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qgroundcontrol
Commit d39079b9 authored by hengli's avatar hengli
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Merge branch 'dev' of pixhawk.ethz.ch:qgroundcontrol into dev

parents 17cb2805 efc0e3c6
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Showing with 156 additions and 75 deletions
.gitignore
View file @ d39079b9
......@@ -26,3 +26,4 @@ deploy/mac
deploy/linux
controller_log*
user_config.pri
*.app
qgroundcontrol.pri
View file @ d39079b9
......@@ -65,7 +65,7 @@ macx {
QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.5
DESTDIR = $$BASEDIR/bin/mac
#DESTDIR = $$BASEDIR/bin/mac
INCLUDEPATH += -framework SDL
LIBS += -framework IOKit \
......@@ -77,11 +77,11 @@ macx {
ICON = $$BASEDIR/images/icons/macx.icns
# Copy audio files if needed
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$DESTDIR/qgroundcontrol.app/Contents/MacOs/.
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/.
# Copy google earth starter file
QMAKE_PRE_LINK += && cp -f $$BASEDIR/images/earth.html $$DESTDIR/qgroundcontrol.app/Contents/MacOs/.
QMAKE_PRE_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/.
# Copy model files
QMAKE_PRE_LINK += && cp -f $$BASEDIR/models/*.skp $$DESTDIR/qgroundcontrol.app/Contents/MacOs/.
#QMAKE_PRE_LINK += && cp -f $$BASEDIR/models/*.dae $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/.
exists(/Library/Frameworks/osg.framework):exists(/Library/Frameworks/OpenThreads.framework) {
# No check for GLUT.framework since it's a MAC default
......@@ -146,12 +146,12 @@ macx {
linux-g++ {
debug {
DESTDIR = $$BUILDDIR/debug
#DESTDIR = $$BUILDDIR/debug
CONFIG += debug
}
release {
DESTDIR = $$BUILDDIR/release
#DESTDIR = $$BUILDDIR/release
}
QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
......@@ -178,7 +178,8 @@ linux-g++ {
message("Building support for OpenSceneGraph")
DEPENDENCIES_PRESENT += osg
# Include OpenSceneGraph libraries
LIBS += -losg
LIBS += -losg \
-losgViewer
DEFINES += QGC_OSG_ENABLED
}
......@@ -186,8 +187,7 @@ linux-g++ {
message("Building support for osgEarth")
DEPENDENCIES_PRESENT += osgearth
# Include osgEarth libraries
LIBS += -losgViewer \
-losgEarth \
LIBS += -losgEarth \
-losgEarthUtil
DEFINES += QGC_OSGEARTH_ENABLED
}
......@@ -214,12 +214,12 @@ linux-g++ {
linux-g++-64 {
debug {
DESTDIR = $$BUILDDIR/debug
#DESTDIR = $$BUILDDIR/debug
CONFIG += debug
}
release {
DESTDIR = $$BUILDDIR/release
#DESTDIR = $$BUILDDIR/release
}
QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
......@@ -247,7 +247,8 @@ linux-g++-64 {
message("Building support for OpenSceneGraph")
DEPENDENCIES_PRESENT += osg
# Include OpenSceneGraph libraries
LIBS += -losg
LIBS += -losg \
-losgViewer
DEFINES += QGC_OSG_ENABLED
}
......@@ -255,8 +256,7 @@ linux-g++-64 {
message("Building support for osgEarth")
DEPENDENCIES_PRESENT += osgearth
# Include osgEarth libraries
LIBS += -losgViewer \
-losgEarth \
LIBS += -losgEarth \
-losgEarthUtil
DEFINES += QGC_OSGEARTH_ENABLED
}
......@@ -321,28 +321,19 @@ exists($$BASEDIR/lib/osgEarth123) {
RC_FILE = $$BASEDIR/qgroundcontrol.rc
# Copy dependencies
QMAKE_PRE_LINK += && cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/debug/.
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/debug/.
#QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/bin/osg55-osg.dll $$TARGETDIR/release/. &&
#QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/bin/osg55-osgViewer.dll $$TARGETDIR/release/. &&
#QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/bin/osg55-osgGA.dll $$TARGETDIR/release/. &&
#QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/bin/osg55-osgDB.dll $$TARGETDIR/release/. &&
#QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/bin/osg55-osgText.dll $$TARGETDIR/release/. &&
#QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/bin/OpenThreads.dll $$TARGETDIR/release/. &&
BASEDIR_WIN = $$replace(BASEDIR,"/","\\")
TARGETDIR_WIN = $$replace(TARGETDIR,"/","\\")
QMAKE_PRE_LINK += && cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/release/.
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/release/.
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/.
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
# osg/osgEarth dynamic casts might fail without this compiler option.
# see http://osgearth.org/wiki/FAQ for details.
QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\debug\SDL.dll\"
QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\release\SDL.dll\"
QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\debug\audio\" /S /E /Y
QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\release\audio\" /S /E /Y
QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\debug\models\" /S /E /Y
QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\release\models\" /S /E /Y
# Copy google earth starter file
QMAKE_PRE_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/release/
QMAKE_PRE_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/debug/
QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR/images/earth.html $$TARGETDIR_WIN\release\"
QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR/images/earth.html $$TARGETDIR_WIN\debug\"
}
......@@ -364,27 +355,25 @@ win32-g++ {
debug {
DESTDIR = $$BUILDDIR/debug
#DESTDIR = $$BUILDDIR/debug
}
release {
DESTDIR = $$BUILDDIR/release
#DESTDIR = $$BUILDDIR/release
}
RC_FILE = $$BASEDIR/qgroundcontrol.rc
# Copy dependencies
debug {
QMAKE_PRE_LINK += && cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/debug/.
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/debug/.
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/.
}
release {
QMAKE_PRE_LINK += && cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/release/.
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/release/.
QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
}
BASEDIR_WIN = $$replace(BASEDIR,"/","\\")
TARGETDIR_WIN = $$replace(TARGETDIR,"/","\\")
QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\debug\SDL.dll\"
QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\release\SDL.dll\"
QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\debug\audio\" /S /E /Y
QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\release\audio\" /S /E /Y
QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\debug\models\" /S /E /Y
QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\release\models\" /S /E /Y
# osg/osgEarth dynamic casts might fail without this compiler option.
# see http://osgearth.org/wiki/FAQ for details.
......
src/Waypoint.cc
View file @ d39079b9
......@@ -33,8 +33,7 @@ This file is part of the QGROUNDCONTROL project
#include "Waypoint.h"
#include <QStringList>
Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _autocontinue, bool _current, float _orbit, int _holdTime,
MAV_FRAME _frame, MAV_ACTION _action)
Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _autocontinue, bool _current, float _orbit, int _holdTime, MAV_FRAME _frame, MAV_ACTION _action)
: id(_id),
x(_x),
y(_y),
......
src/comm/MAVLinkProtocol.cc
View file @ d39079b9
......@@ -347,7 +347,7 @@ void MAVLinkProtocol::sendHeartbeat()
if (m_heartbeatsEnabled)
{
mavlink_message_t beat;
mavlink_msg_heartbeat_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID,&beat, OCU, MAV_AUTOPILOT_GENERIC);
mavlink_msg_heartbeat_pack(getSystemId(), getComponentId(),&beat, OCU, MAV_AUTOPILOT_GENERIC);
sendMessage(beat);
}
}
......
src/uas/UAS.cc
View file @ d39079b9
......@@ -421,6 +421,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
}
break;
case MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET:
{
mavlink_gps_local_origin_set_t pos;
mavlink_msg_gps_local_origin_set_decode(&message, &pos);
// FIXME Emit to other components
}
break;
case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
{
mavlink_rc_channels_raw_t channels;
......@@ -657,6 +664,36 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
}
void UAS::setLocalOriginAtCurrentGPSPosition()
{
bool result = false;
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Warning);
msgBox.setText("Setting new World Coordinate Frame Origin");
msgBox.setInformativeText("Do you want to set a new origin? Waypoints defined in the local frame will be shifted in their physical location");
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
msgBox.setDefaultButton(QMessageBox::Cancel);
int ret = msgBox.exec();
// Close the message box shortly after the click to prevent accidental clicks
QTimer::singleShot(5000, &msgBox, SLOT(reject()));
if (ret == QMessageBox::Yes)
{
mavlink_message_t msg;
mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getSystemId(), &msg, this->getUASID(), 0, MAV_ACTION_SET_ORIGIN);
// Send message twice to increase chance that it reaches its goal
sendMessage(msg);
// Wait 5 ms
MG::SLEEP::usleep(5000);
// Send again
sendMessage(msg);
result = true;
}
}
void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
{
#ifdef MAVLINK_ENABLED_PIXHAWK
......
src/uas/UAS.h
View file @ d39079b9
......@@ -243,6 +243,8 @@ public slots:
/** @brief Update the system state */
void updateState();
/** @brief Set world frame origin at current GPS position */
void setLocalOriginAtCurrentGPSPosition();
/** @brief Set local position setpoint */
void setLocalPositionSetpoint(float x, float y, float z, float yaw);
/** @brief Add an offset in body frame to the setpoint */
......
src/uas/UASInterface.h
View file @ d39079b9
......@@ -194,6 +194,8 @@ public slots:
//virtual void requestWaypoints() = 0;
/** @brief Clear all existing waypoints on the robot */
//virtual void clearWaypointList() = 0;
/** @brief Set world frame origin at current GPS position */
virtual void setLocalOriginAtCurrentGPSPosition() = 0;
/** @brief Request all onboard parameters of all components */
virtual void requestParameters() = 0;
/** @brief Write parameter to permanent storage */
......
src/uas/UASWaypointManager.cc
View file @ d39079b9
......@@ -131,7 +131,8 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
if(wp->seq == current_wp_id)
{
Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->param1, wp->param2);
qDebug() << "Got WP: " << wp->seq << wp->x << wp->y << wp->z << wp->yaw << wp->autocontinue << wp->current << wp->param1 << wp->param2 << (MAV_FRAME) wp->frame << (MAV_ACTION) wp->action;
Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->param1, wp->param2, (MAV_FRAME) wp->frame, (MAV_ACTION) wp->action);
addWaypoint(lwp);
//get next waypoint
......
src/ui/UASControl.ui
View file @ d39079b9
......@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>210</width>
<height>130</height>
<width>328</width>
<height>357</height>
</rect>
</property>
<property name="minimumSize">
......@@ -19,7 +19,7 @@
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout" rowstretch="10,10,0,10,10,5,100" columnstretch="0,0,10,10,10,0">
<layout class="QGridLayout" name="gridLayout" rowstretch="10,10,0,10,10,10,10,100" columnstretch="0,10,5,5,10,0">
<property name="margin">
<number>0</number>
</property>
......@@ -74,7 +74,7 @@
</property>
</spacer>
</item>
<item row="0" column="0" rowspan="6">
<item row="0" column="0" rowspan="7">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
......@@ -91,7 +91,7 @@
<widget class="QPushButton" name="liftoffButton">
<property name="minimumSize">
<size>
<width>80</width>
<width>60</width>
<height>12</height>
</size>
</property>
......@@ -108,7 +108,7 @@
<widget class="QPushButton" name="landButton">
<property name="minimumSize">
<size>
<width>80</width>
<width>60</width>
<height>12</height>
</size>
</property>
......@@ -125,7 +125,7 @@
<widget class="QPushButton" name="shutdownButton">
<property name="minimumSize">
<size>
<width>80</width>
<width>60</width>
<height>12</height>
</size>
</property>
......@@ -138,7 +138,7 @@
</property>
</widget>
</item>
<item row="0" column="5" rowspan="6">
<item row="0" column="5" rowspan="7">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
......@@ -178,7 +178,7 @@
</property>
</widget>
</item>
<item row="5" column="1" colspan="4">
<item row="6" column="1" colspan="4">
<widget class="QLabel" name="lastActionLabel">
<property name="minimumSize">
<size>
......@@ -194,7 +194,7 @@
</property>
</widget>
</item>
<item row="6" column="0" colspan="6">
<item row="7" column="0" colspan="6">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
......@@ -210,6 +210,23 @@
</property>
</spacer>
</item>
<item row="5" column="1" colspan="2">
<widget class="QPushButton" name="setHomeButton">
<property name="minimumSize">
<size>
<width>60</width>
<height>16</height>
</size>
</property>
<property name="text">
<string>Set Origin</string>
</property>
<property name="icon">
<iconset resource="../../mavground.qrc">
<normaloff>:/images/actions/go-home.svg</normaloff>:/images/actions/go-home.svg</iconset>
</property>
</widget>
</item>
</layout>
</widget>
<resources>
......
src/ui/WaypointList.cc
View file @ d39079b9
......@@ -203,8 +203,6 @@ void WaypointList::add()
Waypoint *wp = new Waypoint(0, uas->getLongitude(), uas->getLatitude(), uas->getAltitude(),
0.0, true, true, 0.15, 2000);
uas->getWaypointManager().addWaypoint(wp);
}
}
}
......
src/ui/WaypointView.cc
View file @ d39079b9
......@@ -60,13 +60,13 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
m_ui->comboBox_frame->addItem("Global",MAV_FRAME_GLOBAL);
m_ui->comboBox_frame->addItem("Local",MAV_FRAME_LOCAL);
// defaults
changedAction(0);
changedFrame(wp->getFrame());
// Read values and set user interface
updateValues();
// defaults
//changedAction(wp->getAction());
//changedFrame(wp->getFrame());
connect(m_ui->posNSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
connect(m_ui->posESpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
connect(m_ui->posDSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
......@@ -133,7 +133,7 @@ void WaypointView::changedAction(int index)
m_ui->holdTimeSpinBox->hide();
// set waypoint action
MAV_ACTION action = (MAV_ACTION)m_ui->comboBox_action->itemData(index).toUInt();
MAV_ACTION action = (MAV_ACTION) m_ui->comboBox_action->itemData(index).toUInt();
wp->setAction(action);
// expose ui based on action
......@@ -206,7 +206,8 @@ void WaypointView::updateValues()
{
// update frame
MAV_FRAME frame = wp->getFrame();
changedFrame(m_ui->comboBox_frame->findData(frame));
int frame_index = m_ui->comboBox_frame->findData(frame);
m_ui->comboBox_frame->setCurrentIndex(frame_index);
switch(frame)
{
case(MAV_FRAME_LOCAL):
......@@ -220,11 +221,12 @@ void WaypointView::updateValues()
m_ui->altSpinBox->setValue(wp->getZ());
break;
}
changedFrame(frame_index);
// update action
MAV_ACTION action = wp->getAction();
changedFrame(m_ui->comboBox_frame->findData(frame));
changedAction(m_ui->comboBox_action->findData(action));
int action_index = m_ui->comboBox_action->findData(action);
m_ui->comboBox_action->setCurrentIndex(action_index);
switch(action)
{
case MAV_ACTION_TAKEOFF:
......@@ -238,6 +240,7 @@ void WaypointView::updateValues()
default:
std::cerr << "unknown action" << std::endl;
}
changedAction(action_index);
m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
m_ui->selectedBox->setChecked(wp->getCurrent());
......
src/ui/map3D/QGCGoogleEarthView.cc
View file @ d39079b9
......@@ -18,6 +18,7 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
updateTimer(new QTimer(this)),
mav(NULL),
followCamera(true),
trailEnabled(true),
#if (defined Q_OS_MAC)
webViewMac(new QWebView(this)),
#endif
......@@ -51,6 +52,14 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
updateTimer->start(200);
#endif
// Follow checkbox
ui->followAirplaneCheckbox->setChecked(followCamera);
connect(ui->followAirplaneCheckbox, SIGNAL(toggled(bool)), this, SLOT(follow(bool)));
// Trail checkbox
ui->trailCheckbox->setChecked(trailEnabled);
connect(ui->trailCheckbox, SIGNAL(toggled(bool)), this, SLOT(showTrail(bool)));
// Get list of available 3D models
// Load HTML file
......@@ -70,19 +79,19 @@ void QGCGoogleEarthView::setActiveUAS(UASInterface* uas)
mav = uas;
}
void QGCGoogleEarthView::showTrail(int state)
void QGCGoogleEarthView::showTrail(bool state)
{
}
void QGCGoogleEarthView::showWaypoints(int state)
void QGCGoogleEarthView::showWaypoints(bool state)
{
}
void QGCGoogleEarthView::follow(bool follow)
{
followCamera = follow;
}
void QGCGoogleEarthView::updateState()
......
src/ui/map3D/QGCGoogleEarthView.h
View file @ d39079b9
......@@ -57,9 +57,9 @@ public slots:
/** @brief Set the currently selected UAS */
void setActiveUAS(UASInterface* uas);
/** @brief Show the vehicle trail */
void showTrail(int state);
void showTrail(bool state);
/** @brief Show the waypoints */
void showWaypoints(int state);
void showWaypoints(bool state);
/** @brief Follow the aircraft during flight */
void follow(bool follow);
......@@ -68,6 +68,7 @@ protected:
QTimer* updateTimer;
UASInterface* mav;
bool followCamera;
bool trailEnabled;
#if (defined Q_OS_WIN) && !(defined __MINGW32__)
WebAxWidget* webViewWin;
#endif
......
src/ui/uas/UASControlWidget.cc
View file @ d39079b9
......@@ -95,6 +95,7 @@ void UASControlWidget::setUAS(UASInterface* uas)
disconnect(ui.liftoffButton, SIGNAL(clicked()), oldUAS, SLOT(launch()));
disconnect(ui.landButton, SIGNAL(clicked()), oldUAS, SLOT(home()));
disconnect(ui.shutdownButton, SIGNAL(clicked()), oldUAS, SLOT(shutdown()));
connect(ui.setHomeButton, SIGNAL(clicked()), uas, SLOT(setLocalOriginAtCurrentGPSPosition()));
disconnect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
disconnect(uas, SIGNAL(statusChanged(int)), this, SLOT(updateState(int)));
}
......@@ -104,6 +105,7 @@ void UASControlWidget::setUAS(UASInterface* uas)
connect(ui.liftoffButton, SIGNAL(clicked()), uas, SLOT(launch()));
connect(ui.landButton, SIGNAL(clicked()), uas, SLOT(home()));
connect(ui.shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
connect(ui.setHomeButton, SIGNAL(clicked()), uas, SLOT(setLocalOriginAtCurrentGPSPosition()));
connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
connect(uas, SIGNAL(statusChanged(int)), this, SLOT(updateState(int)));
......
src/ui/uas/UASView.cc
View file @ d39079b9
......@@ -229,7 +229,27 @@ void UASView::setSystemType(UASInterface* uas, unsigned int systemType)
m_ui->typeButton->setIcon(QIcon(":/images/mavs/helicopter.svg"));
break;
case 5:
m_ui->typeButton->setIcon(QIcon(":/images/mavs/unknown.svg"));
break;
case 6:
{
// A groundstation is a special system type, update widget
QString result;
m_ui->nameLabel->setText(tr("OCU ") + result.sprintf("%03d", uas->getUASID()));
m_ui->waypointLabel->setText("");
m_ui->timeRemainingLabel->setText("Online:");
m_ui->batteryBar->hide();
m_ui->thrustBar->hide();
m_ui->stateLabel->hide();
m_ui->statusTextLabel->hide();
m_ui->waypointLabel->hide();
m_ui->liftoffButton->hide();
m_ui->haltButton->hide();
m_ui->landButton->hide();
m_ui->shutdownButton->hide();
m_ui->abortButton->hide();
m_ui->typeButton->setIcon(QIcon(":/images/mavs/groundstation.svg"));
}
break;
default:
m_ui->typeButton->setIcon(QIcon(":/images/mavs/unknown.svg"));
......
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