Skip to content

Q
qgroundcontrol
Commit c62a239a authored by pixhawk's avatar pixhawk
Browse files
Options

Merge branch 'master' of pixhawk.ethz.ch:qgroundcontrol

parents 3e421795 8ec80e2a
Expand all Hide whitespace changes
Inline Side-by-side
Showing with 484 additions and 227 deletions
parameters_alpha.txt
View file @ c62a239a
......@@ -31,10 +31,12 @@
42 200 PID_ATT_AWU 0.3
42 200 PID_ATT_D 30
42 200 PID_ATT_I 60
42 200 PID_ATT_LIM 100
42 200 PID_ATT_P 90
42 200 PID_POS_AWU 5
42 200 PID_POS_D 2
42 200 PID_POS_I 0.4
42 200 PID_POS_LIM 0.2
42 200 PID_POS_P 1.8
42 200 PID_POS_Z_AWU 3
42 200 PID_POS_Z_D 0.2
......@@ -44,17 +46,19 @@
42 200 PID_YAWPOS_AWU 1
42 200 PID_YAWPOS_D 1
42 200 PID_YAWPOS_I 0.1
42 200 PID_YAWPOS_LIM 2
42 200 PID_YAWPOS_P 5
42 200 PID_YAWSPEED_D 0
42 200 PID_YAWSPEED_I 10
42 200 PID_YAWSPEED_P 30
42 200 PID_YAWSPEED_I 5
42 200 PID_YAWSPEED_P 15
42 200 PID_YAWSPE_AWU 1
42 200 PID_YAWSPE_LIM 50
42 200 POS_SP_ACCEPT 1
42 200 POS_SP_X 3.7
42 200 POS_SP_Y 0.3
42 200 POS_SP_YAW 0
42 200 POS_SP_Z 0
42 200 POS_TIMEOUT 2e+06
42 200 POS_SP_X 1.09
42 200 POS_SP_Y 0.527403
42 200 POS_SP_YAW 1.57763
42 200 POS_SP_Z -0.7
42 200 POS_TIMEOUT 1e+06
42 200 RC_NICK_CHAN 1
42 200 RC_ROLL_CHAN 2
42 200 RC_SAFETY_CHAN 5
......
parameters_bravo.txt
View file @ c62a239a
......@@ -20,41 +20,45 @@
42 200 DEBUG_4 0
42 200 DEBUG_5 0
42 200 DEBUG_6 0
42 200 GYRO_OFFSET_X 29830
42 200 GYRO_OFFSET_Y 29990
42 200 GYRO_OFFSET_Z 29440
42 200 GYRO_OFFSET_X 29884
42 200 GYRO_OFFSET_Y 29943
42 200 GYRO_OFFSET_Z 29479
42 200 MIX_OFFSET 0
42 200 MIX_POSITION 0
42 200 MIX_POS_YAW 0
42 200 MIX_REMOTE 0
42 200 MIX_Z_POSITION 0
42 200 PID_ATT_AWU 0.3
42 200 PID_ATT_D 20
42 200 PID_ATT_I 40
42 200 PID_ATT_P 60
42 200 PID_ATT_D 10
42 200 PID_ATT_I 20
42 200 PID_ATT_LIM 100
42 200 PID_ATT_P 55
42 200 PID_POS_AWU 5
42 200 PID_POS_D 2
42 200 PID_POS_I 0.25
42 200 PID_POS_LIM 0.2
42 200 PID_POS_P 1.7
42 200 PID_POS_Z_AWU 3
42 200 PID_POS_Z_D 0.2
42 200 PID_POS_Z_I 0.2
42 200 PID_POS_Z_LIM 0.3
42 200 PID_POS_Z_P 0.5
42 200 PID_POS_Z_P 0.3
42 200 PID_YAWPOS_AWU 1
42 200 PID_YAWPOS_D 1
42 200 PID_YAWPOS_I 0.1
42 200 PID_YAWPOS_LIM 2
42 200 PID_YAWPOS_P 5
42 200 PID_YAWSPEED_D 0
42 200 PID_YAWSPEED_I 10
42 200 PID_YAWSPEED_P 30
42 200 PID_YAWSPEED_I 5
42 200 PID_YAWSPEED_P 15
42 200 PID_YAWSPE_AWU 1
42 200 POS_SP_ACCEPT 0
42 200 POS_SP_X 3.7
42 200 POS_SP_Y 0.3
42 200 PID_YAWSPE_LIM 50
42 200 POS_SP_ACCEPT 1
42 200 POS_SP_X 1.1
42 200 POS_SP_Y 1.1
42 200 POS_SP_YAW 0
42 200 POS_SP_Z -0.8
42 200 POS_TIMEOUT 500000
42 200 POS_TIMEOUT 1e+06
42 200 RC_NICK_CHAN 1
42 200 RC_ROLL_CHAN 2
42 200 RC_SAFETY_CHAN 5
......
src/uas/PxQuadMAV.cc
View file @ c62a239a
......@@ -138,8 +138,6 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit localizationChanged(this, status.position_fix);
emit visionLocalizationChanged(this, status.vision_fix);
emit gpsLocalizationChanged(this, status.gps_fix);
qDebug() << "ATT CONTROL IS" << status.control_att;
}
break;
default:
......
src/uas/UASWaypointManager.cc
View file @ c62a239a
......@@ -94,7 +94,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
if(wp->seq == current_wp_id)
{
//update the UI FIXME
emit waypointUpdated(uas.getUASID(), wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->orbit, wp->hold_time);
emit waypointUpdated(wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->orbit, wp->hold_time);
//get next waypoint
current_wp_id++;
......@@ -206,15 +206,15 @@ void UASWaypointManager::requestWaypoints()
}
}
void UASWaypointManager::sendWaypoints(const QVector<Waypoint*> &list)
void UASWaypointManager::sendWaypoints()
{
if (current_state == WP_IDLE)
{
if (list.count() > 0)
if (waypoints.count() > 0)
{
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
current_count = list.count();
current_count = waypoints.count();
current_state = WP_SENDLIST;
current_wp_id = 0;
current_partner_systemid = uas.getUASID();
......@@ -233,7 +233,7 @@ void UASWaypointManager::sendWaypoints(const QVector<Waypoint*> &list)
waypoint_buffer.push_back(new mavlink_waypoint_t);
mavlink_waypoint_t *cur_d = waypoint_buffer.back();
memset(cur_d, 0, sizeof(mavlink_waypoint_t)); //initialize with zeros
const Waypoint *cur_s = list.at(i);
const Waypoint *cur_s = waypoints.at(i);
cur_d->autocontinue = cur_s->getAutoContinue();
cur_d->current = cur_s->getCurrent();
......
src/uas/UASWaypointManager.h
View file @ c62a239a
......@@ -60,6 +60,8 @@ public:
void handleWaypointReached(quint8 systemId, quint8 compId, mavlink_waypoint_reached_t *wpr);
void handleWaypointSetCurrent(quint8 systemId, quint8 compId, mavlink_waypoint_set_current_t *wpr);
QVector<Waypoint *> &getWaypointList(void) { return waypoints; }
private:
void sendWaypointRequest(quint16 seq);
void sendWaypoint(quint16 seq);
......@@ -68,12 +70,12 @@ public slots:
void timeout();
void clearWaypointList();
void requestWaypoints();
void sendWaypoints(const QVector<Waypoint *> &list);
void sendWaypoints();
signals:
void waypointUpdated(int,quint16,double,double,double,double,bool,bool,double,int); ///< Adds a waypoint to the waypoint list widget
void currentWaypointChanged(quint16); ///< emits the new current waypoint sequence number
void updateStatusString(const QString &); ///< emits the current status string
void waypointUpdated(quint16,double,double,double,double,bool,bool,double,int); ///< Adds a waypoint to the waypoint list widget
void currentWaypointChanged(quint16); ///< emits the new current waypoint sequence number
void updateStatusString(const QString &); ///< emits the current status string
private:
UAS &uas; ///< Reference to the corresponding UAS
......@@ -83,6 +85,7 @@ private:
quint8 current_partner_systemid; ///< The current protocol communication target system
quint8 current_partner_compid; ///< The current protocol communication target component
QVector<Waypoint *> waypoints; ///< local waypoint list
QVector<mavlink_waypoint_t *> waypoint_buffer; ///< communication buffer for waypoints
QTimer protocol_timer; ///< Timer to catch timeouts
};
......
src/ui/HSIDisplay.cc
View file @ c62a239a
......@@ -36,6 +36,7 @@ This file is part of the PIXHAWK project
#include "HSIDisplay.h"
#include "MG.h"
#include "QGC.h"
#include "Waypoint.h"
#include <QDebug>
......@@ -79,7 +80,7 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
uiYSetCoordinate(0.0f),
uiZSetCoordinate(0.0f),
uiYawSet(0.0f),
metricWidth(2.0f),
metricWidth(4.0f),
positionLock(false),
attControlEnabled(false),
xyControlEnabled(false),
......@@ -207,9 +208,12 @@ void HSIDisplay::paintDisplay()
drawLine(s.x(), s.y(), xCenterPos, yCenterPos, 1.5f, QGC::colorCyan, &painter);
}
// Draw waypoints
drawWaypoints(painter);
// Labels on outer part and bottom
//if (localAvailable > 0)
if (localAvailable > 0)
{
// Position
QString str;
......@@ -230,11 +234,11 @@ void HSIDisplay::paintDisplay()
paintText(tr("E"), ringColor, 3.5f, + baseRadius + 2.0f, - 1.75f, &painter);
paintText(tr("W"), ringColor, 3.5f, - baseRadius - 5.5f, - 1.75f, &painter);
// // Just for testing
// bodyXSetCoordinate = 0.95 * bodyXSetCoordinate + 0.05 * uiXSetCoordinate;
// bodyYSetCoordinate = 0.95 * bodyYSetCoordinate + 0.05 * uiYSetCoordinate;
// bodyZSetCoordinate = 0.95 * bodyZSetCoordinate + 0.05 * uiZSetCoordinate;
// bodyYawSet = 0.95 * bodyYawSet + 0.05 * uiYawSet;
// // Just for testing
// bodyXSetCoordinate = 0.95 * bodyXSetCoordinate + 0.05 * uiXSetCoordinate;
// bodyYSetCoordinate = 0.95 * bodyYSetCoordinate + 0.05 * uiYSetCoordinate;
// bodyZSetCoordinate = 0.95 * bodyZSetCoordinate + 0.05 * uiZSetCoordinate;
// bodyYawSet = 0.95 * bodyYawSet + 0.05 * uiYawSet;
}
void HSIDisplay::drawStatusFlag(float x, float y, QString label, bool status, QPainter& painter)
......@@ -503,11 +507,11 @@ void HSIDisplay::updatePositionSetpoints(int uasid, float xDesired, float yDesir
bodyYawSet = yawDesired;
mavInitialized = true;
// qDebug() << "Received setpoint at x: " << x << "metric y:" << y;
// posXSet = xDesired;
// posYSet = yDesired;
// posZSet = zDesired;
// posYawSet = yawDesired;
// qDebug() << "Received setpoint at x: " << x << "metric y:" << y;
// posXSet = xDesired;
// posYSet = yDesired;
// posZSet = zDesired;
// posYawSet = yawDesired;
}
void HSIDisplay::updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec)
......@@ -628,25 +632,64 @@ void HSIDisplay::drawSetpointXY(float x, float y, float yaw, const QColor &color
void HSIDisplay::drawWaypoints(QPainter& painter)
{
QColor color = uas->getColor();
float x = 1.1;
float y = 1.1;
float radius = vwidth / 20.0f;
QPen pen(color);
pen.setWidthF(refLineWidthToPen(0.4f));
pen.setColor(color);
painter.setPen(pen);
painter.setBrush(Qt::NoBrush);
QPointF in(x, y);
// Transform from body to world coordinates
in = metricWorldToBody(in);
// Scale from metric to screen reference coordinates
QPointF p = metricBodyToRef(in);
drawCircle(p.x(), p.y(), radius, 0.4f, color, &painter);
radius *= 0.8;
drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * radius, refLineWidthToPen(0.4f), color, &painter);
painter.setBrush(color);
drawCircle(p.x(), p.y(), radius * 0.1f, 0.1f, color, &painter);
if (uas)
{
QVector<Waypoint*> list = QVector<Waypoint*>();
list.append(new Waypoint(0, x, y, z, yaw, false, false, 0.5f, 2000));
list.append(new Waypoint(0, x+0.1, y+0.1, z, yaw, true, true, 0.5f, 2000));
QColor color;
painter.setBrush(Qt::NoBrush);
QPointF lastWaypoint;
for (int i = 0; i < list.size(); i++)
{
QPointF in(list.at(i)->getX(), list.at(i)->getY());
// Transform from world to body coordinates
in = metricWorldToBody(in);
// Scale from metric to screen reference coordinates
QPointF p = metricBodyToRef(in);
// Select color based on if this is the current waypoint
if (list.at(i)->getCurrent())
{
color = uas->getColor().lighter().lighter();
}
else
{
color = uas->getColor();
}
// Setup pen
QPen pen(color);
pen.setWidthF(refLineWidthToPen(0.4f));
painter.setPen(pen);
painter.setBrush(Qt::NoBrush);
// Draw line from last waypoint to this one
if (!lastWaypoint.isNull())
{
drawLine(lastWaypoint.x(), lastWaypoint.y(), p.x(), p.y(), refLineWidthToPen(0.4f), color, &painter);
}
lastWaypoint = p;
//drawCircle(p.x(), p.y(), radius, 0.4f, color, &painter);
float waypointSize = vwidth / 20.0f * 2.0f;
QPolygonF poly(4);
// Top point
poly.replace(0, QPointF(p.x(), p.y()-waypointSize/2.0f));
// Right point
poly.replace(1, QPointF(p.x()+waypointSize/2.0f, p.y()));
// Bottom point
poly.replace(2, QPointF(p.x(), p.y() + waypointSize/2.0f));
poly.replace(3, QPointF(p.x() - waypointSize/2.0f, p.y()));
drawPolygon(poly, &painter);
float radius = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f));
drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * radius, refLineWidthToPen(0.4f), color, &painter);
painter.setBrush(color);
}
}
}
void HSIDisplay::drawSafetyArea(const QPointF &topLeft, const QPointF &bottomRight, const QColor &color, QPainter &painter)
......
src/ui/HSIDisplay.h
View file @ c62a239a
......@@ -99,7 +99,7 @@ protected slots:
void drawWaypoints(QPainter& painter);
/** @brief Draw the limiting safety area */
void drawSafetyArea(const QPointF &topLeft, const QPointF &bottomRight, const QColor &color, QPainter &painter);
/** @brief Receive mouse clicks */
void mouseDoubleClickEvent(QMouseEvent* event);
protected:
......
src/ui/UASControl.ui
View file @ c62a239a
......@@ -6,14 +6,20 @@
<rect>
<x>0</x>
<y>0</y>
<width>380</width>
<height>190</height>
<width>280</width>
<height>164</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>280</width>
<height>130</height>
</size>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout" rowminimumheight="0,0,0,0,0,0,100">
<layout class="QGridLayout" name="gridLayout" rowminimumheight="5,10,10,0,10,5,0">
<property name="leftMargin">
<number>6</number>
</property>
......@@ -147,10 +153,13 @@
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Expanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
<width>0</width>
<height>1</height>
</size>
</property>
</spacer>
......
src/ui/UASInfo.ui
View file @ c62a239a
......@@ -287,7 +287,7 @@
<item row="3" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>CPU Load</string>
<string>MCU Load</string>
</property>
</widget>
</item>
......@@ -370,14 +370,14 @@
</property>
</widget>
</item>
<item row="4" column="0" colspan="6">
<item row="5" column="0" colspan="6">
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="6" column="0" colspan="7">
<item row="7" column="0" colspan="7">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
......@@ -393,13 +393,69 @@
</property>
</spacer>
</item>
<item row="5" column="0" colspan="6">
<item row="6" column="0" colspan="6">
<widget class="QLabel" name="errorLabel">
<property name="text">
<string>No error status received yet</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string>CPU Load</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_5">
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QLabel" name="label_10">
<property name="text">
<string>%</string>
</property>
</widget>
</item>
<item row="4" column="4" colspan="2">
<widget class="QProgressBar" name="progressBar">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>20</height>
</size>
</property>
<property name="baseSize">
<size>
<width>0</width>
<height>18</height>
</size>
</property>
<property name="value">
<number>24</number>
</property>
</widget>
</item>
<item row="4" column="1">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>13</width>
<height>15</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<resources/>
......
src/ui/WaypointList.cc
View file @ c62a239a
This diff is collapsed.
src/ui/WaypointList.h
View file @ c62a239a
......@@ -62,7 +62,10 @@ public slots:
void loadWaypoints();
void transmit();
void read();
/** @brief Add a waypoint */
void add();
/** @brief Add a waypoint at the current MAV position */
void addCurrentPositonWaypoint();
void moveUp(Waypoint* wp);
void moveDown(Waypoint* wp);
......@@ -70,25 +73,28 @@ public slots:
void updateStatusLabel(const QString &string);
void currentWaypointChanged(quint16 seq);
//To be moved to UASWaypointManager (?)
void setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current, double orbit, int holdTime);
void setWaypoint(quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current, double orbit, int holdTime);
void addWaypoint(Waypoint* wp);
void removeWaypoint(Waypoint* wp);
void waypointReached(UASInterface* uas, quint16 waypointId);
void waypointReached(quint16 waypointId);
void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
void updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
signals:
void sendWaypoints(const QVector<Waypoint*> &);
void sendWaypoints();
void requestWaypoints();
void clearWaypointList();
protected:
virtual void changeEvent(QEvent *e);
QVector<Waypoint*> waypoints;
QMap<Waypoint*, WaypointView*> wpViews;
QVBoxLayout* listLayout;
UASInterface* uas;
double mavX;
double mavY;
double mavZ;
double mavYaw;
private:
Ui::WaypointList *m_ui;
......
src/ui/WaypointList.ui
View file @ c62a239a
......@@ -26,7 +26,7 @@
<property name="spacing">
<number>4</number>
</property>
<item row="0" column="0" colspan="8">
<item row="0" column="0" colspan="9">
<widget class="QScrollArea" name="scrollArea">
<property name="widgetResizable">
<bool>true</bool>
......@@ -37,7 +37,7 @@
<x>0</x>
<y>0</y>
<width>466</width>
<height>148</height>
<height>149</height>
</rect>
</property>
<layout class="QHBoxLayout" name="horizontalLayout">
......@@ -54,7 +54,7 @@
</widget>
</widget>
</item>
<item row="2" column="6">
<item row="2" column="7">
<widget class="QPushButton" name="readButton">
<property name="text">
<string>Read</string>
......@@ -65,7 +65,7 @@
</property>
</widget>
</item>
<item row="2" column="7">
<item row="2" column="8">
<widget class="QPushButton" name="transmitButton">
<property name="text">
<string>Write</string>
......@@ -76,14 +76,14 @@
</property>
</widget>
</item>
<item row="3" column="0" colspan="8">
<item row="3" column="0" colspan="9">
<widget class="QLabel" name="statusLabel">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item row="2" column="5">
<item row="2" column="6">
<widget class="QToolButton" name="addButton">
<property name="text">
<string>...</string>
......@@ -121,6 +121,20 @@
</property>
</spacer>
</item>
<item row="2" column="5">
<widget class="QToolButton" name="positionAddButton">
<property name="toolTip">
<string>Set the current vehicle position as new waypoint</string>
</property>
<property name="text">
<string>...</string>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/actions/go-bottom.svg</normaloff>:/images/actions/go-bottom.svg</iconset>
</property>
</widget>
</item>
</layout>
<action name="actionAddWaypoint">
<property name="icon">
......
src/ui/uas/UASControlWidget.cc
View file @ c62a239a
......@@ -201,16 +201,14 @@ void UASControlWidget::cycleContextButton()
if (!engineOn)
{
ui.controlButton->setText(tr("Stop Engine"));
mav->setMode(MAV_MODE_MANUAL);
mav->enable_motors();
ui.lastActionLabel->setText(QString("Enabled motors on %1").arg(uas->getUASName()));
ui.lastActionLabel->setText(QString("Attempted to enable motors on %1").arg(uas->getUASName()));
}
else
{
ui.controlButton->setText(tr("Activate Engine"));
mav->setMode(MAV_MODE_LOCKED);
mav->disable_motors();
ui.lastActionLabel->setText(QString("Disabled motors on %1").arg(uas->getUASName()));
ui.lastActionLabel->setText(QString("Attempted to disable motors on %1").arg(uas->getUASName()));
}
//ui.controlButton->setText(tr("Force Landing"));
//ui.controlButton->setText(tr("KILL VEHICLE"));
......
src/ui/uas/UASInfoWidget.cc
View file @ c62a239a
......@@ -125,7 +125,7 @@ void UASInfoWidget::updateCPULoad(UASInterface* uas, double load)
{
if (activeUAS == uas)
{
this->load = load;
this->load = this->load * 0.8f + load * 0.2f;
}
}
......
src/ui/uas/UASView.cc
View file @ c62a239a
......@@ -36,6 +36,7 @@ This file is part of the PIXHAWK project
#include "MG.h"
#include "UASManager.h"
#include "UASView.h"
#include "UASWaypointManager.h"
#include "ui_UASView.h"
UASView::UASView(UASInterface* uas, QWidget *parent) :
......@@ -75,6 +76,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
//connect(uas, SIGNAL(waypointUpdated(int,int,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,int,double,double,double,double,bool,bool)));
connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int,int)));
connect(&(uas->getWaypointManager()), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointUpdated(quint16)));
connect(uas, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
// Setup UAS selection
......@@ -251,6 +253,11 @@ void UASView::updateSpeed(UASInterface*, double x, double y, double z, quint64 u
totalSpeed = sqrt((pow(x, 2) + pow(y, 2) + pow(z, 2)));
}
void UASView::currentWaypointUpdated(quint16 waypoint)
{
m_ui->waypointLabel->setText(tr("WP") + QString::number(waypoint));
}
void UASView::setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current)
{
Q_UNUSED(x);
......
src/ui/uas/UASView.h
View file @ c62a239a
......@@ -63,6 +63,8 @@ public slots:
void refresh();
/** @brief Receive new waypoint information */
void setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current);
/** @brief Update the current active waypoint */
void currentWaypointUpdated(quint16 waypoint);
/** @brief Set waypoint as current target */
void selectWaypoint(int uasId, int id);
/** @brief Set the current system type */
......
waypoints-final-pole-racing.txt 0 → 100644
View file @ c62a239a
0 1.60066 0.497923 -0.7 -0.156858 1 1 0.15 2000
1 0.973377 0.691139 -0.7 -0.0664193 1 0 0.15 2000
2 0.646637 1.57225 -0.7 6.26573 1 0 0.15 2000
3 0.659852 2.39951 -0.7 -0.0549587 1 0 0.15 2000
4 1.41441 2.8804 -0.7 -0.0258336 1 0 0.15 2000
5 2.33563 2.90308 -0.7 -0.0621037 1 0 0.15 2000
6 2.76383 2.04368 -0.7 -0.0381553 1 0 0.15 2000
7 2.73091 1.05595 -0.7 -0.0520457 1 0 0.15 2000
8 1.73409 0.599043 0 6.26573 1 0 0.15 2000
waypoints_A0_circle.txt
View file @ c62a239a
0 1.75 0.5 -0.8 0 0 1 0.1 2000
1 1.75 0.5 -0.8 0 1 0 0.1 2000
2 0.6 0.5 -0.8 0 0 0 0.1 2000
3 0.5 1.5 -0.8 0 1 0 0.1 2000
4 0.5 2.8 -0.8 0 1 0 0.1 2000
5 1.75 2.8 -0.8 0 1 0 0.1 2000
6 2.8 2.8 -0.8 0 1 0 0.1 2000
7 2.8 1.75 -0.8 0 1 0 0.1 2000
8 2.8 0.5 -0.8 0 1 0 0.1 2000
9 1.75 0.5 -0.8 0 1 0 0.1 2000
10 1.75 0.5 0 0 1 0 0.1 2000
0 1.75 0.5 -0.7 0 1 0 0.3 1000
1 1.75 0.5 -0.7 0 1 0 0.3 1000
2 0.95 0.5 -0.7 0 1 0 0.3 1000
3 0.5 1.5 -0.7 0 1 1 0.3 1000
4 0.5 2.8 -0.7 0 1 0 0.3 1000
5 1.75 2.8 -0.7 0 1 0 0.3 1000
6 3 2.8 -0.7 0 1 0 0.3 1000
7 2.8 1.75 -0.7 0 1 0 0.3 1000
8 2.8 0.7 -0.7 0 1 0 0.3 1000
9 1.75 0.5 -0.7 0 1 0 0.3 1000
10 1.75 0.5 0 0 0 0 0.3 1000
waypoints_A0_circlev2.txt 0 → 100644
View file @ c62a239a
0 1.75 0.5 -0.7 0 1 1 0.15 10000
1 0.95 0.5 -0.7 0 1 0 0.15 2000
2 0.5 1.5 -0.7 0 1 0 0.15 2000
3 0.5 2.8 -0.7 0 1 0 0.15 2000
4 1.75 2.8 -0.7 0 1 0 0.15 2000
5 2.8 2.8 -0.7 0 1 0 0.15 2000
6 2.8 1.75 -0.7 0 1 0 0.15 2000
7 2.8 0.7 -0.7 0 1 0 0.15 2000
8 1.75 0.5 -0.7 0 1 0 0.15 2000
9 1.75 0.5 0 0 0 0 0.15 2000
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment