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qgroundcontrol
Commit d54ff8f7 authored by Don Gagne's avatar Don Gagne
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Merge pull request #1510 from dogmaphobic/flightControlUpdates 

Eliminating unnecessary value updates in main flight display.
parents 7411b3c3 d5f5b992
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Showing with 157 additions and 82 deletions
src/ui/flightdisplay/QGCFlightDisplay.cc
View file @ d54ff8f7
......@@ -35,7 +35,7 @@ This file is part of the QGROUNDCONTROL project
#include "QGCFlightDisplay.h"
#include "UASManager.h"
#define UPDATE_TIMER 50
#define UPDATE_TIMER 500
const char* kMainFlightDisplayGroup = "MainFlightDisplay";
......@@ -58,8 +58,6 @@ QGCFlightDisplay::QGCFlightDisplay(QWidget *parent)
, _latitude(37.803784f)
, _longitude(-122.462276f)
, _refreshTimer(new QTimer(this))
, _valuesChanged(false)
, _valuesLastPainted(0)
{
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
setObjectName("MainFlightDisplay");
......@@ -148,47 +146,47 @@ void QGCFlightDisplay::_updateAttitude(UASInterface*, double roll, double pitch,
if (isinf(roll)) {
_roll = std::numeric_limits<double>::quiet_NaN();
} else {
bool update = false;
float rolldeg = roll * (180.0 / M_PI);
float rolldeg = _oneDecimal(roll * (180.0 / M_PI));
if (fabs(roll - rolldeg) > 1.0) {
update = true;
_roll = rolldeg;
if(_refreshTimer->isActive()) {
emit rollChanged();
}
}
_roll = rolldeg;
if (update)
{
if(_refreshTimer->isActive()) emit rollChanged();
_valuesChanged = true;
if(_roll != rolldeg) {
_roll = rolldeg;
_addChange(ROLL_CHANGED);
}
}
if (isinf(pitch)) {
_pitch = std::numeric_limits<double>::quiet_NaN();
} else {
bool update = false;
float pitchdeg = pitch * (180.0 / M_PI);
float pitchdeg = _oneDecimal(pitch * (180.0 / M_PI));
if (fabs(pitch - pitchdeg) > 1.0) {
update = true;
_pitch = pitchdeg;
if(_refreshTimer->isActive()) {
emit pitchChanged();
}
}
_pitch = pitchdeg;
if (update)
{
if(_refreshTimer->isActive()) emit pitchChanged();
_valuesChanged = true;
if(_pitch != pitchdeg) {
_pitch = pitchdeg;
_addChange(PITCH_CHANGED);
}
}
if (isinf(yaw)) {
_heading = std::numeric_limits<double>::quiet_NaN();
} else {
bool update = false;
yaw = yaw * (180.0 / M_PI);
yaw = _oneDecimal(yaw * (180.0 / M_PI));
if (yaw < 0) yaw += 360;
if (fabs(_heading - yaw) > 10.0) {
update = true;
if (fabs(_heading - yaw) > 1.0) {
_heading = yaw;
if(_refreshTimer->isActive()) {
emit headingChanged();
}
}
_heading = yaw;
if (update)
{
if(_refreshTimer->isActive()) emit headingChanged();
_valuesChanged = true;
if(_heading != yaw) {
_heading = yaw;
_addChange(HEADING_CHANGED);
}
}
}
......@@ -200,47 +198,74 @@ void QGCFlightDisplay::_updateAttitude(UASInterface* uas, int, double roll, doub
void QGCFlightDisplay::_updateSpeed(UASInterface*, double groundSpeed, double airSpeed, quint64)
{
double oldgroundSpeed = _groundSpeed;
double oldairSpeed = _airSpeed;
_groundSpeed = groundSpeed;
_airSpeed = airSpeed;
if (fabs(oldgroundSpeed - groundSpeed) > 0.5) {
if(_refreshTimer->isActive()) emit groundSpeedChanged();
_valuesChanged = true;
groundSpeed = _oneDecimal(groundSpeed);
if (fabs(_groundSpeed - groundSpeed) > 0.5) {
_groundSpeed = groundSpeed;
if(_refreshTimer->isActive()) {
emit groundSpeedChanged();
}
}
airSpeed = _oneDecimal(airSpeed);
if (fabs(_airSpeed - airSpeed) > 1.0) {
_airSpeed = airSpeed;
if(_refreshTimer->isActive()) {
emit airSpeedChanged();
}
}
if (fabs(oldairSpeed - airSpeed) > 1.0) {
if(_refreshTimer->isActive()) emit airSpeedChanged();
_valuesChanged = true;
if(_groundSpeed != groundSpeed) {
_groundSpeed = groundSpeed;
_addChange(GROUNDSPEED_CHANGED);
}
if(_airSpeed != airSpeed) {
_airSpeed = airSpeed;
_addChange(AIRSPEED_CHANGED);
}
}
void QGCFlightDisplay::_updateAltitude(UASInterface*, double altitudeAMSL, double altitudeWGS84, double altitudeRelative, double climbRate, quint64) {
double oldclimbRate = _climbRate;
double oldaltitudeRelative = _altitudeRelative;
double oldaltitudeWGS84 = _altitudeWGS84;
double oldaltitudeAMSL = _altitudeAMSL;
_climbRate = climbRate;
_altitudeRelative = altitudeRelative;
_altitudeWGS84 = altitudeWGS84;
_altitudeAMSL = altitudeAMSL;
if(_climbRate > -0.01 && _climbRate < 0.01) {
_climbRate = 0.0;
altitudeAMSL = _oneDecimal(altitudeAMSL);
if (fabs(_altitudeAMSL - altitudeAMSL) > 0.5) {
_altitudeAMSL = altitudeAMSL;
if(_refreshTimer->isActive()) {
emit altitudeAMSLChanged();
}
}
altitudeWGS84 = _oneDecimal(altitudeWGS84);
if (fabs(_altitudeWGS84 - altitudeWGS84) > 0.5) {
_altitudeWGS84 = altitudeWGS84;
if(_refreshTimer->isActive()) {
emit altitudeWGS84Changed();
}
}
altitudeRelative = _oneDecimal(altitudeRelative);
if (fabs(_altitudeRelative - altitudeRelative) > 0.5) {
_altitudeRelative = altitudeRelative;
if(_refreshTimer->isActive()) {
emit altitudeRelativeChanged();
}
}
climbRate = _oneDecimal(climbRate);
if (fabs(_climbRate - climbRate) > 0.5) {
_climbRate = climbRate;
if(_refreshTimer->isActive()) {
emit climbRateChanged();
}
}
if (fabs(oldaltitudeAMSL - altitudeAMSL) > 0.5) {
if(_refreshTimer->isActive()) emit altitudeAMSLChanged();
_valuesChanged = true;
if(_altitudeAMSL != altitudeAMSL) {
_altitudeAMSL = altitudeAMSL;
_addChange(ALTITUDEAMSL_CHANGED);
}
if (fabs(oldaltitudeWGS84 - altitudeWGS84) > 0.5) {
if(_refreshTimer->isActive()) emit altitudeWGS84Changed();
_valuesChanged = true;
if(_altitudeWGS84 != altitudeWGS84) {
_altitudeWGS84 = altitudeWGS84;
_addChange(ALTITUDEWGS84_CHANGED);
}
if (fabs(oldaltitudeRelative - altitudeRelative) > 0.5) {
if(_refreshTimer->isActive()) emit altitudeRelativeChanged();
_valuesChanged = true;
if(_altitudeRelative != altitudeRelative) {
_altitudeRelative = altitudeRelative;
_addChange(ALTITUDERELATIVE_CHANGED);
}
if (fabs(oldclimbRate - climbRate) > 0.5) {
if(_refreshTimer->isActive()) emit climbRateChanged();
_valuesChanged = true;
if(_climbRate != climbRate) {
_climbRate = climbRate;
_addChange(CLIMBRATE_CHANGED);
}
}
......@@ -275,36 +300,34 @@ bool QGCFlightDisplay::_shouldDisplayNavigationData() {
void QGCFlightDisplay::showEvent(QShowEvent* event)
{
// React only to internal (pre-display) events
// Enable updates
QWidget::showEvent(event);
_refreshTimer->start(UPDATE_TIMER);
}
void QGCFlightDisplay::hideEvent(QHideEvent* event)
{
// React only to internal (pre-display) events
// Disable updates
_refreshTimer->stop();
QWidget::hideEvent(event);
}
void QGCFlightDisplay::_checkUpdate()
void QGCFlightDisplay::_addChange(int id)
{
if (_mav && (_valuesChanged || (QGC::groundTimeMilliseconds() - _valuesLastPainted) > 260)) {
_valuesChanged = false;
_valuesLastPainted = QGC::groundTimeMilliseconds();
emit rollChanged();
emit pitchChanged();
emit headingChanged();
emit altitudeAMSLChanged();
emit altitudeWGS84Changed();
emit altitudeRelativeChanged();
emit climbRateChanged();
emit groundSpeedChanged();
emit airSpeedChanged();
emit repaintRequestedChanged();
emit latitudeChanged();
emit longitudeChanged();
if(!_changes.contains(id)) {
_changes.append(id);
}
}
float QGCFlightDisplay::_oneDecimal(float value)
{
int i = (value * 10);
return (float)i / 10.0;
}
void QGCFlightDisplay::_checkUpdate()
{
// Update current location
if(_mav) {
if(_latitude != _mav->getLatitude()) {
_latitude = _mav->getLatitude();
......@@ -315,5 +338,43 @@ void QGCFlightDisplay::_checkUpdate()
emit longitudeChanged();
}
}
// Check for changes
// Significant changes, that is, whole number changes, are updated immediatelly.
// For every message however, we set a flag for what changed and this timer updates
// them to bring everything up-to-date. This prevents an avalanche of UI updates.
foreach(int i, _changes) {
switch (i) {
case ROLL_CHANGED:
emit rollChanged();
break;
case PITCH_CHANGED:
emit pitchChanged();
break;
case HEADING_CHANGED:
emit headingChanged();
break;
case GROUNDSPEED_CHANGED:
emit groundSpeedChanged();
break;
case AIRSPEED_CHANGED:
emit airSpeedChanged();
break;
case CLIMBRATE_CHANGED:
emit climbRateChanged();
break;
case ALTITUDERELATIVE_CHANGED:
emit altitudeRelativeChanged();
break;
case ALTITUDEWGS84_CHANGED:
emit altitudeWGS84Changed();
break;
case ALTITUDEAMSL_CHANGED:
emit altitudeAMSLChanged();
break;
default:
break;
}
}
_changes.clear();
}
src/ui/flightdisplay/QGCFlightDisplay.h
View file @ d54ff8f7
......@@ -41,6 +41,18 @@ public:
QGCFlightDisplay(QWidget* parent = NULL);
~QGCFlightDisplay();
enum {
ROLL_CHANGED,
PITCH_CHANGED,
HEADING_CHANGED,
GROUNDSPEED_CHANGED,
AIRSPEED_CHANGED,
CLIMBRATE_CHANGED,
ALTITUDERELATIVE_CHANGED,
ALTITUDEWGS84_CHANGED,
ALTITUDEAMSL_CHANGED
};
Q_PROPERTY(float roll READ roll NOTIFY rollChanged)
Q_PROPERTY(float pitch READ pitch NOTIFY pitchChanged)
Q_PROPERTY(float heading READ heading NOTIFY headingChanged)
......@@ -110,6 +122,8 @@ private slots:
private:
bool _isAirplane ();
bool _shouldDisplayNavigationData ();
void _addChange (int id);
float _oneDecimal (float value);
private:
UASInterface* _mav;
......@@ -135,8 +149,7 @@ private:
float _longitude;
QTimer* _refreshTimer;
bool _valuesChanged;
quint64 _valuesLastPainted;
QList<int> _changes;
};
......
src/ui/qmlcommon/QGCAttitudeInstrument.qml
View file @ d54ff8f7
......@@ -43,8 +43,9 @@ QGCMovableItem {
//----------------------------------------------------
//-- Artificial Horizon
QGCArtificialHorizon {
rollAngle: root.rollAngle
pitchAngle: root.pitchAngle
rollAngle: root.rollAngle
pitchAngle: root.pitchAngle
anchors.fill: parent
}
//----------------------------------------------------
//-- Pointer
......
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