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qgroundcontrol
Commit c8fe3480 authored by lm's avatar lm
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Merge branch 'experimental' of github.com:pixhawk/qgroundcontrol into experimental

parents fd6c038e 05b444a8
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Showing with 2201 additions and 1689 deletions
qgcunittest.pro 0 → 100644
View file @ c8fe3480
#-------------------------------------------------
#
# Project created by QtCreator 2011-01-11T08:54:37
#
#-------------------------------------------------
QT += network \
phonon \
testlib \
svg
TEMPLATE = app
TARGET = tst_uasunittest
BASEDIR = $$IN_PWD
TESTDIR = $$BASEDIR/qgcunittest
TARGETDIR = $$OUT_PWD
BUILDDIR = $$TARGETDIR/build
LANGUAGE = C++
CONFIG += console
CONFIG -= app_bundle
OBJECTS_DIR = $$BUILDDIR/obj
MOC_DIR = $$BUILDDIR/moc
UI_HEADERS_DIR = src/ui/generated
MAVLINK_CONF = ""
# If the user config file exists, it will be included.
# if the variable MAVLINK_CONF contains the name of an
# additional project, QGroundControl includes the support
# of custom MAVLink messages of this project
exists(user_config.pri) {
include(user_config.pri)
message("----- USING CUSTOM USER QGROUNDCONTROL CONFIG FROM user_config.pri -----")
message("Adding support for additional MAVLink messages for: " $$MAVLINK_CONF)
message("------------------------------------------------------------------------")
}
INCLUDEPATH += $$BASEDIR/../mavlink/include/common
contains(MAVLINK_CONF, pixhawk) {
# Remove the default set - it is included anyway
INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
# PIXHAWK SPECIAL MESSAGES
INCLUDEPATH += $$BASEDIR/../mavlink/include/pixhawk
DEFINES += QGC_USE_PIXHAWK_MESSAGES
}
contains(MAVLINK_CONF, slugs) {
# Remove the default set - it is included anyway
INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
# SLUGS SPECIAL MESSAGES
INCLUDEPATH += $$BASEDIR/../mavlink/include/slugs
DEFINES += QGC_USE_SLUGS_MESSAGES
}
contains(MAVLINK_CONF, ualberta) {
# Remove the default set - it is included anyway
INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
# UALBERTA SPECIAL MESSAGES
INCLUDEPATH += $$BASEDIR/../mavlink/include/ualberta
DEFINES += QGC_USE_UALBERTA_MESSAGES
}
contains(MAVLINK_CONF, ardupilotmega) {
# Remove the default set - it is included anyway
INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
# UALBERTA SPECIAL MESSAGES
INCLUDEPATH += $$BASEDIR/../mavlink/include/ardupilotmega
DEFINES += QGC_USE_ARDUPILOTMEGA_MESSAGES
}
# Include general settings for MAVGround
# necessary as last include to override any non-acceptable settings
# done by the plugins above
include(qgroundcontrol.pri)
# QWT plot and QExtSerial depend on paths set by qgroundcontrol.pri
# Include serial port library
include(src/lib/qextserialport/qextserialport.pri)
# Include QWT plotting library
include(src/lib/qwt/qwt.pri)
DEPENDPATH += . \
lib/QMapControl \
lib/QMapControl/src \
plugins
INCLUDEPATH += . \
lib/QMapControl \
$$BASEDIR/../mavlink/include \
$$BASEDIR/src/uas \
$$BASEDIR/src/comm \
$$BASEDIR/src/ \
$$BASEDIR/src/ui/RadioCalibration \
$$BASEDIR/src/ui/ \
SOURCES += $$TESTDIR/tst_uasunittest.cc \
src/uas/UAS.cc \
src/comm/MAVLinkProtocol.cc \
src/uas/UASWaypointManager.cc \
src/Waypoint.cc \
src/ui/RadioCalibration/RadioCalibrationData.cc \
src/uas/SlugsMAV.cc \
src/uas/PxQuadMAV.cc \
src/uas/ArduPilotMegaMAV.cc \
src/GAudioOutput.cc \
src/uas/UASManager.cc \
src/comm/LinkManager.cc \
src/QGC.cc \
src/comm/SerialLink.cc \
HEADERS += src/uas/UASInterface.h \
src/uas/UAS.h \
src/comm/MAVLinkProtocol.h \
src/comm/ProtocolInterface.h \
src/uas/UASWaypointManager.h \
src/Waypoint.h \
src/ui/RadioCalibration/RadioCalibrationData.h \
src/uas/SlugsMAV.h \
src/uas/PxQuadMAV.h \
src/uas/ArduPilotMegaMAV.h \
src/GAudioOutput.h \
src/uas/UASManager.h \
src/comm/LinkManager.h \
src/comm/LinkInterface.h \
src/QGC.h \
src/comm/SerialLinkInterface.h \
src/comm/SerialLink.h \
DEFINES += SRCDIR=\\\"$$PWD/\\\"
qgcunittest/tst_uasunittest.cc 0 → 100644
View file @ c8fe3480
#include <QtCore/QString>
#include <QtTest/QtTest>
#include "UAS.h"
#include "MAVLinkProtocol.h"
#include "UASInterface.h"
class UASUnitTest : public QObject
{
Q_OBJECT
public:
#define UASID 50
MAVLinkProtocol* mav;
UAS* uas;
UASUnitTest();
private Q_SLOTS:
void initTestCase();
void cleanupTestCase();
void getUASID_test();
void getUASName_test();
void getUpTime_test();
void getCommunicationStatus_test();
void filterVoltage_test();
void getAutopilotType_test();
void setAutopilotType_test();
void getStatusForCode_test();
void getLocalX_test();
void getLocalY_test();
void getLocalZ_test();
void getLatitude_test();
void getLongitude_test();
void getAltitude_test();
void getRoll_test();
void getPitch_test();
void getYaw_test();
void calculateTimeRemaining_test();
private:
protected:
UAS *prueba;
};
UASUnitTest::UASUnitTest()
{
}
void UASUnitTest::initTestCase()
{
mav= new MAVLinkProtocol();
uas=new UAS(mav,UASID);
}
void UASUnitTest::cleanupTestCase()
{
delete uas;
delete mav;
}
void UASUnitTest::getUASID_test()
{
// Test a default ID of zero is assigned
UAS* uas2 = new UAS(mav);
QCOMPARE(uas2->getUASID(), 0);
delete uas2;
// Test that the chosen ID was assigned at construction
QCOMPARE(uas->getUASID(), UASID);
// Make sure that no other ID was sert
QEXPECT_FAIL("", "When you set an ID it does not use the default ID of 0", Continue);
QCOMPARE(uas->getUASID(), 0);
}
void UASUnitTest::getUASName_test()
{
// Test that the name is build as MAV + ID
QCOMPARE(uas->getUASName(), "MAV 0" + QString::number(UASID));
}
void UASUnitTest::getUpTime_test()
{
UAS* uas2 = new UAS(mav);
// Test that the uptime starts at zero to a
// precision of seconds
QCOMPARE(floor(uas2->getUptime()/1000.0), 0.0);
// Sleep for three seconds
QTest::qSleep(3000);
// Test that the up time is computed correctly to a
// precision of seconds
QCOMPARE(floor(uas2->getUptime()/1000.0), 3.0);
delete uas2;
}
void UASUnitTest::getCommunicationStatus_test()
{
// Verify that upon construction the Comm status is disconnected
QCOMPARE(uas->getCommunicationStatus(), static_cast<int>(UASInterface::COMM_DISCONNECTED));
}
void UASUnitTest::filterVoltage_test()
{
float verificar=uas->filterVoltage(0.4f);
// Verify that upon construction the Comm status is disconnected
QCOMPARE(verificar, 8.52f);
}
void UASUnitTest:: getAutopilotType_test()
{
int verificar=uas->getAutopilotType();
// Verify that upon construction the Comm status is disconnected
QCOMPARE(verificar, -1);
}
void UASUnitTest::setAutopilotType_test()
{
uas->setAutopilotType(2);
// Verify that upon construction the Comm status is disconnected
QCOMPARE(uas->getAutopilotType(), 2);
}
void UASUnitTest::getStatusForCode_test()
{
// Verify that upon construction the Comm status is disconnected
QCOMPARE(uas->getYaw(), 0.0);
}
void UASUnitTest::getLocalX_test()
{
// Verify that upon construction the Comm status is disconnected
QCOMPARE(uas->getLocalX(), 0.0);
}
void UASUnitTest::getLocalY_test()
{
// Verify that upon construction the Comm status is disconnected
QCOMPARE(uas->getLocalY(), 0.0);
}
void UASUnitTest::getLocalZ_test()
{
// Verify that upon construction the Comm status is disconnected
QCOMPARE(uas->getLocalZ(), 0.0);
}
void UASUnitTest::getLatitude_test()
{
// Verify that upon construction the Comm status is disconnected
QCOMPARE(uas->getLatitude(), 0.0);
}
void UASUnitTest::getLongitude_test()
{
// Verify that upon construction the Comm status is disconnected
QCOMPARE(uas->getLongitude(), 0.0);
}
void UASUnitTest::getAltitude_test()
{
// Verify that upon construction the Comm status is disconnected
QCOMPARE(uas->getAltitude(), 0.0);
}
void UASUnitTest::getRoll_test()
{
// Verify that upon construction the Comm status is disconnected
QCOMPARE(uas->getRoll(), 0.0);
}
void UASUnitTest::getPitch_test()
{
// Verify that upon construction the Comm status is disconnected
QCOMPARE(uas->getPitch(), 0.0);
}
void UASUnitTest::getYaw_test()
{
// Verify that upon construction the Comm status is disconnected
QCOMPARE(uas->getYaw(), 0.0);
}
void UASUnitTest::calculateTimeRemaining_test()
{
/*
*/
}
QTEST_APPLESS_MAIN(UASUnitTest);
#include "tst_uasunittest.moc"
qgroundcontrol.pri
View file @ c8fe3480
......@@ -86,12 +86,12 @@ macx {
ICON = $$BASEDIR/images/icons/macx.icns
# Copy audio files if needed
QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/qgroundcontrol.app/Contents/MacOs
QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
# Copy google earth starter file
QMAKE_POST_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/qgroundcontrol.app/Contents/MacOs
QMAKE_POST_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
# Copy CSS stylesheets
QMAKE_POST_LINK += && cp -f $$BASEDIR/images/style-mission.css $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/style-indoor.css
QMAKE_POST_LINK += && cp -f $$BASEDIR/images/style-outdoor.css $$TARGETDIR/qgroundcontrol.app/Contents/MacOs
QMAKE_POST_LINK += && cp -f $$BASEDIR/images/style-mission.css $$TARGETDIR/qgroundcontrol.app/Contents/MacOS/style-indoor.css
QMAKE_POST_LINK += && cp -f $$BASEDIR/images/style-outdoor.css $$TARGETDIR/qgroundcontrol.app/Contents/MacOS
# Copy model files
#QMAKE_POST_LINK += && cp -f $$BASEDIR/models/*.dae $$TARGETDIR/qgroundcontrol.app/Contents/MacOs
......@@ -171,8 +171,10 @@ linux-g++ {
QMAKE_POST_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
message("Compiling for linux 32")
INCLUDEPATH += /usr/include \
/usr/local/include \
/usr/local/include \
/usr/include/qt4/phonon
# $$BASEDIR/lib/flite/include \
# $$BASEDIR/lib/flite/lang
......
qgroundcontrol.pro
View file @ c8fe3480
......@@ -54,6 +54,7 @@ exists(user_config.pri) {
message("Adding support for additional MAVLink messages for: " $$MAVLINK_CONF)
message("------------------------------------------------------------------------")
}
INCLUDEPATH += $$BASEDIR/../mavlink/include/common
contains(MAVLINK_CONF, pixhawk) {
# Remove the default set - it is included anyway
......
src/GAudioOutput.h
View file @ c8fe3480
......@@ -40,8 +40,8 @@ This file is part of the PIXHAWK project
#endif
#ifdef Q_OS_LINUX
//#include <flite/flite.h>
#include <Phonon/MediaObject>
#include <Phonon/AudioOutput>
#include <phonon/MediaObject>
#include <phonon/AudioOutput>
#endif
#ifdef Q_OS_WIN
#include <Phonon/MediaObject>
......
src/comm/MAVLinkProtocol.cc
View file @ c8fe3480
......@@ -26,7 +26,7 @@
#include "ArduPilotMegaMAV.h"
#include "configuration.h"
#include "LinkManager.h"
#include "MainWindow.h"
//#include "MainWindow.h"
#include <QGCMAVLink.h>
#include "QGC.h"
......@@ -242,6 +242,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
}
else
{
// TODO: This if-else block can (should) be greatly simplified
if (lastIndex[message.sysid][message.compid] == 255)
{
lastIndex[message.sysid][message.compid] = 0;
......
src/uas/SlugsMAV.cc
View file @ c8fe3480
......@@ -60,98 +60,100 @@ SlugsMAV::SlugsMAV(MAVLinkProtocol* mavlink, int id) :
void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
// Let UAS handle the default message set
UAS::receiveMessage(link, message);
UAS::receiveMessage(link, message);
if (message.sysid == uasId)
{
// Handle your special messages mavlink_message_t* msg = &message;
switch (message.msgid)
{
// Handle your special messages mavlink_message_t* msg = &message;
switch (message.msgid)
{
#ifdef MAVLINK_ENABLED_SLUGS
case MAVLINK_MSG_ID_BOOT:
mavlink_msg_boot_decode(&message,&mlBoot);
emit slugsBootMsg(uasId, mlBoot);
break;
case MAVLINK_MSG_ID_RAW_IMU:
mavlink_msg_raw_imu_decode(&message, &mlRawImuData);
break;
case MAVLINK_MSG_ID_ATTITUDE:
mavlink_msg_attitude_decode(&message, &mlAttitude);
break;
case MAVLINK_MSG_ID_BOOT:
mavlink_msg_boot_decode(&message,&mlBoot);
emit slugsBootMsg(uasId, mlBoot);
break;
case MAVLINK_MSG_ID_GPS_RAW:
mavlink_msg_gps_raw_decode(&message, &mlGpsData);
break;
case MAVLINK_MSG_ID_ATTITUDE:
mavlink_msg_attitude_decode(&message, &mlAttitude);
break;
case MAVLINK_MSG_ID_ACTION_ACK: // 62
mavlink_msg_action_ack_decode(&message,&mlActionAck);
case MAVLINK_MSG_ID_GPS_RAW:
mavlink_msg_gps_raw_decode(&message, &mlGpsData);
break;
case MAVLINK_MSG_ID_CPU_LOAD: //170
mavlink_msg_cpu_load_decode(&message,&mlCpuLoadData);
case MAVLINK_MSG_ID_ACTION_ACK: // 62
mavlink_msg_action_ack_decode(&message,&mlActionAck);
break;
case MAVLINK_MSG_ID_AIR_DATA: //171
mavlink_msg_air_data_decode(&message,&mlAirData);
case MAVLINK_MSG_ID_CPU_LOAD: //170
mavlink_msg_cpu_load_decode(&message,&mlCpuLoadData);
break;
case MAVLINK_MSG_ID_SENSOR_BIAS: //172
mavlink_msg_sensor_bias_decode(&message,&mlSensorBiasData);
case MAVLINK_MSG_ID_AIR_DATA: //171
mavlink_msg_air_data_decode(&message,&mlAirData);
break;
case MAVLINK_MSG_ID_DIAGNOSTIC: //173
mavlink_msg_diagnostic_decode(&message,&mlDiagnosticData);
break;
case MAVLINK_MSG_ID_SENSOR_BIAS: //172
mavlink_msg_sensor_bias_decode(&message,&mlSensorBiasData);
break;
case MAVLINK_MSG_ID_PILOT_CONSOLE: //174
mavlink_msg_pilot_console_decode(&message,&mlPilotConsoleData);
break;
case MAVLINK_MSG_ID_PWM_COMMANDS: //175
mavlink_msg_pwm_commands_decode(&message,&mlPwmCommands);
break;
case MAVLINK_MSG_ID_DIAGNOSTIC: //173
mavlink_msg_diagnostic_decode(&message,&mlDiagnosticData);
break;
case MAVLINK_MSG_ID_SLUGS_NAVIGATION://176
mavlink_msg_slugs_navigation_decode(&message,&mlNavigation);
case MAVLINK_MSG_ID_PILOT_CONSOLE: //174
mavlink_msg_pilot_console_decode(&message,&mlPilotConsoleData);
break;
case MAVLINK_MSG_ID_DATA_LOG: //177
mavlink_msg_data_log_decode(&message,&mlDataLog);
break;
case MAVLINK_MSG_ID_PWM_COMMANDS: //175
mavlink_msg_pwm_commands_decode(&message,&mlPwmCommands);
break;
case MAVLINK_MSG_ID_FILTERED_DATA: //178
mavlink_msg_filtered_data_decode(&message,&mlFilteredData);
case MAVLINK_MSG_ID_SLUGS_NAVIGATION://176
mavlink_msg_slugs_navigation_decode(&message,&mlNavigation);
break;
case MAVLINK_MSG_ID_GPS_DATE_TIME: //179
mavlink_msg_gps_date_time_decode(&message,&mlGpsDateTime);
break;
case MAVLINK_MSG_ID_DATA_LOG: //177
mavlink_msg_data_log_decode(&message,&mlDataLog);
break;
case MAVLINK_MSG_ID_MID_LVL_CMDS: //180
case MAVLINK_MSG_ID_FILTERED_DATA: //178
mavlink_msg_filtered_data_decode(&message,&mlFilteredData);
break;
case MAVLINK_MSG_ID_GPS_DATE_TIME: //179
mavlink_msg_gps_date_time_decode(&message,&mlGpsDateTime);
break;
case MAVLINK_MSG_ID_CTRL_SRFC_PT: //181
case MAVLINK_MSG_ID_MID_LVL_CMDS: //180
break;
break;
case MAVLINK_MSG_ID_PID: //182
memset(&mlSinglePid,0,sizeof(mavlink_pid_t));
mavlink_msg_pid_decode(&message, &mlSinglePid);
qDebug() << "\nSLUGS RECEIVED PID Message = "<<mlSinglePid.idx;
case MAVLINK_MSG_ID_CTRL_SRFC_PT: //181
emit slugsPidValues(uasId, mlSinglePid);
break;
case MAVLINK_MSG_ID_PID: //182
memset(&mlSinglePid,0,sizeof(mavlink_pid_t));
mavlink_msg_pid_decode(&message, &mlSinglePid);
// qDebug() << "\nSLUGS RECEIVED PID Message = "<<mlSinglePid.idx;
break;
emit slugsPidValues(uasId, mlSinglePid);
break;
case MAVLINK_MSG_ID_SLUGS_ACTION: //183
case MAVLINK_MSG_ID_SLUGS_ACTION: //183
break;
break;
#endif
default:
default:
// qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
break;
}
......@@ -179,7 +181,6 @@ void SlugsMAV::emitSignals (void){
emit remoteControlChannelScaledChanged(1,(mlPilotConsoleData.dla- 1000.0f)/1000.0f);
emit remoteControlChannelScaledChanged(2,(mlPilotConsoleData.dr- 1000.0f)/1000.0f);
emit remoteControlChannelScaledChanged(3,(mlPilotConsoleData.dra- 1000.0f)/1000.0f);
emit remoteControlChannelScaledChanged(0,(mlPilotConsoleData.dt- 1000.0f)/1000.0f);
emit slugsPWM(uasId, mlPwmCommands);
break;
......@@ -222,7 +223,7 @@ void SlugsMAV::emitSignals (void){
#ifdef MAVLINK_ENABLED_SLUGS
void SlugsMAV::emitGpsSignals (void){
qDebug()<<"After Emit GPS Signal"<<mlGpsData.fix_type;
// qDebug()<<"After Emit GPS Signal"<<mlGpsData.fix_type;
//ToDo Uncomment if. it was comment only to test
......@@ -250,9 +251,15 @@ void SlugsMAV::emitGpsSignals (void){
void SlugsMAV::emitPidSignal()
{
qDebug() << "\nSLUGS RECEIVED PID Message";
// qDebug() << "\nSLUGS RECEIVED PID Message";
emit slugsPidValues(uasId, mlSinglePid);
}
mavlink_pwm_commands_t* SlugsMAV::getPwmCommands()
{
return &mlPwmCommands;
}
#endif // MAVLINK_ENABLED_SLUGS
src/uas/SlugsMAV.h
View file @ c8fe3480
......@@ -36,12 +36,15 @@ class SlugsMAV : public UAS
public:
SlugsMAV(MAVLinkProtocol* mavlink, int id = 0);
public slots:
/** @brief Receive a MAVLink message from this MAV */
void receiveMessage(LinkInterface* link, mavlink_message_t message);
void emitSignals (void);
//mavlink_pwm_commands_t* getPwmCommands();
signals:
......@@ -70,6 +73,8 @@ signals:
#endif
protected:
......
src/uas/UAS.h
View file @ c8fe3480
......@@ -92,7 +92,7 @@ public:
friend class UASWaypointManager;
protected:
protected: //COMMENTS FOR TEST UNIT
int uasId; ///< Unique system ID
unsigned char type; ///< UAS type (from type enum)
quint64 startTime; ///< The time the UAS was switched on
......
src/uas/UASWaypointManager.cc
View file @ c8fe3480
......@@ -31,6 +31,7 @@ This file is part of the QGROUNDCONTROL project
#include "UASWaypointManager.h"
#include "UAS.h"
#include "mavlink_types.h"
#define PROTOCOL_TIMEOUT_MS 2000 ///< maximum time to wait for pending messages until timeout
#define PROTOCOL_DELAY_MS 40 ///< minimum delay between sent messages
......@@ -604,22 +605,26 @@ void UASWaypointManager::sendWaypointRequest(quint16 seq)
void UASWaypointManager::sendWaypoint(quint16 seq)
{
mavlink_message_t message;
qDebug() <<" WP Buffer count: "<<waypoint_buffer.count();
if (seq < waypoint_buffer.count())
{
mavlink_waypoint_t *wp;
wp = waypoint_buffer.at(seq);
wp->target_system = uas.getUASID();
wp->target_component = MAV_COMP_ID_WAYPOINTPLANNER;
emit updateStatusString(QString("Sending waypoint ID %1 of %2 total").arg(wp->seq).arg(current_count));
qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system<<" WP Buffer count: "<<waypoint_buffer.count();
mavlink_msg_waypoint_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, wp);
uas.sendMessage(message);
MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000);
qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system;
}
}
......
src/ui/MainWindow.cc
View file @ c8fe3480
......@@ -172,11 +172,6 @@ MainWindow::MainWindow(QWidget *parent):
// Create actions
connectCommonActions();
// Add option for custom widgets
connect(ui.actionNewCustomWidget, SIGNAL(triggered()), this, SLOT(createCustomWidget()));
// Allow to mute audio
ui.actionMuteAudioOutput->setChecked(GAudioOutput::instance()->isMuted());
connect(ui.actionMuteAudioOutput, SIGNAL(triggered(bool)), GAudioOutput::instance(), SLOT(mute(bool)));
// Set dock options
setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks);
......@@ -344,6 +339,21 @@ void MainWindow::buildCommonWidgets()
addToCentralWidgetsMenu (protocolWidget, "Mavlink Generator", SLOT(showCentralWidget()),CENTRAL_PROTOCOL);
}
//TODO temporaly debug
if (!slugsHilSimWidget)
{
slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
slugsHilSimWidget->setWidget( new SlugsHilSim(this));
addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget()), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
}
//TODO temporaly debug
if (!slugsCamControlWidget)
{
slugsCamControlWidget = new QDockWidget(tr("Slugs Video Camera Control"), this);
slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));
addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget()), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
}
if (!dataplotWidget)
{
dataplotWidget = new QGCDataPlot2D(this);
......@@ -695,8 +705,8 @@ void MainWindow::addToToolsMenu ( QWidget* widget,
// connect the action
connect(tempAction,SIGNAL(triggered()),this, slotName);
connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
SIGNAL(visibilityChanged(bool)), this, SLOT(updateVisibilitySettings(bool)));
// connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
// SIGNAL(visibilityChanged(bool)), this, SLOT(updateVisibilitySettings(bool)));
connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
SIGNAL(dockLocationChanged(Qt::DockWidgetArea)), this, SLOT(updateLocationSettings(Qt::DockWidgetArea)));
......@@ -720,6 +730,7 @@ void MainWindow::showToolWidget()
removeDockWidget(qobject_cast<QDockWidget *>(dockWidgets[tool]));
}
}
}
......@@ -798,11 +809,9 @@ void MainWindow::updateVisibilitySettings (bool vis)
if (temp)
{
QHashIterator<int, QWidget*> i(dockWidgets);
while (i.hasNext())
{
while (i.hasNext()) {
i.next();
if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp)
{
if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp) {
QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
settings.setValue(chKey,vis);
toolsMenuActions[i.key()]->setChecked(vis);
......@@ -851,6 +860,12 @@ void MainWindow::connectCommonWidgets()
// it notifies that a waypoint global goes to do create and a map graphic too
connect(waypointsDockWidget->widget(), SIGNAL(createWaypointAtMap(QPointF)), mapWidget, SLOT(createWaypointGraphAtMap(QPointF)));
}
//TODO temporaly debug
if (slugsHilSimWidget && slugsHilSimWidget->widget()){
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
slugsHilSimWidget->widget(), SLOT(activeUasSet(UASInterface*)));
}
}
void MainWindow::createCustomWidget()
......@@ -1363,10 +1378,10 @@ void MainWindow::UASCreated(UASInterface* uas)
// Connect Pixhawk Actions
connectPxActions();
}
break;
loadOperatorView();
}
// Change the view only if this is the first UAS
......@@ -1388,7 +1403,7 @@ void MainWindow::UASCreated(UASInterface* uas)
if (settings.contains(getWindowStateKey()))
{
restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
}
}
}
else
......@@ -1460,11 +1475,11 @@ void MainWindow::loadEngineerView()
{
if (currentView != VIEW_ENGINEER)
{
clearView();
clearView();
currentView = VIEW_ENGINEER;
currentView = VIEW_ENGINEER;
presentView();
presentView();
}
}
......@@ -1472,11 +1487,11 @@ void MainWindow::loadOperatorView()
{
if (currentView != VIEW_OPERATOR)
{
clearView();
clearView();
currentView = VIEW_OPERATOR;
currentView = VIEW_OPERATOR;
presentView();
presentView();
}
}
......@@ -1484,11 +1499,11 @@ void MainWindow::loadPilotView()
{
if (currentView != VIEW_PILOT)
{
clearView();
clearView();
currentView = VIEW_PILOT;
currentView = VIEW_PILOT;
presentView();
presentView();
}
}
......@@ -1496,11 +1511,11 @@ void MainWindow::loadMAVLinkView()
{
if (currentView != VIEW_MAVLINK)
{
clearView();
clearView();
currentView = VIEW_MAVLINK;
currentView = VIEW_MAVLINK;
presentView();
presentView();
}
}
......@@ -1568,7 +1583,7 @@ void MainWindow::presentView()
if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HUD,currentView)).toBool())
{
addDockWidget(static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HUD, currentView)).toInt()),
hsiDockWidget);
headUpDockWidget);
headUpDockWidget->show();
}
else
......@@ -1646,7 +1661,7 @@ void MainWindow::loadDataView(QString fileName)
if (dataplotWidget)
{
dataplotWidget->loadFile(fileName);
}
}
// QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
// if (centerStack)
// {
......
src/ui/MapWidget.cc
View file @ c8fe3480
......@@ -813,7 +813,8 @@ void MapWidget::changeGlobalWaypointPositionBySpinBox(int index, float lat, floa
void MapWidget::updateCameraPosition(double radio, double bearing, QString dir)
{
// FIXME Mariano
Q_UNUSED(bearing);
Q_UNUSED(dir);
//camPoints.clear();
QPointF currentPos = mc->currentCoordinate();
// QPointF actualPos = getPointxBearing_Range(currentPos.y(),currentPos.x(),bearing,distance);
......
src/ui/SlugsDataSensorView.cc
View file @ c8fe3480
......@@ -28,7 +28,7 @@ SlugsDataSensorView::~SlugsDataSensorView()
void SlugsDataSensorView::addUAS(UASInterface* uas)
{
SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(uas);
SlugsMAV* slugsMav = qobject_cast<SlugsMAV*>(uas);
if (slugsMav != NULL) {
......@@ -104,7 +104,7 @@ void SlugsDataSensorView::slugsGlobalPositionChanged(UASInterface *uas,
ui->m_GpsLongitude->setText(QString::number(lon));
ui->m_GpsHeight->setText(QString::number(alt));
qDebug()<<"GPS Position = "<<lat<<" - "<<lon<<" - "<<alt;
//qDebug()<<"GPS Position = "<<lat<<" - "<<lon<<" - "<<alt;
}
......@@ -154,7 +154,7 @@ void SlugsDataSensorView::slugAttitudeChanged(UASInterface* uas,
ui->m_Pitch->setPlainText(QString::number(slugpitch));
ui->m_Yaw->setPlainText(QString::number(slugyaw));
qDebug()<<"Attitude change = "<<slugroll<<" - "<<slugpitch<<" - "<<slugyaw;
// qDebug()<<"Attitude change = "<<slugroll<<" - "<<slugpitch<<" - "<<slugyaw;
}
......
src/ui/SlugsDataSensorView.ui
View file @ c8fe3480
This source diff could not be displayed because it is too large. You can view the blob instead.
src/ui/SlugsHilSim.cc
View file @ c8fe3480
......@@ -25,12 +25,13 @@ This file is part of the QGROUNDCONTROL project
* @file
* @brief Configuration Window for Slugs' HIL Simulator
* @author Mariano Lizarraga <malife@gmail.com>
* @author Alejandro Molina <am.alex09@gmail.com>
*/
#include "SlugsHilSim.h"
#include "ui_SlugsHilSim.h"
#include "LinkManager.h"
SlugsHilSim::SlugsHilSim(QWidget *parent) :
QWidget(parent),
......@@ -49,6 +50,18 @@ SlugsHilSim::SlugsHilSim(QWidget *parent) :
connect(rxSocket, SIGNAL(readyRead()), this, SLOT(readDatagram()));
linksAvailable.clear();
memset(&tmpAirData, 0, sizeof(mavlink_air_data_t));
memset(&tmpAttitudeData, 0, sizeof(mavlink_attitude_t));
memset(&tmpGpsData, 0, sizeof(mavlink_gps_raw_t));
memset(&tmpGpsTime, 0, sizeof(mavlink_gps_date_time_t));
memset(&tmpLocalPositionData, 0, sizeof(mavlink_sensor_bias_t));
memset(&tmpRawImuData, 0, sizeof(mavlink_raw_imu_t));
foreach (LinkInterface* link, LinkManager::instance()->getLinks())
{
addToCombo(link);
}
}
SlugsHilSim::~SlugsHilSim()
......@@ -59,8 +72,8 @@ SlugsHilSim::~SlugsHilSim()
void SlugsHilSim::addToCombo(LinkInterface* theLink){
ui->cb_mavlinkLinks->addItem(theLink->getName());
linksAvailable.insert(ui->cb_mavlinkLinks->count(),theLink);
ui->cb_mavlinkLinks->addItem(theLink->getName());
if (hilLink == NULL){
hilLink = theLink;
......@@ -121,6 +134,10 @@ void SlugsHilSim::readDatagram(void){
if (datagram.size() == 113) {
processHilDatagram(&datagram);
sendMessageToSlugs();
commandDatagramToSimulink();
}
ui->ed_count->setText(QString::number(count++));
......@@ -141,12 +158,6 @@ void SlugsHilSim::processHilDatagram(const QByteArray* datagram)
#ifdef MAVLINK_ENABLED_SLUGS
unsigned char i = 0;
mavlink_message_t msg;
// GPS
mavlink_gps_raw_t tmpGpsRaw;
mavlink_gps_date_time_t tmpGpsTime;
tmpGpsTime.year = datagram->at(i++);
tmpGpsTime.month = datagram->at(i++);
......@@ -155,31 +166,64 @@ void SlugsHilSim::processHilDatagram(const QByteArray* datagram)
tmpGpsTime.min = datagram->at(i++);
tmpGpsTime.sec = datagram->at(i++);
tmpGpsRaw.lat = getFloatFromDatagram(datagram, &i);
tmpGpsRaw.lon = getFloatFromDatagram(datagram, &i);
tmpGpsRaw.alt = getFloatFromDatagram(datagram, &i);
tmpGpsData.lat = getFloatFromDatagram(datagram, &i);
tmpGpsData.lon = getFloatFromDatagram(datagram, &i);
tmpGpsData.alt = getFloatFromDatagram(datagram, &i);
tmpGpsRaw.hdg = getUint16FromDatagram(datagram, &i);
tmpGpsRaw.v = getUint16FromDatagram(datagram, &i);
tmpGpsRaw.eph = getUint16FromDatagram(datagram, &i);
tmpGpsData.hdg = getUint16FromDatagram(datagram, &i);
tmpGpsData.v = getUint16FromDatagram(datagram, &i);
tmpGpsRaw.fix_type = datagram->at(i++);
tmpGpsData.eph = getUint16FromDatagram(datagram, &i);
tmpGpsData.fix_type = datagram->at(i++);
tmpGpsTime.visSat = datagram->at(i++);
i++;
mavlink_msg_gps_date_time_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &tmpGpsTime);
activeUas->sendMessage(hilLink, msg);
memset(&msg, 0, sizeof(mavlink_message_t));
mavlink_msg_gps_raw_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &tmpGpsRaw);
activeUas->sendMessage(hilLink,msg);
tmpAirData.dynamicPressure= getFloatFromDatagram(datagram, &i);
tmpAirData.staticPressure= getFloatFromDatagram(datagram, &i);
tmpAirData.temperature= getUint16FromDatagram(datagram, &i);
// TODO Salto en el Datagrama
i=i+8;
tmpRawImuData.xgyro = getUint16FromDatagram(datagram, &i);
tmpRawImuData.ygyro = getUint16FromDatagram(datagram, &i);
tmpRawImuData.zgyro = getUint16FromDatagram(datagram, &i);
tmpRawImuData.xacc = getUint16FromDatagram(datagram, &i);
tmpRawImuData.yacc = getUint16FromDatagram(datagram, &i);
tmpRawImuData.zacc = getUint16FromDatagram(datagram, &i);
tmpRawImuData.xmag = getUint16FromDatagram(datagram, &i);
tmpRawImuData.ymag = getUint16FromDatagram(datagram, &i);
tmpRawImuData.zmag = getUint16FromDatagram(datagram, &i);
tmpAttitudeData.roll = getFloatFromDatagram(datagram, &i);
tmpAttitudeData.pitch = getFloatFromDatagram(datagram, &i);
tmpAttitudeData.yaw = getFloatFromDatagram(datagram, &i);
tmpAttitudeData.rollspeed = getFloatFromDatagram(datagram, &i);
tmpAttitudeData.pitchspeed = getFloatFromDatagram(datagram, &i);
tmpAttitudeData.yawspeed = getFloatFromDatagram(datagram, &i);
// TODO Crear Paquete SYNC TIME
i=i+2;
tmpLocalPositionData.x = getFloatFromDatagram(datagram, &i);
tmpLocalPositionData.y = getFloatFromDatagram(datagram, &i);
tmpLocalPositionData.z = getFloatFromDatagram(datagram, &i);
tmpLocalPositionData.vx = getFloatFromDatagram(datagram, &i);
tmpLocalPositionData.vy = getFloatFromDatagram(datagram, &i);
tmpLocalPositionData.vz = getFloatFromDatagram(datagram, &i);
// TODO: this is legacy of old HIL datagram. Need to remove from Simulink model
i++;
ui->ed_1->setText(QString::number(tmpGpsRaw.hdg));
ui->ed_2->setText(QString::number(tmpGpsRaw.v));
ui->ed_3->setText(QString::number(tmpGpsRaw.eph));
ui->ed_1->setText(QString::number(tmpRawImuData.xacc));
ui->ed_2->setText(QString::number(tmpRawImuData.yacc));
ui->ed_3->setText(QString::number(tmpRawImuData.zacc));
ui->tbA->setText(QString::number(tmpRawImuData.xgyro));
ui->tbB->setText(QString::number(tmpRawImuData.ygyro));
ui->tbC->setText(QString::number(tmpRawImuData.zgyro));
#else
Q_UNUSED(datagram);
#endif
......@@ -207,6 +251,97 @@ uint16_t SlugsHilSim::getUint16FromDatagram (const QByteArray* datagram, unsigne
}
void SlugsHilSim::linkSelected(int cbIndex){
#ifdef MAVLINK_ENABLED_SLUGS
// HIL code to go here...
//hilLink = linksAvailable
// FIXME Mariano
hilLink =linksAvailable.value(cbIndex);
#endif
}
void SlugsHilSim::sendMessageToSlugs()
{
mavlink_message_t msg;
mavlink_msg_local_position_encode(MG::SYSTEM::ID,
MG::SYSTEM::COMPID,
&msg,
&tmpLocalPositionData);
activeUas->sendMessage(hilLink, msg);
memset(&msg, 0, sizeof(mavlink_message_t));
mavlink_msg_attitude_encode(MG::SYSTEM::ID,
MG::SYSTEM::COMPID,
&msg,
&tmpAttitudeData);
activeUas->sendMessage(hilLink, msg);
memset(&msg, 0, sizeof(mavlink_message_t));
mavlink_msg_raw_imu_encode(MG::SYSTEM::ID,
MG::SYSTEM::COMPID,
&msg,
&tmpRawImuData);
activeUas->sendMessage(hilLink, msg);
memset(&msg, 0, sizeof(mavlink_message_t));
mavlink_msg_air_data_encode(MG::SYSTEM::ID,
MG::SYSTEM::COMPID,
&msg,
&tmpAirData);
activeUas->sendMessage(hilLink, msg);
memset(&msg, 0, sizeof(mavlink_message_t));
mavlink_msg_gps_raw_encode(MG::SYSTEM::ID,
MG::SYSTEM::COMPID,
&msg,
&tmpGpsData);
activeUas->sendMessage(hilLink, msg);
memset(&msg, 0, sizeof(mavlink_message_t));
mavlink_msg_gps_date_time_encode(MG::SYSTEM::ID,
MG::SYSTEM::COMPID,
&msg,
&tmpGpsTime);
activeUas->sendMessage(hilLink, msg);
memset(&msg, 0, sizeof(mavlink_message_t));
}
void SlugsHilSim::commandDatagramToSimulink()
{
//mavlink_pwm_commands_t* pwdC = (static_cast<SlugsMAV*>(activeUas))->getPwmCommands();
mavlink_pwm_commands_t* pwdC;
if(pwdC != NULL){
}
QByteArray data;
data.resize(22);
unsigned char i=0;
setUInt16ToDatagram(data, &i, 1);//pwdC->dt_c);
setUInt16ToDatagram(data, &i, 2);//pwdC->dla_c);
setUInt16ToDatagram(data, &i, 3);//pwdC->dra_c);
setUInt16ToDatagram(data, &i, 4);//pwdC->dr_c);
setUInt16ToDatagram(data, &i, 5);//pwdC->dle_c);
setUInt16ToDatagram(data, &i, 6);//pwdC->dre_c);
setUInt16ToDatagram(data, &i, 7);//pwdC->dlf_c);
setUInt16ToDatagram(data, &i, 8);//pwdC->drf_c);
setUInt16ToDatagram(data, &i, 9);//pwdC->aux1);
setUInt16ToDatagram(data, &i, 10);//pwdC->aux2);
setUInt16ToDatagram(data, &i, 11);//value default
txSocket->writeDatagram(data, QHostAddress::Broadcast, ui->ed_txPort->text().toInt());
}
void SlugsHilSim::setUInt16ToDatagram(QByteArray& datagram, unsigned char* pos, uint16_t value)
{
tUint16ToChar tmpUnion;
tmpUnion.uiData= value;
datagram[(*pos)++]= tmpUnion.chData[0];
datagram[(*pos)++]= tmpUnion.chData[1];
}
src/ui/SlugsHilSim.h
View file @ c8fe3480
......@@ -30,14 +30,19 @@ This file is part of the QGROUNDCONTROL project
#ifndef SLUGSHILSIM_H
#define SLUGSHILSIM_H
#include <stdint.h>
#include <QWidget>
#include <QHostAddress>
#include <QUdpSocket>
#include <QMessageBox>
#include <QByteArray>
#include "LinkInterface.h"
#include "UAS.h"
#include <stdint.h>
#include "LinkManager.h"
#include "SlugsMAV.h"
namespace Ui {
......@@ -52,6 +57,8 @@ public:
explicit SlugsHilSim(QWidget *parent = 0);
~SlugsHilSim();
protected:
LinkInterface* hilLink;
QHostAddress* simulinkIp;
......@@ -59,6 +66,13 @@ protected:
QUdpSocket* rxSocket;
UAS* activeUas;
mavlink_local_position_t tmpLocalPositionData;
mavlink_attitude_t tmpAttitudeData;
mavlink_raw_imu_t tmpRawImuData;
mavlink_air_data_t tmpAirData;
mavlink_gps_raw_t tmpGpsData;
mavlink_gps_date_time_t tmpGpsTime;
public slots:
/**
......@@ -121,11 +135,18 @@ private:
} tUint16ToChar;
Ui::SlugsHilSim *ui;
QHash <int, LinkInterface*> linksAvailable;
void processHilDatagram (const QByteArray* datagram);
float getFloatFromDatagram (const QByteArray* datagram, unsigned char * i);
uint16_t getUint16FromDatagram (const QByteArray* datagram, unsigned char * i);
void setUInt16ToDatagram(QByteArray& datagram, unsigned char* pos, uint16_t value);
void sendMessageToSlugs();
void commandDatagramToSimulink();
};
......
src/ui/SlugsHilSim.ui
View file @ c8fe3480
......@@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>325</width>
<width>337</width>
<height>278</height>
</rect>
</property>
......@@ -349,6 +349,19 @@
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_6">
<item>
<widget class="QLineEdit" name="tbA"/>
</item>
<item>
<widget class="QLineEdit" name="tbB"/>
</item>
<item>
<widget class="QLineEdit" name="tbC"/>
</item>
</layout>
</item>
</layout>
</widget>
<resources/>
......
src/ui/SlugsPIDControl.cpp
View file @ c8fe3480
......@@ -23,7 +23,7 @@ SlugsPIDControl::SlugsPIDControl(QWidget *parent) :
setGreenColorStyle();
refreshTimerGet = new QTimer(this);
refreshTimerGet->setInterval(100); // 20 Hz
refreshTimerGet->setInterval(100); // 10 Hz
connect(refreshTimerGet, SIGNAL(timeout()), this, SLOT(slugsGetGeneral()));
......@@ -47,9 +47,9 @@ SlugsPIDControl::SlugsPIDControl(QWidget *parent) :
void SlugsPIDControl::activeUasSet(UASInterface* uas)
{
#ifdef MAVLINK_ENABLED_SLUGS
SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(uas);
SlugsMAV* slugsMav = qobject_cast<SlugsMAV*>(uas);
if (slugsMav != NULL)
if (slugsMav)
{
connect(slugsMav,SIGNAL(slugsActionAck(int,const mavlink_action_ack_t&)),this,SLOT(recibeMensaje(int,mavlink_action_ack_t)));
connect(slugsMav,SIGNAL(slugsPidValues(int,mavlink_pid_t)),this, SLOT(receivePidValues(int,mavlink_pid_t)) );
......@@ -58,15 +58,14 @@ void SlugsPIDControl::activeUasSet(UASInterface* uas)
connect(ui->getGeneral_pushButton,SIGNAL(clicked()),this,SLOT(slugsTimerStartGet()));
}
#endif // MAVLINK_ENABLED_SLUG
#endif // MAVLINK_ENABLED_SLUG
// Set this UAS as active if it is the first one
if(activeUAS == 0)
if(!activeUAS)
{
activeUAS = uas;
systemId = activeUAS->getUASID();
connect_editLinesPDIvalues();
//qDebug()<<"------------------->Active UAS ID: "<<uas->getUASID();
}
}
......@@ -507,6 +506,7 @@ void SlugsPIDControl::get_Pitch2dT_PID()
void SlugsPIDControl::recibeMensaje(int systemId, const mavlink_action_ack_t& action)
{
Q_UNUSED(systemId);
ui->recepcion_label->setText(QString::number(action.action) + ":" + QString::number(action.result));
}
......
src/ui/SlugsPadCameraControl.cpp
View file @ c8fe3480
......@@ -26,16 +26,14 @@ SlugsPadCameraControl::~SlugsPadCameraControl()
void SlugsPadCameraControl::mouseMoveEvent(QMouseEvent *event)
{
Q_UNUSED(event);
//emit mouseMoveCoord(event->x(),event->y());
if(dragging)
{
if(abs(x1-event->x())>20 || abs(y1-event->y())>20)
{
getDeltaPositionPad(event->x(), event->y());
x1 = event->x();
y1 = event->y();
}
// getDeltaPositionPad(event->x(), event->y());
}
......@@ -54,7 +52,7 @@ void SlugsPadCameraControl::mouseReleaseEvent(QMouseEvent *event)
{
dragging = false;
//emit mouseReleaseCoord(event->x(),event->y());
//getDeltaPositionPad(event->x(), event->y());
getDeltaPositionPad(event->x(), event->y());
xFin = event->x();
yFin = event->y();
......@@ -105,6 +103,10 @@ void SlugsPadCameraControl::getDeltaPositionPad(int x2, int y2)
double bearing = localMeasures.x();
double dist = getDistPixel(y1,x1,y2,x2);
// this only convert real bearing to frame widget bearing
bearing = bearing +90;
if(bearing>= 360) bearing = bearing - 360;
if(((bearing > 330)&&(bearing < 360)) || ((bearing >= 0)&&(bearing <= 30)))
......@@ -210,16 +212,9 @@ double SlugsPadCameraControl::getDistPixel(int x1, int y1, int x2, int y2)
// distancia = (float) hipotenusa;
}
/**
* Esta funcin xxxxxxxxx
* @param double lat1 -->
* @param double lon1 -->
* @param double lat2 -->
* @param double lon2 -->
* @param ref double rumbo -->
* @param ref double distancia -->
*/
QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2)
QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, double lat1,
double lon2, double lat2)
{
double cateto_opuesto,cateto_adyacente, hipotenusa, distancia;
double marcacion = 0.0;
......@@ -257,9 +252,7 @@ QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, doubl
else if((lat1 == lat2) && (lon1 == lon2)) //0
marcacion = 0.0;
// this only convert real bearing to frame widget bearing
marcacion = marcacion +90;
if(marcacion>= 360) marcacion = marcacion - 360;
return QPointF(marcacion,distancia);
......
src/ui/SlugsPadCameraControl.h
View file @ c8fe3480
......@@ -19,12 +19,16 @@ public:
public slots:
void getDeltaPositionPad(int x, int y);
double getDistPixel(int x1, int y1, int x2, int y2);
QPointF ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2);
QPointF getPointBy_BearingDistance(double lat1, double lon1, double rumbo, double distancia);
signals:
void mouseMoveCoord(int x, int y);
void mousePressCoord(int x, int y);
......
src/ui/SlugsVideoCamControl.ui
View file @ c8fe3480
......@@ -22,10 +22,10 @@
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QLabel" name="label_x">
<property name="mouseTracking">
<bool>true</bool>
......@@ -35,7 +35,7 @@
</property>
</widget>
</item>
<item>
<item row="0" column="1">
<widget class="QLabel" name="label_y">
<property name="mouseTracking">
<bool>true</bool>
......@@ -45,21 +45,17 @@
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_dir">
<item row="1" column="1">
<widget class="QCheckBox" name="viewCamBordeatMap_checkBox">
<property name="text">
<string>Camera Pos</string>
<string>Camera at Map</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QCheckBox" name="viewCamBordeatMap_checkBox">
<item row="1" column="0">
<widget class="QLabel" name="label_dir">
<property name="text">
<string>Camera at Map</string>
<string>Camera Pos</string>
</property>
</widget>
</item>
......
src/ui/designer/QGCParamSlider.cc
View file @ c8fe3480
#include <QMenu>
#include <QContextMenuEvent>
#include <QSettings>
#include "QGCParamSlider.h"
#include "ui_QGCParamSlider.h"
#include "UASInterface.h"
QGCParamSlider::QGCParamSlider(QWidget *parent) :
QGCToolWidgetItem("Slider", parent),
parameterName(""),
......
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