopHil();
   }
 }
 
@@ -151,8 +154,6 @@ void SlugsHilSim::activeUasSet(UASInterface* uas){
 
   if (uas != NULL) {
     activeUas = static_cast <UAS *>(uas);
-
-    //connect(uas, SIGNAL())
   }
 }
 

src/ui/uas/UASControlParameters.cpp

@@ -3,11 +3,19 @@
 
 #define CONTROL_MODE_LOCKED "MODE LOCKED"
 #define CONTROL_MODE_MANUAL "MODE MANUAL"
-#define CONTROL_MODE_GUIDED "MODE GUIDED"
-#define CONTROL_MODE_AUTO   "MODE AUTO"
-#define CONTROL_MODE_TEST1  "MODE TEST1"
-#define CONTROL_MODE_TEST2  "MODE TEST2"
-#define CONTROL_MODE_TEST3  "MODE TEST3"
+
+#ifdef MAVLINK_ENABLED_SLUGS
+    #define CONTROL_MODE_GUIDED "MODE MID-L CMDS"
+    #define CONTROL_MODE_AUTO   "MODE WAYPOINT"
+    #define CONTROL_MODE_TEST1  "MODE PASST"
+    #define CONTROL_MODE_TEST2  "MODE SEL PT"
+#else
+    #define CONTROL_MODE_GUIDED "MODE GUIDED"
+    #define CONTROL_MODE_AUTO   "MODE AUTO"
+    #define CONTROL_MODE_TEST1  "MODE TEST1"
+    #define CONTROL_MODE_TEST2  "MODE TEST2"
+#endif
+
 #define CONTROL_MODE_READY  "MODE TEST3"
 #define CONTROL_MODE_RC_TRAINING  "RC SIMULATION"
 
@@ -51,20 +59,38 @@ void UASControlParameters::changedMode(int mode)
     case (uint8_t)MAV_MODE_MANUAL:
         modeTemp = "MANUAL MODE";
         break;
+#ifdef MAVLINK_ENABLED_SLUGS
     case (uint8_t)MAV_MODE_AUTO:
-        modeTemp = "AUTO MODE";
+        modeTemp = "WAYPOINT MODE";
         break;
     case (uint8_t)MAV_MODE_GUIDED:
-        modeTemp = "GUIDED MODE";
+        modeTemp = "MID-L CMDS MODE";
         break;
-    case (uint8_t)MAV_MODE_READY:
-        modeTemp = "READY MODE";
+
+    case (uint8_t)MAV_MODE_TEST1:
+        modeTemp = "PASST MODE";
+        break;
+    case (uint8_t)MAV_MODE_TEST2:
+        modeTemp = "SEL PT MODE";
         break;
+#else
+    case (uint8_t)MAV_MODE_AUTO:
+        mode = "AUTO MODE";
+        break;
+    case (uint8_t)MAV_MODE_GUIDED:
+        mode = "GUIDED MODE";
+        break;
+
     case (uint8_t)MAV_MODE_TEST1:
-        modeTemp = "TEST1 MODE";
+        mode = "TEST1 MODE";
         break;
     case (uint8_t)MAV_MODE_TEST2:
-        modeTemp = "TEST2 MODE";
+        mode = "TEST2 MODE";
+        break;
+#endif
+    case (uint8_t)MAV_MODE_READY:
+        modeTemp = "READY MODE";
+        break;
         break;
     case (uint8_t)MAV_MODE_TEST3:
         modeTemp = "TEST3 MODE";

src/ui/uas/UASControlWidget.cc

@@ -45,16 +45,21 @@ This file is part of the PIXHAWK project
 
 #define CONTROL_MODE_LOCKED "MODE LOCKED"
 #define CONTROL_MODE_MANUAL "MODE MANUAL"
-#define CONTROL_MODE_GUIDED "MODE GUIDED"
-#define CONTROL_MODE_AUTO   "MODE AUTO"
-#define CONTROL_MODE_TEST1  "MODE TEST1"
-#define CONTROL_MODE_TEST2  "MODE TEST2"
+
 #ifdef MAVLINK_ENABLED_SLUGS
-    #define CONTROL_MODE_TEST3  "MODE HIL"
+    #define CONTROL_MODE_GUIDED "MODE MID-L CMDS"
+    #define CONTROL_MODE_AUTO   "MODE WAYPOINT"
+    #define CONTROL_MODE_TEST1  "MODE PASST"
+    #define CONTROL_MODE_TEST2  "MODE SEL PT"
 #else
-    #define CONTROL_MODE_TEST3  "MODE TEST3"
+    #define CONTROL_MODE_GUIDED "MODE GUIDED"
+    #define CONTROL_MODE_AUTO   "MODE AUTO"
+    #define CONTROL_MODE_TEST1  "MODE TEST1"
+    #define CONTROL_MODE_TEST2  "MODE TEST2"
 #endif
-#define CONTROL_MODE_READY  "MODE TEST3"
+
+#define CONTROL_MODE_TEST3  "MODE TEST3"
+#define CONTROL_MODE_READY  "MODE READY"
 #define CONTROL_MODE_RC_TRAINING  "RC SIMULATION"
 
 #define CONTROL_MODE_LOCKED_INDEX 1
@@ -91,6 +96,7 @@ engineOn(false)
     ui.modeComboBox->setCurrentIndex(0);
 
     ui.gridLayout->setAlignment(Qt::AlignTop);
+
 }
 
 void UASControlWidget::setUAS(UASInterface* uas)