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Valentin Platzgummer
qgroundcontrol
Commits
ceead0c5
Commit
ceead0c5
authored
Jul 25, 2012
by
Jessica
Browse files
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Browse Files
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Plain Diff
Merge branch 'signalWaypoint_unittest_fix' into organize
parents
6c6684d3
8d3f5c4c
Changes
15
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Showing
15 changed files
with
197 additions
and
126 deletions
+197
-126
qgcunittest.pro
qgcunittest.pro
+32
-8
AutoTest.h
qgcunittest/AutoTest.h
+6
-6
UASUnitTest.cc
qgcunittest/UASUnitTest.cc
+62
-25
UASUnitTest.h
qgcunittest/UASUnitTest.h
+5
-9
QGCMAVLink.h
src/comm/QGCMAVLink.h
+2
-2
SlugsMAV.h
src/uas/SlugsMAV.h
+1
-1
UAS.cc
src/uas/UAS.cc
+33
-20
UAS.h
src/uas/UAS.h
+8
-6
UASInterface.h
src/uas/UASInterface.h
+28
-29
UASWaypointManager.cc
src/uas/UASWaypointManager.cc
+1
-1
senseSoarMAV.h
src/uas/senseSoarMAV.h
+2
-2
DebugConsole.cc
src/ui/DebugConsole.cc
+1
-1
RadioCalibrationWindow.h
src/ui/RadioCalibration/RadioCalibrationWindow.h
+2
-2
SlugsDataSensorView.h
src/ui/SlugsDataSensorView.h
+1
-1
WaypointEditableView.cc
src/ui/WaypointEditableView.cc
+13
-13
No files found.
qgcunittest.pro
View file @
ceead0c5
...
...
@@ -229,14 +229,21 @@ FORMS += src/ui/MainWindow.ui \
src
/
ui
/
designer
/
QGCCommandButton
.
ui
\
src
/
ui
/
QGCMAVLinkLogPlayer
.
ui
\
src
/
ui
/
QGCWaypointListMulti
.
ui
\
src
/
ui
/
mission
/
QGCCustomWaypointAction
.
ui
\
src
/
ui
/
QGCUDPLinkConfiguration
.
ui
\
src
/
ui
/
QGCSettingsWidget
.
ui
\
src
/
ui
/
UASControlParameters
.
ui
\
src
/
ui
/
mission
/
QGCMissionDoWidget
.
ui
\
src
/
ui
/
mission
/
QGCMissionConditionWidget
.
ui
\
src
/
ui
/
map
/
QGCMapTool
.
ui
\
src
/
ui
/
map
/
QGCMapToolBar
.
ui
\
src
/
ui
/
mission
/
QGCMissionOther
.
ui
\
src
/
ui
/
mission
/
QGCMissionConditionDelay
.
ui
\
src
/
ui
/
mission
/
QGCMissionDoJump
.
ui
\
src
/
ui
/
mission
/
QGCMissionNavReturnToLaunch
.
ui
\
src
/
ui
/
mission
/
QGCMissionNavLoiterUnlim
.
ui
\
src
/
ui
/
mission
/
QGCMissionNavLoiterTurns
.
ui
\
src
/
ui
/
mission
/
QGCMissionNavTakeoff
.
ui
\
src
/
ui
/
mission
/
QGCMissionNavLand
.
ui
\
src
/
ui
/
mission
/
QGCMissionNavWaypoint
.
ui
\
src
/
ui
/
mission
/
QGCMissionNavLoiterTime
.
ui
\
src
/
ui
/
QGCMAVLinkInspector
.
ui
\
src
/
ui
/
WaypointViewOnlyView
.
ui
\
src
/
ui
/
WaypointEditableView
.
ui
\
...
...
@@ -326,6 +333,7 @@ HEADERS += src/MG.h \
src
/
comm
/
QGCMAVLink
.
h
\
src
/
ui
/
QGCWebView
.
h
\
src
/
ui
/
map3D
/
QGCWebPage
.
h
\
src
/
ui
/
map3D
/
PixhawkCheetahNode
.
cc
\
src
/
ui
/
SlugsDataSensorView
.
h
\
src
/
ui
/
SlugsHilSim
.
h
\
src
/
ui
/
SlugsPadCameraControl
.
h
\
...
...
@@ -344,14 +352,22 @@ HEADERS += src/MG.h \
src
/
ui
/
QGCUDPLinkConfiguration
.
h
\
src
/
ui
/
QGCSettingsWidget
.
h
\
src
/
ui
/
uas
/
UASControlParameters
.
h
\
src
/
ui
/
mission
/
QGCMissionDoWidget
.
h
\
src
/
ui
/
mission
/
QGCMissionConditionWidget
.
h
\
src
/
uas
/
QGCUASParamManager
.
h
\
src
/
ui
/
map
/
QGCMapWidget
.
h
\
src
/
ui
/
map
/
MAV2DIcon
.
h
\
src
/
ui
/
map
/
Waypoint2DIcon
.
h
\
src
/
ui
/
map
/
QGCMapTool
.
h
\
src
/
ui
/
map
/
QGCMapToolBar
.
h
\
src
/
ui
/
mission
/
QGCMissionOther
.
h
\
src
/
ui
/
mission
/
QGCMissionConditionDelay
.
h
\
src
/
ui
/
mission
/
QGCMissionDoJump
.
h
\
src
/
ui
/
mission
/
QGCMissionNavReturnToLaunch
.
h
\
src
/
ui
/
mission
/
QGCMissionNavLoiterUnlim
.
h
\
src
/
ui
/
mission
/
QGCMissionNavLoiterTurns
.
h
\
src
/
ui
/
mission
/
QGCMissionNavTakeoff
.
h
\
src
/
ui
/
mission
/
QGCMissionNavLand
.
h
\
src
/
ui
/
mission
/
QGCMissionNavWaypoint
.
h
\
src
/
ui
/
mission
/
QGCMissionNavLoiterTime
.
h
\
src
/
libs
/
qextserialport
/
qextserialenumerator
.
h
\
src
/
QGCGeo
.
h
\
src
/
ui
/
QGCToolBar
.
h
\
...
...
@@ -493,14 +509,22 @@ SOURCES += src/QGCCore.cc \
src
/
ui
/
QGCUDPLinkConfiguration
.
cc
\
src
/
ui
/
QGCSettingsWidget
.
cc
\
src
/
ui
/
uas
/
UASControlParameters
.
cpp
\
src
/
ui
/
mission
/
QGCMissionDoWidget
.
cc
\
src
/
ui
/
mission
/
QGCMissionConditionWidget
.
cc
\
src
/
uas
/
QGCUASParamManager
.
cc
\
src
/
ui
/
map
/
QGCMapWidget
.
cc
\
src
/
ui
/
map
/
MAV2DIcon
.
cc
\
src
/
ui
/
map
/
Waypoint2DIcon
.
cc
\
src
/
ui
/
map
/
QGCMapTool
.
cc
\
src
/
ui
/
map
/
QGCMapToolBar
.
cc
\
src
/
ui
/
mission
/
QGCMissionOther
.
cc
\
src
/
ui
/
mission
/
QGCMissionConditionDelay
.
cc
\
src
/
ui
/
mission
/
QGCMissionDoJump
.
cc
\
src
/
ui
/
mission
/
QGCMissionNavReturnToLaunch
.
cc
\
src
/
ui
/
mission
/
QGCMissionNavLoiterUnlim
.
cc
\
src
/
ui
/
mission
/
QGCMissionNavLoiterTurns
.
cc
\
src
/
ui
/
mission
/
QGCMissionNavTakeoff
.
cc
\
src
/
ui
/
mission
/
QGCMissionNavLand
.
cc
\
src
/
ui
/
mission
/
QGCMissionNavWaypoint
.
cc
\
src
/
ui
/
mission
/
QGCMissionNavLoiterTime
.
cc
\
src
/
ui
/
QGCToolBar
.
cc
\
src
/
ui
/
QGCMAVLinkInspector
.
cc
\
src
/
ui
/
MAVLinkDecoder
.
cc
\
...
...
@@ -533,7 +557,7 @@ contains(DEPENDENCIES_PRESENT, osg) {
src
/
ui
/
map3D
/
Q3DWidget
.
cc
\
src
/
ui
/
map3D
/
ImageWindowGeode
.
cc
\
src
/
ui
/
map3D
/
GCManipulator
.
cc
\
src
/
ui
/
map3D
/
PixhawkCheetah
Ge
ode
.
cc
\
src
/
ui
/
map3D
/
PixhawkCheetah
N
ode
.
cc
\
src
/
ui
/
map3D
/
Pixhawk3DWidget
.
cc
\
src
/
ui
/
map3D
/
Q3DWidgetFactory
.
cc
\
src
/
ui
/
map3D
/
WebImageCache
.
cc
\
...
...
qgcunittest/AutoTest.h
View file @
ceead0c5
...
...
@@ -15,7 +15,7 @@
namespace
AutoTest
{
typedef
QList
<
QObject
*>
TestList
;
inline
TestList
&
testList
()
{
static
TestList
list
;
...
...
@@ -49,14 +49,14 @@ namespace AutoTest
}
inline
int
run
(
int
argc
,
char
*
argv
[])
{
{
int
ret
=
0
;
QCoreApplication
t
(
argc
,
argv
);
foreach
(
QObject
*
test
,
testList
())
{
ret
+=
QTest
::
qExec
(
test
,
argc
,
argv
);
{
ret
+=
QTest
::
qExec
(
test
,
argc
,
argv
);
}
return
ret
;
}
}
...
...
qgcunittest/UASUnitTest.cc
View file @
ceead0c5
#include "UASUnitTest.h"
#include <stdio.h>
#include <QObject>
UASUnitTest
::
UASUnitTest
()
{
}
void
UASUnitTest
::
init
TestCase
()
//This function is called after every test
void
UASUnitTest
::
init
()
{
mav
=
new
MAVLinkProtocol
();
uas
=
new
UAS
(
mav
,
UASID
);
uas
=
new
UAS
(
mav
,
UASID
);
uas
->
deleteSettings
();
}
void
UASUnitTest
::
cleanup
TestCase
()
//this function is called after every test
void
UASUnitTest
::
cleanup
()
{
delete
uas
;
delete
mav
;
delete
mav
;
mav
=
NULL
;
if
(
uas
!=
NULL
){
delete
uas
;
uas
=
NULL
;
}
}
void
UASUnitTest
::
getUASID_test
()
...
...
@@ -32,6 +38,7 @@ void UASUnitTest::getUASID_test()
// Make sure that ID >= 0
QCOMPARE
(
uas
->
getUASID
(),
100
);
}
void
UASUnitTest
::
getUASName_test
()
...
...
@@ -118,11 +125,12 @@ void UASUnitTest::getStatusForCode_test()
uas
->
getStatusForCode
(
5325
,
state
,
desc
);
QVERIFY
(
state
==
"UNKNOWN"
);
}
void
UASUnitTest
::
getLocalX_test
()
{
QCOMPARE
(
uas
->
getLocalX
(),
0.0
);
QCOMPARE
(
uas
->
getLocalX
(),
0.0
);
}
void
UASUnitTest
::
getLocalY_test
()
{
...
...
@@ -162,18 +170,32 @@ void UASUnitTest::getSelected_test()
}
void
UASUnitTest
::
getSystemType_test
()
{
{
//check that system type is set to MAV_TYPE_GENERIC when initialized
QCOMPARE
(
uas
->
getSystemType
(),
0
);
uas
->
setSystemType
(
13
);
QCOMPARE
(
uas
->
getSystemType
(),
13
);
}
void
UASUnitTest
::
getAirframe_test
()
{
//when uas is constructed, airframe is set to QGC_AIRFRAME_GENERIC which is 0
QCOMPARE
(
uas
->
getAirframe
(),
0
);
uas
->
setAirframe
(
25
);
QVERIFY
(
uas
->
getAirframe
()
==
25
);
}
void
UASUnitTest
::
setAirframe_test
()
{
//check at construction, that airframe=0 (GENERIC)
QVERIFY
(
uas
->
getAirframe
()
==
0
);
//check that set airframe works
uas
->
setAirframe
(
11
);
QVERIFY
(
uas
->
getAirframe
()
==
11
);
//check that setAirframe will not assign a number to airframe, that is
//not defined in the enum
uas
->
setAirframe
(
12
);
QVERIFY
(
uas
->
getAirframe
()
==
11
);
}
void
UASUnitTest
::
getWaypointList_test
()
{
QVector
<
Waypoint
*>
kk
=
uas
->
getWaypointManager
()
->
getWaypointEditableList
();
...
...
@@ -200,11 +222,12 @@ void UASUnitTest::getWaypointList_test()
QCOMPARE
(
kk
.
count
(),
0
);
qDebug
()
<<
"disconnect SIGNAL waypointListChanged"
;
}
void
UASUnitTest
::
getWaypoint_test
()
{
Waypoint
*
wp
=
new
Waypoint
(
0
,
0.0
,
0.0
,
0
.0
,
0.0
,
0.0
,
0.0
,
0.0
,
false
,
false
,
MAV_FRAME_GLOBAL
,
MAV_CMD_MISSION_START
,
"blah"
);
Waypoint
*
wp
=
new
Waypoint
(
0
,
5.6
,
2.0
,
3
.0
,
0.0
,
0.0
,
0.0
,
0.0
,
false
,
false
,
MAV_FRAME_GLOBAL
,
MAV_CMD_MISSION_START
,
"blah"
);
uas
->
getWaypointManager
()
->
addWaypointEditable
(
wp
,
true
);
...
...
@@ -213,22 +236,31 @@ void UASUnitTest::getWaypoint_test()
QCOMPARE
(
wpList
.
count
(),
1
);
QCOMPARE
(
static_cast
<
quint16
>
(
0
),
static_cast
<
Waypoint
*>
(
wpList
.
at
(
0
))
->
getId
());
wp
=
new
Waypoint
(
0
,
5.6
,
2
,
3
);
uas
->
getWaypointManager
()
->
addWaypointEditable
(
wp
,
true
);
Waypoint
*
wp3
=
new
Waypoint
(
1
,
5.6
,
2.0
,
3.0
);
uas
->
getWaypointManager
()
->
addWaypointEditable
(
wp3
,
true
);
wpList
=
uas
->
getWaypointManager
()
->
getWaypointEditableList
();
Waypoint
*
wp2
=
static_cast
<
Waypoint
*>
(
wpList
.
at
(
0
));
QCOMPARE
(
wp
->
getX
(),
wp2
->
getX
());
QCOMPARE
(
wp
->
getFrame
(),
MAV_FRAME_GLOBAL
);
QCOMPARE
(
wp
->
getFrame
(),
wp2
->
getFrame
());
QCOMPARE
(
wpList
.
count
(),
2
);
QCOMPARE
(
wp3
->
getX
(),
wp2
->
getX
());
QCOMPARE
(
wp3
->
getY
(),
wp2
->
getY
());
QCOMPARE
(
wp3
->
getZ
(),
wp2
->
getZ
());
QCOMPARE
(
wpList
.
at
(
1
)
->
getId
(),
static_cast
<
quint16
>
(
1
));
QCOMPARE
(
wp3
->
getFrame
(),
MAV_FRAME_GLOBAL
);
QCOMPARE
(
wp3
->
getFrame
(),
wp2
->
getFrame
());
delete
wp3
;
delete
wp
;
}
void
UASUnitTest
::
signalWayPoint_test
()
{
QSignalSpy
spy
(
uas
->
getWaypointManager
(),
SIGNAL
(
waypointListChanged
()));
Waypoint
*
wp
=
new
Waypoint
(
0
,
0
.0
,
0.0
,
0.0
,
0.0
,
0.0
,
0.0
,
0.0
,
false
,
false
,
MAV_FRAME_GLOBAL
,
MAV_CMD_MISSION_START
,
"blah"
);
QSignalSpy
spy
(
uas
->
getWaypointManager
(),
SIGNAL
(
waypoint
Editable
ListChanged
()));
Waypoint
*
wp
=
new
Waypoint
(
0
,
1
.0
,
0.0
,
0.0
,
0.0
,
0.0
,
0.0
,
0.0
,
false
,
false
,
MAV_FRAME_GLOBAL
,
MAV_CMD_MISSION_START
,
"blah"
);
uas
->
getWaypointManager
()
->
addWaypointEditable
(
wp
,
true
);
QCOMPARE
(
spy
.
count
(),
1
);
// 1 listChanged for add wayPoint
uas
->
getWaypointManager
()
->
removeWaypoint
(
0
);
QCOMPARE
(
spy
.
count
(),
2
);
// 2 listChanged for remove wayPoint
...
...
@@ -238,18 +270,21 @@ void UASUnitTest::signalWayPoint_test()
QCOMPARE
(
spyDestroyed
.
count
(),
0
);
delete
uas
;
// delete(destroyed) uas for validating
uas
=
NULL
;
QCOMPARE
(
spyDestroyed
.
count
(),
1
);
// count destroyed uas should are 1
uas
=
new
UAS
(
mav
,
UASID
);
QSignalSpy
spy2
(
uas
->
getWaypointManager
(),
SIGNAL
(
waypointListChanged
()));
QSignalSpy
spy2
(
uas
->
getWaypointManager
(),
SIGNAL
(
waypoint
Editable
ListChanged
()));
QCOMPARE
(
spy2
.
count
(),
0
);
Waypoint
*
wp2
=
new
Waypoint
(
0
,
0.0
,
0.0
,
0.0
,
0.0
,
0.0
,
0.0
,
0.0
,
false
,
false
,
MAV_FRAME_GLOBAL
,
MAV_CMD_MISSION_START
,
"blah"
);
uas
->
getWaypointManager
()
->
addWaypointEditable
(
wp
,
true
);
uas
->
getWaypointManager
()
->
addWaypointEditable
(
wp
2
,
true
);
QCOMPARE
(
spy2
.
count
(),
1
);
uas
->
getWaypointManager
()
->
clearWaypointList
();
QVector
<
Waypoint
*>
wpList
=
uas
->
getWaypointManager
()
->
getWaypointEditableList
();
QCOMPARE
(
wpList
.
count
(),
1
);
delete
wp2
;
}
void
UASUnitTest
::
signalUASLink_test
()
...
...
@@ -308,6 +343,7 @@ void UASUnitTest::signalUASLink_test()
LinkManager
::
instance
()
->
add
(
link
);
LinkManager
::
instance
()
->
addProtocol
(
link
,
mav
);
QCOMPARE
(
spyS
.
count
(),
3
);
}
void
UASUnitTest
::
signalIdUASLink_test
()
...
...
@@ -331,4 +367,5 @@ void UASUnitTest::signalIdUASLink_test()
QCOMPARE
(
a
->
getName
(),
QString
(
"serial port COM 17"
));
QCOMPARE
(
b
->
getName
(),
QString
(
"serial port COM 18"
));
}
qgcunittest/UASUnitTest.h
View file @
ceead0c5
...
...
@@ -26,10 +26,9 @@ public:
UASUnitTest
();
private
slots
:
void
initTestCase
();
void
cleanupTestCase
();
void
init
();
void
cleanup
();
void
getUASID_test
();
void
getUASName_test
();
void
getUpTime_test
();
...
...
@@ -47,16 +46,13 @@ private slots:
void
getRoll_test
();
void
getPitch_test
();
void
getYaw_test
();
void
getSelected_test
();
void
getSystemType_test
();
void
getAirframe_test
();
void
setAirframe_test
();
void
getWaypointList_test
();
void
getWaypoint_test
();
void
signalWayPoint_test
();
void
getWaypoint_test
();
void
signalUASLink_test
();
void
signalIdUASLink_test
();
};
...
...
src/comm/QGCMAVLink.h
View file @
ceead0c5
...
...
@@ -30,8 +30,8 @@ This file is part of the QGROUNDCONTROL project
#ifndef QGCMAVLINK_H
#define QGCMAVLINK_H
#include <mavlink_types.h>
#include <mavlink.h>
#include <
../../mavlink/include/mavlink/v1.0/
mavlink_types.h>
#include <
../../mavlink/include/mavlink/v1.0/common/
mavlink.h>
#ifdef MAVLINK_CONF
#define MY_MACRO(x) <x>
...
...
src/uas/SlugsMAV.h
View file @
ceead0c5
...
...
@@ -25,7 +25,7 @@ This file is part of the QGROUNDCONTROL project
#define SLUGSMAV_H
#include "UAS.h"
#include "mavlink.h"
#include "
../../mavlink/include/mavlink/v1.0/common/
mavlink.h"
#include <QTimer>
#define SLUGS_UPDATE_RATE 200 // in ms
...
...
src/uas/UAS.cc
View file @
ceead0c5
...
...
@@ -86,7 +86,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
receivedRGBDImageTimestamp
(
0.0
),
#endif
paramsOnceRequested
(
false
),
airframe
(
QGC_AIRFRAME_
EASYSTAR
),
airframe
(
QGC_AIRFRAME_
GENERIC
),
attitudeKnown
(
false
),
paramManager
(
NULL
),
attitudeStamped
(
false
),
...
...
@@ -97,20 +97,22 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
systemIsArmed
(
false
),
nedPosGlobalOffset
(
0
,
0
,
0
),
nedAttGlobalOffset
(
0
,
0
,
0
)
{
for
(
unsigned
int
i
=
0
;
i
<
255
;
++
i
)
{
componentID
[
i
]
=
-
1
;
componentMulti
[
i
]
=
false
;
}
color
=
UASInterface
::
getNextColor
();
setBatterySpecs
(
QString
(
"9V,9.5V,12.6V"
));
connect
(
statusTimeout
,
SIGNAL
(
timeout
()),
this
,
SLOT
(
updateState
()));
connect
(
this
,
SIGNAL
(
systemSpecsChanged
(
int
)),
this
,
SLOT
(
writeSettings
()));
statusTimeout
->
start
(
500
);
readSettings
();
readSettings
();
type
=
MAV_TYPE_GENERIC
;
// Initial signals
emit
disarmed
();
emit
armingChanged
(
false
);
...
...
@@ -122,7 +124,6 @@ UAS::~UAS()
delete
links
;
links
=
NULL
;
}
void
UAS
::
writeSettings
()
{
QSettings
settings
;
...
...
@@ -149,6 +150,14 @@ void UAS::readSettings()
settings
.
endGroup
();
}
void
UAS
::
deleteSettings
()
{
this
->
name
=
""
;
this
->
airframe
=
QGC_AIRFRAME_GENERIC
;
this
->
autopilot
=
-
1
;
setBatterySpecs
(
QString
(
"9V,9.5V,12.6V"
));
}
int
UAS
::
getUASID
()
const
{
return
uasId
;
...
...
@@ -2073,21 +2082,25 @@ void UAS::requestParameter(int component, const QString& parameter)
void
UAS
::
setSystemType
(
int
systemType
)
{
type
=
systemType
;
// If the airframe is still generic, change it to a close default type
if
(
airframe
==
0
)
{
switch
(
systemType
)
{
case
MAV_TYPE_FIXED_WING
:
airframe
=
QGC_AIRFRAME_EASYSTAR
;
break
;
case
MAV_TYPE_QUADROTOR
:
airframe
=
QGC_AIRFRAME_MIKROKOPTER
;
break
;
}
}
emit
systemSpecsChanged
(
uasId
);
if
((
systemType
>=
MAV_TYPE_GENERIC
)
&&
(
systemType
<
MAV_TYPE_ENUM_END
))
{
type
=
systemType
;
// If the airframe is still generic, change it to a close default type
if
(
airframe
==
0
)
{
switch
(
systemType
)
{
case
MAV_TYPE_FIXED_WING
:
airframe
=
QGC_AIRFRAME_EASYSTAR
;
break
;
case
MAV_TYPE_QUADROTOR
:
airframe
=
QGC_AIRFRAME_MIKROKOPTER
;
break
;
}
}
emit
systemSpecsChanged
(
uasId
);
}
}
void
UAS
::
setUASName
(
const
QString
&
name
)
...
...
src/uas/UAS.h
View file @
ceead0c5
...
...
@@ -143,7 +143,6 @@ public:
return
yaw
;
}
bool
getSelected
()
const
;
QVector3D
getNedPosGlobalOffset
()
const
{
return
nedPosGlobalOffset
;
...
...
@@ -430,7 +429,7 @@ public:
QImage
getImage
();
void
requestImage
();
int
getAutopilotType
()
{
int
getAutopilotType
(){
return
autopilot
;
}
QString
getAutopilotTypeName
()
...
...
@@ -491,8 +490,12 @@ public slots:
/** @brief Set the specific airframe type */
void
setAirframe
(
int
airframe
)
{
this
->
airframe
=
airframe
;
emit
systemSpecsChanged
(
uasId
);
if
((
airframe
>=
QGC_AIRFRAME_GENERIC
)
&&
(
airframe
<
QGC_AIRFRAME_END_OF_ENUM
))
{
this
->
airframe
=
airframe
;
emit
systemSpecsChanged
(
uasId
);
}
}
/** @brief Set a new name **/
void
setUASName
(
const
QString
&
name
);
...
...
@@ -638,9 +641,8 @@ public slots:
void
startDataRecording
();
void
stopDataRecording
();
void
deleteSettings
();
signals:
/** @brief The main/battery voltage has changed/was updated */
//void voltageChanged(int uasId, double voltage); // Defined in UASInterface already
/** @brief An actuator value has changed */
...
...
src/uas/UASInterface.h
View file @
ceead0c5
...
...
@@ -149,7 +149,8 @@ public:
QGC_AIRFRAME_COAXIAL
,
QGC_AIRFRAME_PTERYX
,
QGC_AIRFRAME_TRICOPTER
,
QGC_AIRFRAME_HEXCOPTER
QGC_AIRFRAME_HEXCOPTER
,
QGC_AIRFRAME_END_OF_ENUM
};
/**
...
...
@@ -171,36 +172,34 @@ public:
*/
static
QColor
getNextColor
()
{
/* Create color map */
static
QList
<
QColor
>
colors
=
QList
<
QColor
>
();
static
QList
<
QColor
>
colors
=
QList
<
QColor
>
()
<<
QColor
(
231
,
72
,
28
)
<<
QColor
(
104
,
64
,
240
)
<<
QColor
(
203
,
254
,
121
)
<<
QColor
(
161
,
252
,
116
)
<<
QColor
(
232
,
33
,
47
)
<<
QColor
(
116
,
251
,
110
)
<<
QColor
(
234
,
38
,
107
)
<<
QColor
(
104
,
250
,
138
)
<<
QColor
(
235
,
43
,
165
)
<<
QColor
(
98
,
248
,
176
)
<<
QColor
(
236
,
48
,
221
)
<<
QColor
(
92
,
247
,
217
)
<<
QColor
(
200
,
54
,
238
)
<<
QColor
(
87
,
231
,
246
)
<<
QColor
(
151
,
59
,
239
)
<<
QColor
(
81
,
183
,
244
)
<<
QColor
(
75
,
133
,
243
)
<<
QColor
(
242
,
255
,
128
)
<<
QColor
(
230
,
126
,
23
);
static
int
nextColor
=
-
1
;
if
(
nextColor
==
-
1
)
{
///> Color map for plots, includes 20 colors
///> Map will start from beginning when the first 20 colors are exceeded
colors
.
append
(
QColor
(
231
,
72
,
28
));
colors
.
append
(
QColor
(
104
,
64
,
240
));
colors
.
append
(
QColor
(
203
,
254
,
121
));
colors
.
append
(
QColor
(
161
,
252
,
116
));
colors
.
append
(
QColor
(
232
,
33
,
47
));
colors
.
append
(
QColor
(
116
,
251
,
110
));
colors
.
append
(
QColor
(
234
,
38
,
107
));
colors
.
append
(
QColor
(
104
,
250
,
138
));
colors
.
append
(
QColor
(
235
,
43
,
165
));
colors
.
append
(
QColor
(
98
,
248
,
176
));
colors
.
append
(
QColor
(
236
,
48
,
221
));
colors
.
append
(
QColor
(
92
,
247
,
217
));
colors
.
append
(
QColor
(
200
,
54
,
238
));
colors
.
append
(
QColor
(
87
,
231
,
246
));
colors
.
append
(
QColor
(
151
,
59
,
239
));
colors
.
append
(
QColor
(
81
,
183
,
244
));
colors
.
append
(
QColor
(
75
,
133
,
243
));
colors
.
append
(
QColor
(
242
,
255
,
128
));
colors
.
append
(
QColor
(
230
,
126
,
23
));
nextColor
=
0
;
if
(
nextColor
==
18
){
//if at the end of the list
nextColor
=
-
1
;
//go back to the beginning
}
return
colors
[
nextColor
++
];
}
nextColor
++
;
return
colors
[
nextColor
];
//return the next color
}
/** @brief Get the type of the system (airplane, quadrotor, helicopter,..)*/
virtual
int
getSystemType
()
=
0
;
...
...
src/uas/UASWaypointManager.cc
View file @
ceead0c5
...
...
@@ -31,7 +31,7 @@ This file is part of the QGROUNDCONTROL project
#include "UASWaypointManager.h"
#include "UAS.h"
#include "mavlink_types.h"
#include "
../../mavlink/include/mavlink/v1.0/
mavlink_types.h"
#define PROTOCOL_TIMEOUT_MS 2000 ///< maximum time to wait for pending messages until timeout
#define PROTOCOL_DELAY_MS 20 ///< minimum delay between sent messages
...
...
src/uas/senseSoarMAV.h
View file @
ceead0c5
...
...
@@ -4,7 +4,7 @@
#include "UAS.h"
#include "mavlink.h"
#include "
../../mavlink/include/mavlink/v1.0/common/
mavlink.h"
#include <QTimer>
...
...
@@ -26,4 +26,4 @@ private:
void
quat2euler
(
const
double
*
quat
,
double
&
roll
,
double
&
pitch
,
double
&
yaw
);
};
#endif // _SENSESOARMAV_H_
\ No newline at end of file
#endif // _SENSESOARMAV_H_
src/ui/DebugConsole.cc
View file @
ceead0c5
...
...
@@ -35,7 +35,7 @@ This file is part of the QGROUNDCONTROL project
#include "ui_DebugConsole.h"
#include "LinkManager.h"
#include "UASManager.h"
#include "protocol.h"
#include "
../../mavlink/include/mavlink/v1.0/
protocol.h"
#include "QGC.h"
#include <QDebug>
...
...
src/ui/RadioCalibration/RadioCalibrationWindow.h
View file @
ceead0c5
...
...
@@ -50,8 +50,8 @@ This file is part of the QGROUNDCONTROL project
#include "SwitchCalibrator.h"
#include "CurveCalibrator.h"
#include "mavlink.h"
#include "mavlink_types.h"
#include "
../../../mavlink/include/mavlink/v1.0/common/
mavlink.h"
#include "
../../../mavlink/include/mavlink/v1.0/
mavlink_types.h"
#include "UAS.h"
#include "UASManager.h"
#include "RadioCalibrationData.h"
...
...
src/ui/SlugsDataSensorView.h
View file @
ceead0c5
...
...
@@ -36,7 +36,7 @@ This file is part of the QGROUNDCONTROL project
#include "UASInterface.h"
#include "SlugsMAV.h"
#include "mavlink.h"
#include "
../../mavlink/include/mavlink/v1.0/common/
mavlink.h"
namespace
Ui
...
...
src/ui/WaypointEditableView.cc
View file @
ceead0c5
...
...
@@ -21,19 +21,19 @@
#include "ui_WaypointEditableView.h"
#include "QGCMissionNavWaypoint.h"
#include "QGCMissionNavLoiterUnlim.h"
#include "QGCMissionNavLoiterTurns.h"
#include "QGCMissionNavLoiterTime.h"
#include "QGCMissionNavReturnToLaunch.h"
#include "QGCMissionNavLand.h"
#include "QGCMissionNavTakeoff.h"
#include "QGCMissionNavSweep.h"
#include "QGCMissionConditionDelay.h"
#include "QGCMissionDoJump.h"
#include "QGCMissionDoStartSearch.h"
#include "QGCMissionDoFinishSearch.h"
#include "QGCMissionOther.h"
#include "
mission/
QGCMissionNavWaypoint.h"
#include "
mission/
QGCMissionNavLoiterUnlim.h"
#include "
mission/
QGCMissionNavLoiterTurns.h"
#include "
mission/
QGCMissionNavLoiterTime.h"
#include "
mission/
QGCMissionNavReturnToLaunch.h"
#include "
mission/
QGCMissionNavLand.h"
#include "
mission/
QGCMissionNavTakeoff.h"
#include "
mission/
QGCMissionNavSweep.h"
#include "
mission/
QGCMissionConditionDelay.h"
#include "
mission/
QGCMissionDoJump.h"
#include "
mission/
QGCMissionDoStartSearch.h"
#include "
mission/
QGCMissionDoFinishSearch.h"
#include "
mission/
QGCMissionOther.h"
WaypointEditableView
::
WaypointEditableView
(
Waypoint
*
wp
,
QWidget
*
parent
)
:
...
...
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