diff --git a/src/comm/UDPLink.cc b/src/comm/UDPLink.cc
index 496067f883a21805c6231f7a0d7a48fa50dd5462..a32a23815f06dfbcb6c8afd59c19a873b1a4aa8e 100644
--- a/src/comm/UDPLink.cc
+++ b/src/comm/UDPLink.cc
@@ -123,7 +123,7 @@ void UDPLink::writeBytes(const char* data, qint64 size)
unsigned char v =data[i];
qDebug("%02x ", v);
}
- qDebug("\n");
+ qDebug() <<"Sent to " << currentHost.toString() << ":" << currentPort;
socket->writeDatagram(data, size, currentHost, currentPort);
}
diff --git a/src/uas/SlugsMAV.h b/src/uas/SlugsMAV.h
index 5c9070b74caee9cf66772338eacc6c31b9bdb65b..99669fdaa5e19c91fe32ddb0d306b7b32058aa65 100644
--- a/src/uas/SlugsMAV.h
+++ b/src/uas/SlugsMAV.h
@@ -99,13 +99,13 @@ protected:
mavlink_diagnostic_t mlDiagnosticData;
mavlink_pilot_console_t mlPilotConsoleData;
mavlink_filtered_data_t mlFilteredData;
- mavlink_boot_t mlBoot;
+ 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_pid_t mlSinglePid;
mavlink_slugs_navigation_t mlNavigation;
mavlink_data_log_t mlDataLog;
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 36366c02b9f7335257ab19601dc06bc643179b2d..8ab1591f352728cb3376a18fccd478571513f3f6 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -300,9 +300,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
case (uint8_t)MAV_MODE_TEST2:
mode = "TEST2 MODE";
break;
+ #ifdef MAVLINK_ENABLED_SLUGS
+ case (uint8_t)MAV_MODE_TEST3:
+ mode = "HIL MODE";
+ break;
+ #else
case (uint8_t)MAV_MODE_TEST3:
mode = "TEST3 MODE";
break;
+ #endif
case (uint8_t)MAV_MODE_RC_TRAINING:
mode = "RC TRAINING MODE";
break;
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index 3b4dd86442247a245ea4a1358c4d5d72c2e96714..4a58d54808b9dfc386918c1693a2f4f34c7a01dd 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -592,6 +592,15 @@ void MainWindow::buildSlugsWidgets()
addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
}
+#if (defined _MSC_VER) | (defined Q_OS_MAC)
+ if (!gEarthWidget)
+ {
+ gEarthWidget = new QGCGoogleEarthView(this);
+ addToCentralWidgetsMenu(gEarthWidget, tr("Google Earth"), SLOT(showCentralWidget()), CENTRAL_GOOGLE_EARTH);
+ }
+
+#endif
+
if (!slugsDataWidget)
{
// Dialog widgets
@@ -1115,6 +1124,10 @@ void MainWindow::arrangeSlugsCenterStack()
if (linechartWidget && (centerStack->indexOf(linechartWidget) == -1)) centerStack->addWidget(linechartWidget);
if (hudWidget && (centerStack->indexOf(hudWidget) == -1)) centerStack->addWidget(hudWidget);
+#if (defined _MSC_VER) | (defined Q_OS_MAC)
+ if (gEarthWidget && (centerStack->indexOf(gEarthWidget) == -1)) centerStack->addWidget(gEarthWidget);
+#endif
+
}
void MainWindow::loadSettings()
diff --git a/src/ui/SlugsDataSensorView.ui b/src/ui/SlugsDataSensorView.ui
index c5749695089dd51056ed53688b29f3a05b6080e3..41bff8ec5e3a62dcaf654b937e1ba3858b4050a1 100644
--- a/src/ui/SlugsDataSensorView.ui
+++ b/src/ui/SlugsDataSensorView.ui
@@ -1,2741 +1,2741 @@
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-
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- 75
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-
-
- Fl1
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-
-
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-
-
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-
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-
-
- 10
- 75
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-
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-
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- 10
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-
-
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-
-
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-
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-
-
- 10
- 75
- true
-
-
-
- Fl3
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-
-
- -
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-
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-
-
- 10
- 75
- true
-
-
-
- Fl6
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-
-
- -
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-
-
-
-
-
-
-
-
-
-
-
-
- Sensor
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-
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-
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-
-
-
-
-
-
-
-
-
- 10
- 75
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-
-
- Date
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-
-
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-
-
- 60
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-
-
-
- 80
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- 10
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-
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-
-
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-
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- 60
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-
-
-
- 80
- 18
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-
-
-
- 10
-
-
-
-
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-
-
- 10
- 75
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-
-
- # Sats
-
-
-
- -
-
-
-
- 60
- 18
-
-
-
-
- 80
- 18
-
-
-
-
- 10
-
-
-
-
- -
-
-
-
- 10
- 75
- true
-
-
-
- COG
-
-
-
- -
-
-
-
- 60
- 18
-
-
-
-
- 80
- 18
-
-
-
-
- 10
-
-
-
-
- -
-
-
-
- 10
- 75
- true
-
-
-
- SOG
-
-
-
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-
-
- 60
- 18
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-
-
-
- 80
- 18
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-
-
-
- 10
-
-
-
-
-
-
- -
-
-
-
-
-
-
- 10
- 75
- true
-
-
-
- Latitude
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-
-
- -
-
-
-
- 60
- 18
-
-
-
-
- 80
- 18
-
-
-
-
- 10
-
-
-
-
- -
-
-
-
- 10
- 75
- true
-
-
-
- Longitude
-
-
-
- -
-
-
-
- 60
- 18
-
-
-
-
- 80
- 18
-
-
-
-
- 10
-
-
-
-
- -
-
-
-
- 10
- 75
- true
-
-
-
- Height
-
-
-
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+ true
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+ 16777215
+
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+ false
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+
+ Log Messages
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-
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-
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+ true
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+
+
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+ true
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+
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+ Fl5
+
+
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+
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+ true
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+ Fl3
+
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+
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+ 10
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+ true
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+
+
+ Fl6
+
+
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+
+
+
+ Sensor
+
+
+ -
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+ GPS Data
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+
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-
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-
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+ Date
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+
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+ 60
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+
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+ 80
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+
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+
+ 10
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+
+
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+ Time
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+
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+ 60
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+
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+
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+ 10
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+
+
+ 10
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+ true
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+
+
+ # Sats
+
+
+
+ -
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+
+
+ 60
+ 18
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+
+
+
+ 80
+ 18
+
+
+
+
+ 10
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+
+
+ -
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+ 10
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+ true
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+
+
+ COG
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+ -
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+ 60
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+
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+ 80
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+
+
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+ 10
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+
+ -
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+
+ 10
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+ true
+
+
+
+ SOG
+
+
+
+ -
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+
+ 60
+ 18
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+
+
+
+ 80
+ 18
+
+
+
+
+ 10
+
+
+
+
+
+
+ -
+
+
-
+
+
+
+ 10
+ 75
+ true
+
+
+
+ Latitude
+
+
+
+ -
+
+
+
+ 60
+ 18
+
+
+
+
+ 80
+ 18
+
+
+
+
+ 10
+
+
+
+
+ -
+
+
+
+ 10
+ 75
+ true
+
+
+
+ Longitude
+
+
+
+ -
+
+
+
+ 60
+ 18
+
+
+
+
+ 80
+ 18
+
+
+
+
+ 10
+
+
+
+
+ -
+
+
+
+ 10
+ 75
+ true
+
+
+
+ Height
+
+
+
+ -
+
+
+
+ 60
+ 18
+
+
+
+
+ 80
+ 18
+
+
+
+
+ 10
+
+
+
+
+ -
+
+
+ Qt::Vertical
+
+
+
+ 20
+ 40
+
+
+
+
+
+
+
+
+
+ -
+
+
-
+
+
+
+ 0
+ 0
+
+
+
+
+ 16777215
+ 16777215
+
+
+
+ Raw Data
+
+
+
-
+
+
-
+
+
+
+ 0
+ 0
+
+
+
+
+ 16777215
+ 16777215
+
+
+
+
+ 10
+ 75
+ true
+
+
+
+ Ax
+
+
+
+ -
+
+
+ -
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+
+
+ 0
+ 0
+
+
+
+
+ 16777215
+ 16777215
+
+
+
+
+ 10
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+ true
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+
+
+ Ay
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+ -
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+
+ -
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+
+
+ 0
+ 0
+
+
+
+
+ 16777215
+ 16777215
+
+
+
+
+ 10
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+ true
+
+
+
+ Az
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+
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+
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+
+
+ 0
+ 0
+
+
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+
+ 16777215
+ 16777215
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+ true
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+ Mx
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+ 16777215
+ 16777215
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+ true
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+
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+ true
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+ Mz
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+
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+
+ 0
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+
+
+
+ 16777215
+ 16777215
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+ true
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+ 0
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+
+ 16777215
+ 16777215
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+ true
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+
+ 16777215
+ 16777215
+
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+ 0
+ 0
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+
+ 16777215
+ 16777215
+
+
+
+ Filtered Data
+
+
+
-
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-
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+ 0
+ 0
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+ 16777215
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+ 16777215
+ 16777215
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+ 16777215
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+ true
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+
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+ 0
+
+
+
+
+ 16777215
+ 16777215
+
+
+
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+ 10
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+ true
+
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+
+
+ 0
+ 0
+
+
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+
+ 16777215
+ 16777215
+
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+ 10
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+ true
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+ My
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+
+
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+ 16777215
+ 16777215
+
+
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+ true
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+
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+
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+ 16777215
+ 16777215
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+
+ 0
+ 0
+
+
+
+
+ 16777215
+ 16777215
+
+
+
+
+ 10
+ 75
+ true
+
+
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+ Gy
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+
+
+ -
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+
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+
+
+ 0
+ 0
+
+
+
+
+ 16777215
+ 16777215
+
+
+
+
+ 10
+ 75
+ true
+
+
+
+ Gz
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+
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+
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+
+
+
+
+
+
+ -
+
+
-
+
+
+
+ 0
+ 0
+
+
+
+
+ 132123
+ 123123
+
+
+
+ CPU Load
+
+
+
-
+
+
-
+
+
+
+ 0
+ 0
+
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+ 16777215
+ 16777215
+
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+ 10
+ 75
+ true
+
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+ Sensor
+
+
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+
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+
+
+
+ 0
+ 0
+
+
+
+
+ 16777215
+ 16777215
+
+
+
+
+ 10
+ 75
+ true
+
+
+
+ Control
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+
+
+ -
+
+
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+
+
+
+ 0
+ 0
+
+
+
+
+ 16777215
+ 16777215
+
+
+
+
+ 10
+ 75
+ true
+
+
+
+ Batt Volt
+
+
+
+ -
+
+
+
+
+
+
+
+ -
+
+
+
+ 0
+ 0
+
+
+
+
+ 132123
+ 123123
+
+
+
+ Air Data
+
+
+
-
+
+
-
+
+
+
+ 0
+ 0
+
+
+
+
+ 16777215
+ 16777215
+
+
+
+
+ 10
+ 75
+ true
+
+
+
+ Dynamic
+
+
+
+ -
+
+
+ -
+
+
+
+ 0
+ 0
+
+
+
+
+ 16777215
+ 16777215
+
+
+
+
+ 10
+ 75
+ true
+
+
+
+ Static
+
+
+
+ -
+
+
+ -
+
+
+ -
+
+
+
+ 0
+ 0
+
+
+
+
+ 16777215
+ 16777215
+
+
+
+
+ 10
+ 75
+ true
+
+
+
+ Temperature
+
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+
+
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+
+
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+
+
+
diff --git a/src/ui/SlugsPIDControl.cpp b/src/ui/SlugsPIDControl.cpp
index c565acbfdeef877c8f00759543cb6805bc300e56..c1ee565b6966a243ee803f39eb9eab6fa4c38bc8 100644
--- a/src/ui/SlugsPIDControl.cpp
+++ b/src/ui/SlugsPIDControl.cpp
@@ -23,7 +23,7 @@ SlugsPIDControl::SlugsPIDControl(QWidget *parent) :
setGreenColorStyle();
refreshTimerGet = new QTimer(this);
- refreshTimerGet->setInterval(200);//100); // 10 Hz
+ refreshTimerGet->setInterval(200);//100); // 5 Hz
connect(refreshTimerGet, SIGNAL(timeout()), this, SLOT(slugsGetGeneral()));
@@ -51,7 +51,7 @@ void SlugsPIDControl::activeUasSet(UASInterface* uas)
if (slugsMav)
{
- connect(slugsMav,SIGNAL(slugsActionAck(int,const mavlink_action_ack_t&)),this,SLOT(recibeMensaje(int,mavlink_action_ack_t)));
+ connect(slugsMav,SIGNAL(slugsActionAck(int,const mavlink_action_ack_t&)),this,SLOT(receiveMessage(int,mavlink_action_ack_t)));
connect(slugsMav,SIGNAL(slugsPidValues(int,mavlink_pid_t)),this, SLOT(receivePidValues(int,mavlink_pid_t)) );
connect(ui->setGeneral_pushButton,SIGNAL(clicked()),this,SLOT(slugsTimerStartSet()));
@@ -504,7 +504,7 @@ void SlugsPIDControl::get_Pitch2dT_PID()
#ifdef MAVLINK_ENABLED_SLUGS
-void SlugsPIDControl::recibeMensaje(int systemId, const mavlink_action_ack_t& action)
+void SlugsPIDControl::receiveMessage(int systemId, const mavlink_action_ack_t& action)
{
Q_UNUSED(systemId);
ui->recepcion_label->setText(QString::number(action.action) + ":" + QString::number(action.result));
diff --git a/src/ui/SlugsPIDControl.h b/src/ui/SlugsPIDControl.h
index 3ced5eab8bf61088c67850341eefc7ce402081c0..923a61a7d3dfb4e42fef0ce3240a611e9f495895 100644
--- a/src/ui/SlugsPIDControl.h
+++ b/src/ui/SlugsPIDControl.h
@@ -257,7 +257,7 @@ public slots:
// void createMessagePID();
#ifdef MAVLINK_ENABLED_SLUGS
- void recibeMensaje(int systemId, const mavlink_action_ack_t& action);
+ void receiveMessage(int systemId, const mavlink_action_ack_t& action);
void receivePidValues(int systemId, const mavlink_pid_t& pidValues);
#endif // MAVLINK_ENABLED_SLUG
diff --git a/src/ui/linechart/Linecharts.cc b/src/ui/linechart/Linecharts.cc
index 0ffea43d91e68041b33af138b92ca8fa4895932e..4f08956decc0c266e0b41200c79f0c330dca5d48 100644
--- a/src/ui/linechart/Linecharts.cc
+++ b/src/ui/linechart/Linecharts.cc
@@ -95,14 +95,13 @@ void Linecharts::addSystem(UASInterface* uas)
LinechartWidget* widget = new LinechartWidget(uas->getUASID(), this);
addWidget(widget);
plots.insert(uas->getUASID(), widget);
-#ifndef MAVLINK_ENABLED_SLUGS
// Values without unit
//connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), widget, SLOT(appendData(int,QString,double,quint64)));
// Values with unit as double
connect(uas, SIGNAL(valueChanged(int,QString,QString,double,quint64)), widget, SLOT(appendData(int,QString,QString,double,quint64)));
// Values with unit as integer
connect(uas, SIGNAL(valueChanged(int,QString,QString,int,quint64)), widget, SLOT(appendData(int,QString,QString,int,quint64)));
-#endif
+
connect(widget, SIGNAL(logfileWritten(QString)), this, SIGNAL(logfileWritten(QString)));
// Set system active if this is the only system
if (active)
diff --git a/src/ui/uas/UASControlWidget.cc b/src/ui/uas/UASControlWidget.cc
index 968e028f1c1dee72a6e38cbd3d0e61c988db283e..2710420c946e70f9edd930228c7f021fcc0d80e1 100644
--- a/src/ui/uas/UASControlWidget.cc
+++ b/src/ui/uas/UASControlWidget.cc
@@ -49,7 +49,11 @@ This file is part of the PIXHAWK project
#define CONTROL_MODE_AUTO "MODE AUTO"
#define CONTROL_MODE_TEST1 "MODE TEST1"
#define CONTROL_MODE_TEST2 "MODE TEST2"
-#define CONTROL_MODE_TEST3 "MODE TEST3"
+#ifdef MAVLINK_ENABLED_SLUGS
+ #define CONTROL_MODE_TEST3 "MODE HIL"
+#else
+ #define CONTROL_MODE_TEST3 "MODE TEST3"
+#endif
#define CONTROL_MODE_READY "MODE TEST3"
#define CONTROL_MODE_RC_TRAINING "RC SIMULATION"