Removed SLUGS' PID form to give way to the parameter interface. Replaced Old...

Removed SLUGS' PID form to give way to the parameter interface. Replaced Old SLUGS messages for their common equivalents. Hunting bug in Home Position in MapControl

qgroundcontrol.pro

@@ -146,7 +146,6 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/map3D/QGCGoogleEarthView.ui \
     src/ui/SlugsDataSensorView.ui \
     src/ui/SlugsHilSim.ui \
-    src/ui/SlugsPIDControl.ui \
     src/ui/SlugsPadCameraControl.ui \
     src/ui/uas/QGCUnconnectedInfoWidget.ui \
     src/ui/designer/QGCToolWidget.ui \
@@ -256,7 +255,6 @@ HEADERS += src/MG.h \
     src/ui/map3D/QGCWebPage.h \
     src/ui/SlugsDataSensorView.h \
     src/ui/SlugsHilSim.h \
-    src/ui/SlugsPIDControl.h \
     src/ui/SlugsPadCameraControl.h \
     src/ui/QGCMainWindowAPConfigurator.h \
     src/comm/MAVLinkSwarmSimulationLink.h \
@@ -387,7 +385,6 @@ SOURCES += src/main.cc \
     src/ui/map3D/QGCWebPage.cc \
     src/ui/SlugsDataSensorView.cc \
     src/ui/SlugsHilSim.cc \
-    src/ui/SlugsPIDControl.cpp \
     src/ui/SlugsPadCameraControl.cpp \
     src/ui/QGCMainWindowAPConfigurator.cc \
     src/comm/MAVLinkSwarmSimulationLink.cc \

src/uas/SlugsMAV.cc

@@ -26,14 +26,9 @@ SlugsMAV::SlugsMAV(MAVLinkProtocol* mavlink, int id) :
     memset(&mlAirData, 0, sizeof(mavlink_air_data_t));
     memset(&mlSensorBiasData, 0, sizeof(mavlink_sensor_bias_t));
     memset(&mlDiagnosticData, 0, sizeof(mavlink_diagnostic_t));
-    memset(&mlPilotConsoleData, 0, sizeof(mavlink_pilot_console_t));
-    memset(&mlFilteredData ,0, sizeof(mavlink_filtered_data_t));
     memset(&mlBoot ,0, sizeof(mavlink_boot_t));
     memset(&mlGpsDateTime ,0, sizeof(mavlink_gps_date_time_t));
     memset(&mlApMode ,0, sizeof(mavlink_set_mode_t));
-    memset(&mlPwmCommands ,0, sizeof(mavlink_pwm_commands_t));
-    memset(&mlPidValues ,0, sizeof(mavlink_pid_values_t));
-    memset(&mlSinglePid ,0, sizeof(mavlink_pid_t));
     memset(&mlNavigation ,0, sizeof(mavlink_slugs_navigation_t));
     memset(&mlDataLog ,0, sizeof(mavlink_data_log_t));
     memset(&mlPassthrough ,0, sizeof(mavlink_ctrl_srfc_pt_t));
@@ -106,14 +101,6 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
         mavlink_msg_diagnostic_decode(&message,&mlDiagnosticData);
       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_SLUGS_NAVIGATION://176
         mavlink_msg_slugs_navigation_decode(&message,&mlNavigation);
             break;
@@ -122,10 +109,6 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
         mavlink_msg_data_log_decode(&message,&mlDataLog);
       break;
 
-      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;
@@ -138,14 +121,6 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
         mavlink_msg_ctrl_srfc_pt_decode(&message, &mlPassthrough);
             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;
-
-          emit slugsPidValues(uasId, mlSinglePid);
-      break;
-
       case MAVLINK_MSG_ID_SLUGS_ACTION:     //183
          mavlink_msg_slugs_action_decode(&message, &mlAction);
 
@@ -196,26 +171,16 @@ void SlugsMAV::emitSignals (void){
     break;
 
     case 3:
-      emit remoteControlChannelScaledChanged(0,(mlPilotConsoleData.de- 1000.0f)/1000.0f);
-       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 slugsPWM(uasId, mlPwmCommands);
-    break;
-
-    case 4:
       emit slugsNavegation(uasId, mlNavigation);
       emit slugsDataLog(uasId, mlDataLog);
     break;
 
-    case 5:
-      emit slugsFilteredData(uasId,mlFilteredData);
+    case 4:
       emit slugsGPSDateTime(uasId, mlGpsDateTime);
 
     break;
 
-    case 6:
+    case 5:
       emit slugsActionAck(uasId,mlActionAck);
       emit emitGpsSignals();
 
@@ -256,29 +221,8 @@ void SlugsMAV::emitGpsSignals (void){
 
      emit slugsGPSCogSog(uasId,mlGpsData.hdg, mlGpsData.v);
 
-//        // Smaller than threshold and not NaN
-//        if (mlGpsData.v < 1000000 && mlGpsData.v == mlGpsData.v){
-//            // emit speedChanged(this, (double)mlGpsData.v, 0.0, 0.0, 0.0);
-
-//         }
-//         else {
-//              emit textMessageReceived(uasId, uasId, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(mlGpsData.v));
-//         }
-  //}
-
 }
 
-void SlugsMAV::emitPidSignal()
-{
-    // 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

@@ -61,10 +61,6 @@ public slots:
 
     void emitSignals (void);
 
-#ifdef MAVLINK_ENABLED_SLUGS
-    mavlink_pwm_commands_t* getPwmCommands();
-#endif
-
 signals:
 
     void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData);
@@ -76,11 +72,8 @@ signals:
     void slugsAirData(int systemId, const mavlink_air_data_t& airData);
     void slugsSensorBias(int systemId, const mavlink_sensor_bias_t& sensorBias);
     void slugsDiagnostic(int systemId, const mavlink_diagnostic_t& diagnostic);
-    void slugsPilotConsolePWM(int systemId, const mavlink_pilot_console_t& pilotConsole);
-    void slugsPWM(int systemId, const mavlink_pwm_commands_t& pwmCommands);
     void slugsNavegation(int systemId, const mavlink_slugs_navigation_t& slugsNavigation);
     void slugsDataLog(int systemId, const mavlink_data_log_t& dataLog);
-    void slugsFilteredData(int systemId, const mavlink_filtered_data_t& filteredData);
     void slugsGPSDateTime(int systemId, const mavlink_gps_date_time_t& gpsDateTime);
     void slugsActionAck(int systemId, const mavlink_action_ack_t& actionAck);
 
@@ -97,11 +90,6 @@ signals:
 
 protected:
 
-   typedef struct _mavlink_pid_values_t {
-         float P[11];
-         float I[11];
-         float D[11];
-     }mavlink_pid_values_t;
 
    unsigned char updateRoundRobin;
    QTimer* widgetTimer;
@@ -116,15 +104,10 @@ protected:
    mavlink_air_data_t 			mlAirData;
    mavlink_sensor_bias_t 		mlSensorBiasData;
    mavlink_diagnostic_t 		mlDiagnosticData;
-   mavlink_pilot_console_t 		mlPilotConsoleData;
-   mavlink_filtered_data_t 		mlFilteredData;
    mavlink_boot_t               mlBoot;
    mavlink_gps_date_time_t 		mlGpsDateTime;
    mavlink_mid_lvl_cmds_t 		mlMidLevelCommands;
    mavlink_set_mode_t 			mlApMode;
-   mavlink_pwm_commands_t		mlPwmCommands;
-   mavlink_pid_values_t			mlPidValues;
-   mavlink_pid_t                mlSinglePid;
 
    mavlink_slugs_navigation_t	mlNavigation;
    mavlink_data_log_t			mlDataLog;

src/uas/UAS.cc

@@ -1070,6 +1070,7 @@ void UAS::setHomePosition(double lat, double lon, double alt)
     home.latitude = lat*1E7;
     home.longitude = lon*1E7;
     home.altitude = alt*1000;
+    qDebug() << "lat:" << home.latitude << " lon:" << home.longitude;
     mavlink_message_t msg;
     mavlink_msg_gps_set_global_origin_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &home);
     sendMessage(msg);

src/ui/MainWindow.cc

@@ -614,13 +614,6 @@ void MainWindow::buildSlugsWidgets()
         addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget(bool)), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
     }
 
-    if (!slugsPIDControlWidget)
-    {
-        slugsPIDControlWidget = new QDockWidget(tr("Slugs PID Control"), this);
-        slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));
-        slugsPIDControlWidget->setObjectName("SLUGS_PID_CONTROL_DOCK_WIDGET");
-        addToToolsMenu (slugsPIDControlWidget, tr("PID Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_PID, Qt::LeftDockWidgetArea);
-    }
 
     if (!slugsHilSimWidget)
     {
@@ -1088,11 +1081,6 @@ void MainWindow::connectSlugsWidgets()
                 slugsDataWidget->widget(), SLOT(setActiveUAS(UASInterface*)));
     }
 
-    if (slugsPIDControlWidget && slugsPIDControlWidget->widget()){
-        connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
-                slugsPIDControlWidget->widget(), SLOT(activeUasSet(UASInterface*)));
-    }
-
     if (controlParameterWidget && controlParameterWidget->widget()){
         connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
                 controlParameterWidget->widget(), SLOT(activeUasSet(UASInterface*)));

src/ui/MainWindow.h

@@ -70,8 +70,6 @@ This file is part of the QGROUNDCONTROL project
 #include "SlugsDataSensorView.h"
 #include "LogCompressor.h"
 
-#include "SlugsPIDControl.h"
-
 #include "SlugsHilSim.h"
 
 #include "SlugsPadCameraControl.h"
@@ -403,7 +401,6 @@ protected:
     QPointer<QDockWidget> rcViewDockWidget;
     QPointer<QDockWidget> hudDockWidget;
     QPointer<QDockWidget> slugsDataWidget;
-    QPointer<QDockWidget> slugsPIDControlWidget;
     QPointer<QDockWidget> slugsHilSimWidget;
     QPointer<QDockWidget> slugsCamControlWidget;
 

src/ui/MapWidget.cc

@@ -765,8 +765,8 @@ void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate)
         {
             // Update homePosition
             UASManager::instance()->setHomePosition(
-                                static_cast<double>(homeCoordinate.x()),
-                                static_cast<double>(homeCoordinate.y()), 0);
+                                static_cast<double>(homeCoordinate.y()),
+                                static_cast<double>(homeCoordinate.x()), 0);
         }
     }
 

src/ui/SlugsDataSensorView.cc

@@ -50,8 +50,8 @@ void SlugsDataSensorView::addUAS(UASInterface* uas)
 
     connect(slugsMav, SIGNAL(slugsNavegation(int,const mavlink_slugs_navigation_t&)),this,SLOT(slugsNavegationChanged(int,const mavlink_slugs_navigation_t&)));
     connect(slugsMav, SIGNAL(slugsDataLog(int,const mavlink_data_log_t&)), this, SLOT(slugsDataLogChanged(int,const mavlink_data_log_t&)));
-    connect(slugsMav, SIGNAL(slugsPWM(int,const mavlink_pwm_commands_t&)),this,SLOT(slugsPWMChanged(int,const mavlink_pwm_commands_t&)));
-    connect(slugsMav, SIGNAL(slugsFilteredData(int,const mavlink_filtered_data_t&)),this,SLOT(slugsFilteredDataChanged(int,const mavlink_filtered_data_t&)));
+//    connect(slugsMav, SIGNAL(slugsPWM(int,const mavlink_pwm_commands_t&)),this,SLOT(slugsPWMChanged(int,const mavlink_pwm_commands_t&)));
+//    connect(slugsMav, SIGNAL(slugsFilteredData(int,const mavlink_filtered_data_t&)),this,SLOT(slugsFilteredDataChanged(int,const mavlink_filtered_data_t&)));
     connect(slugsMav, SIGNAL(slugsGPSDateTime(int,const mavlink_gps_date_time_t&)),this,SLOT(slugsGPSDateTimeChanged(int,const mavlink_gps_date_time_t&)));
     connect(slugsMav,SIGNAL(slugsAirData(int, const mavlink_air_data_t&)),this,SLOT(slugsAirDataChanged(int, const mavlink_air_data_t&)));
 

src/ui/SlugsPIDControl.h

-#ifndef SLUGSPIDCONTROL_H
-#define SLUGSPIDCONTROL_H
-
-#include <QWidget>
-#include <QGroupBox>
-#include "UASInterface.h"
-#include "QGCMAVLink.h"
-#include "SlugsMAV.h"
-#include "mavlink.h"
-#include <QTimer>
-#include <QMutex>
-
-namespace Ui {
-    class SlugsPIDControl;
-}
-
-class SlugsPIDControl : public QWidget
-{
-    Q_OBJECT
-
-public:
-    explicit SlugsPIDControl(QWidget *parent = 0);
-    ~SlugsPIDControl();
-
-public slots:
-
-    /**
-     * @brief Called when the a new UAS is set to active.
-     *
-     * Called when the a new UAS is set to active.
-     *
-     * @param uas The new active UAS
-     */
-    void activeUasSet(UASInterface* uas);
-
-    /**
-     */
-    void setRedColorStyle();
-    /**
-     * @brief Set color StyleSheet GREEN
-     *
-     * @param
-     */
-    void setGreenColorStyle();
-
-    /**
-     * @brief Connect Set pushButtons to change the color GroupBox
-     *
-     * @param
-     */
-    void connect_set_pushButtons();
-
-    /**
-     * @brief Connect Set pushButtons to change the color GroupBox
-     *
-     * @param
-     */
-    void connect_get_pushButtons();
-
-    /**
-     * @brief Connect Edition Lines for PID Values
-     *
-     * @param
-     */
-    void connect_editLinesPDIvalues();
-
-    /**
-     * @brief send a PDI request message to UAS
-     *
-     * @param
-     */
-    void sendMessagePIDStatus(int PIDtype);
-
-// Fuctions for Air Speed GroupBox
-    /**
-     * @brief Change color style to red when PID values of Air Speed are edited
-     *
-     *
-     * @param
-     */
-    void changeColor_RED_AirSpeed_groupBox(QString text);
-    /**
-     * @brief Change color style to green when PID values of Air Speed are send to UAS
-     *
-     * @param
-     */
-    void changeColor_GREEN_AirSpeed_groupBox();
-    /**
-     * @brief Connects the SIGNALS from the editline to SLOT changeColor_RED_AirSpeed_groupBox()
-     *
-     * @param
-     */
-    void connect_AirSpeed_LineEdit();
-    /**
-     * @brief get message PID Air Speed(loop index = 0) from UAS
-     *
-     * @param
-     */
-    void get_AirSpeed_PID();
-
-
-// Functions for Pitch Followei GroupBox
-    /**
-     * @brief Change color style to red when PID values of Pitch Followei are edited
-     *
-     *
-     * @param
-     */
-     void changeColor_RED_PitchFollowei_groupBox(QString text);
-     /**
-         * @brief Change color style to green when PID values of Pitch Followei are send to UAS
-         *
-         * @param
-         */
-     void changeColor_GREEN_PitchFollowei_groupBox();
-     /**
-         * @brief Connects the SIGNALS from the editline to SLOT PitchFlowei_groupBox
-         *
-         * @param
-         */
-     void connect_PitchFollowei_LineEdit();
-     /**
-      * @brief get message PID Pitch Followei(loop index = 2) from UAS
-      *
-      * @param
-      */
-     void get_PitchFollowei_PID();
-
-
-     // Functions for Roll Control GroupBox
-     /**
-          * @brief Change color style to red when PID values of Roll Control are edited
-          *
-          *
-          * @param
-          */
-     void changeColor_RED_RollControl_groupBox(QString text);
-     /**
-              * @brief Change color style to green when PID values of Roll Control are send to UAS
-              *
-              * @param
-              */
-     void changeColor_GREEN_RollControl_groupBox();
-     /**
-              * @brief Connects the SIGNALS from the editline to SLOT RollControl_groupBox
-              *
-              * @param
-              */
-     void connect_RollControl_LineEdit();
-     /**
-      * @brief get message PID Roll Control(loop index = 4) from UAS
-      *
-      * @param
-      */
-     void get_RollControl_PID();
-
-
-     // Functions for Heigth Error GroupBox
-     /**
-          * @brief Change color style to red when PID values of Heigth Error are edited
-          *
-          *
-          * @param
-          */
-     void changeColor_RED_HeigthError_groupBox(QString text);
-     /**
-              * @brief Change color style to green when PID values of Heigth Error are send to UAS
-              *
-              * @param
-              */
-     void changeColor_GREEN_HeigthError_groupBox();
-     /**
-              * @brief Connects the SIGNALS from the editline to SLOT HeigthError_groupBox
-              *
-              * @param
-              */
-     void connect_HeigthError_LineEdit();
-     /**
-      * @brief get message PID Heigth Error(loop index = 1) from UAS
-      *
-      * @param
-      */
-     void get_HeigthError_PID();
-
-     // Functions for Yaw Damper GroupBox
-     /**
-          * @brief Change color style to red when PID values of Yaw Damper are edited
-          *
-          *
-          * @param
-          */
-     void changeColor_RED_YawDamper_groupBox(QString text);
-     /**
-              * @brief Change color style to green when PID values of Yaw Damper are send to UAS
-              *
-              * @param
-              */
-     void changeColor_GREEN_YawDamper_groupBox();
-     /**
-              * @brief Connects the SIGNALS from the editline to SLOT YawDamper_groupBox
-              *
-              * @param
-              */
-     void connect_YawDamper_LineEdit();
-     /**
-      * @brief get message PID Yaw Damper(loop index = 3) from UAS
-      *
-      * @param
-      */
-     void get_YawDamper_PID();
-
-
-
-     // Functions for Pitch to dT GroupBox
-     /**
-          * @brief Change color style to red when PID values of Pitch to dT are edited
-          *
-          *
-          * @param
-          */
-     void changeColor_RED_Pitch2dT_groupBox(QString text);
-     /**
-              * @brief Change color style to green when PID values of Pitch to dT are send to UAS
-              *
-              * @param
-              */
-     void changeColor_GREEN_Pitch2dT_groupBox();
-     /**
-              * @brief Connects the SIGNALS from the editline to SLOT Pitch2dT_groupBox
-              *
-              * @param
-              */
-     void connect_Pitch2dT_LineEdit();
-     /**
-      * @brief get message PID Pitch2dT(loop index = 8) from UAS
-      *
-      * @param
-      */
-     void get_Pitch2dT_PID();
-
-     /**
-          * @brief get and updates the values on widget
-     */
-      void slugsGetGeneral();
-      /**
-           * @brief Sent all values to UAS
-      */
-       void slugsSetGeneral();
-
-       void slugsTimerStartSet();
-       void slugsTimerStartGet();
-       void slugsTimerStop();
-
-
-
-     //Create, send and get Messages PID
-    // void createMessagePID();
-#ifdef MAVLINK_ENABLED_SLUGS
-
-     void receiveMessage(int systemId, const mavlink_action_ack_t& action);
-     void receivePidValues(int systemId, const mavlink_pid_t& pidValues);
-
-#endif // MAVLINK_ENABLED_SLUG
-
-private:
-    Ui::SlugsPIDControl *ui;
-
-     UASInterface* activeUAS;
-     int systemId;
-
-    bool change_dT;
-
-
-    //Color Styles
-    QString REDcolorStyle;
-    QString GREENcolorStyle;
-    QString ORIGINcolorStyle;
-
-    //SlugsMav Message
-    #ifdef MAVLINK_ENABLED_SLUGS
-    mavlink_pid_t pidMessage;
-    mavlink_slugs_action_t actionSlugs;
-#endif
-
-    QTimer* refreshTimerSet;      ///< The main timer, controls the update view
-    QTimer* refreshTimerGet;      ///< The main timer, controls the update view
-    int counterRefreshSet;
-    int counterRefreshGet;
-    QMutex valuesMutex;
-};
-
-#endif // SLUGSPIDCONTROL_H