Persistence and audio fixes increasing work convenience

src/comm/SerialLink.cc

@@ -363,7 +363,7 @@ void SerialLink::loadSettings()
     settings.sync();
     if (settings.contains("SERIALLINK_COMM_PORT"))
     {
-        if (porthandle == "") setPortName(settings.value("SERIALLINK_COMM_PORT").toString());
+        setPortName(settings.value("SERIALLINK_COMM_PORT").toString());
         setBaudRateType(settings.value("SERIALLINK_COMM_BAUD").toInt());
         setParityType(settings.value("SERIALLINK_COMM_PARITY").toInt());
         setStopBits(settings.value("SERIALLINK_COMM_STOPBITS").toInt());
@@ -376,7 +376,7 @@ void SerialLink::writeSettings()
 {
     // Store settings
     QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
-    settings.setValue("SERIALLINK_COMM_PORT", this->porthandle);
+    settings.setValue("SERIALLINK_COMM_PORT", getPortName());
     settings.setValue("SERIALLINK_COMM_BAUD", getBaudRateType());
     settings.setValue("SERIALLINK_COMM_PARITY", getParityType());
     settings.setValue("SERIALLINK_COMM_STOPBITS", getStopBits());
@@ -925,13 +925,13 @@ bool SerialLink::setBaudRateType(int rateIndex)
     // These minimum and maximum baud rates were based on those enumerated in qportsettings.h.
 #if defined(Q_OS_WIN32) || defined(Q_OS_WINCE)
     const int minBaud = (int)QPortSettings::BAUDR_110;
-    const int maxBaud = (int)QPortSettings::BAUDR_256000;
+    const int maxBaud = (int)QPortSettings::BAUDR_921600;
 #elif defined(Q_OS_LINUX)
     const int minBaud = (int)QPortSettings::BAUDR_50;
     const int maxBaud = (int)QPortSettings::BAUDR_921600;
 #elif defined(Q_OS_UNIX) || defined(Q_OS_DARWIN)
     const int minBaud = (int)QPortSettings::BAUDR_50;
-    const int maxBaud = (int)QPortSettings::BAUDR_115200;
+    const int maxBaud = (int)QPortSettings::BAUDR_921600;
 #endif
 
     if (rateIndex >= minBaud && rateIndex <= maxBaud)

src/uas/UAS.cc

@@ -102,7 +102,9 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     isGlobalPositionKnown(false),
     systemIsArmed(false),
     nedPosGlobalOffset(0,0,0),
-    nedAttGlobalOffset(0,0,0)
+    nedAttGlobalOffset(0,0,0),
+    connectionLost(false),
+    lastVoltageWarning(0)
 
 {
     for (unsigned int i = 0; i<255;++i)
@@ -197,10 +199,23 @@ void UAS::updateState()
 {
     // Check if heartbeat timed out
     quint64 heartbeatInterval = QGC::groundTimeUsecs() - lastHeartbeat;
-    if (heartbeatInterval > timeoutIntervalHeartbeat)
+    if (!connectionLost && (heartbeatInterval > timeoutIntervalHeartbeat))
     {
         emit heartbeatTimeout(heartbeatInterval);
         emit heartbeatTimeout();
+        connectionLost = true;
+        connectionLossTime = heartbeatInterval;
+        QString audiostring = QString("Link lost to system %1").arg(this->getUASID());
+        GAudioOutput::instance()->say(audiostring.toLower());
+    }
+
+    // Connection gained
+    if (connectionLost && (heartbeatInterval < timeoutIntervalHeartbeat))
+    {
+        QString audiostring = QString("Link regained to system %1 after %2 seconds").arg(this->getUASID()).arg((int)(connectionLossTime/1000000));
+        GAudioOutput::instance()->say(audiostring.toLower());
+        connectionLost = false;
+        connectionLossTime = 0;
     }
 
     // Position lock is set by the MAVLink message handler
@@ -406,7 +421,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
                 shortStateText = uasState;
 
-                stateAudio = tr(" changed status to ") + uasState;
+                // Adjust for better audio
+                if (uasState == QString("STANDBY")) uasState = QString("standing by");
+                if (uasState == QString("EMERGENCY")) uasState = QString("emergency condition");
+                if (uasState == QString("CRITICAL")) uasState = QString("critical condition");
+                if (uasState == QString("SHUTDOWN")) uasState = QString("shutting down");
+
+                stateAudio = uasState;
             }
 
             if (this->mode != static_cast<int>(state.base_mode))
@@ -480,6 +501,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             lpVoltage = filterVoltage(currentVoltage);
             tickLowpassVoltage = tickLowpassVoltage*0.8f + 0.2f*currentVoltage;
 
+
             // We don't want to tick above the threshold
             if (tickLowpassVoltage > tickVoltage)
             {
@@ -487,9 +509,17 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             }
 
             if ((startVoltage > 0.0f) && (tickLowpassVoltage < tickVoltage) && (fabs(lastTickVoltageValue - tickLowpassVoltage) > 0.1f)
-                    && (lpVoltage < tickVoltage))
+                    /* warn if lower than treshold */
+                    && (lpVoltage < tickVoltage)
+                    /* warn only if we have at least the voltage of an empty LiPo cell, else we're sampling something wrong */
+                    && (currentVoltage > 3.3f)
+                    /* warn only if current voltage is really still lower by a reasonable amount */
+                    && ((currentVoltage - 0.1f) < tickVoltage)
+                    /* warn only every 12 seconds */
+                    && (QGC::groundTimeUsecs() - lastVoltageWarning) > 12000000)
             {
-                GAudioOutput::instance()->say(QString("voltage warning: %1 volt").arg(lpVoltage, 0, 'f', 1, QChar(' ')));
+                GAudioOutput::instance()->say(QString("voltage warning: %1 volts").arg(lpVoltage, 0, 'f', 1, QChar(' ')));
+                lastVoltageWarning = QGC::groundTimeUsecs();
                 lastTickVoltageValue = tickLowpassVoltage;
             }
 
@@ -2641,6 +2671,11 @@ QString UAS::getAudioModeTextFor(int id)
     {
         mode += "manual";
     }
+    else
+    {
+        // Nothing else applies, we're in preflight
+        mode += "preflight";
+    }
 
     if (modeid != 0)
     {

src/uas/UAS.h

@@ -671,6 +671,9 @@ protected:
     quint64 getUnixReferenceTime(quint64 time);
     int componentID[256];
     bool componentMulti[256];
+    bool connectionLost; ///< Flag indicates a timed out connection
+    quint64 connectionLossTime; ///< Time the connection was interrupted
+    quint64 lastVoltageWarning; ///< Time at which the last voltage warning occured
 
 protected slots:
     /** @brief Write settings to disk */

src/ui/MAVLinkDecoder.cc

@@ -57,8 +57,8 @@ void MAVLinkDecoder::receiveMessage(LinkInterface* link,mavlink_message_t messag
     {
         mavlink_system_time_t timebase;
         mavlink_msg_system_time_decode(&message, &timebase);
-        onboardTimeOffset[message.sysid] = timebase.time_unix_usec/1000 - timebase.time_boot_ms;
-        onboardToGCSUnixTimeOffsetAndDelay[message.sysid] = static_cast<qint64>(QGC::groundTimeMilliseconds() - timebase.time_unix_usec/1000);
+        onboardTimeOffset[message.sysid] = (timebase.time_unix_usec+500)/1000 - timebase.time_boot_ms;
+        onboardToGCSUnixTimeOffsetAndDelay[message.sysid] = static_cast<qint64>(QGC::groundTimeMilliseconds() - (timebase.time_unix_usec+500)/1000);
     }
     else
     {
@@ -77,7 +77,7 @@ void MAVLinkDecoder::receiveMessage(LinkInterface* link,mavlink_message_t messag
         else if (QString(messageInfo[msgid].fields[fieldid].name).contains("usec") && messageInfo[msgid].fields[fieldid].type == MAVLINK_TYPE_UINT64_T)
         {
             time = *((quint64*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
-            time = time/1000; // Scale to milliseconds
+            time = (time+500)/1000; // Scale to milliseconds, round up/down correctly
         }
         else
         {
@@ -182,7 +182,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         mavlink_debug_vect_t debug;
         mavlink_msg_debug_vect_decode(msg, &debug);
         name = name.arg(QString(debug.name), fieldName);
-        time = debug.time_usec / 1000;
+        time = (debug.time_usec+500)/1000; // Scale to milliseconds, round up/down correctly
     }
     else if (msgid == MAVLINK_MSG_ID_DEBUG)
     {
@@ -195,7 +195,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
     {
         mavlink_named_value_float_t debug;
         mavlink_msg_named_value_float_decode(msg, &debug);
-        name = name.arg(debug.name).arg(fieldName);
+        name = debug.name;
         time = debug.time_boot_ms;
     }
     else if (msgid == MAVLINK_MSG_ID_NAMED_VALUE_INT)

src/ui/SerialConfigurationWindow.cc

@@ -111,6 +111,10 @@ SerialConfigurationWindow::SerialConfigurationWindow(LinkInterface* link, QWidge
 			ui.baudRate->addItem(QString::number(supportedBaudRates.at(i)), supportedBaudRates.at(i));
 		}
 
+        // Load current link config
+        ui.portName->setCurrentIndex(ui.baudRate->findText(QString("%1").arg(this->link->getPortName())));
+        qDebug() << __FILE__ << __LINE__ << "port name:" << QString("%1").arg(this->link->getPortName());
+
         connect(action, SIGNAL(triggered()), this, SLOT(configureCommunication()));
 
         // Make sure that a change in the link name will be reflected in the UI