Merge branch 'master' of git@pixhawk.ethz.ch:qgroundcontrol

src/uas/PxQuadMAV.cc

 #include "PxQuadMAV.h"
+#include "GAudioOutput.h"
 
 PxQuadMAV::PxQuadMAV(MAVLinkProtocol* mavlink, int id) :
         UAS(mavlink, id)
@@ -60,6 +61,31 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             emit valueChanged(uasId, str+".z", vect.z, MG::TIME::getGroundTimeNow());
         }
         break;
+    case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
+        {
+            mavlink_vision_position_estimate_t pos;
+            mavlink_msg_vision_position_estimate_decode(&message, &pos);
+            quint64 time = getUnixTime(pos.usec);
+            emit valueChanged(uasId, "vis. time", pos.usec, time);
+            emit valueChanged(uasId, "vis. roll", pos.roll, time);
+            emit valueChanged(uasId, "vis. pitch", pos.pitch, time);
+            emit valueChanged(uasId, "vis. yaw", pos.yaw, time);
+            emit valueChanged(uasId, "vis. x", pos.x, time);
+            emit valueChanged(uasId, "vis. y", pos.y, time);
+            emit valueChanged(uasId, "vis. z", pos.z, time);
+            emit valueChanged(uasId, "vis. vx", pos.vx, time);
+            emit valueChanged(uasId, "vis. vy", pos.vy, time);
+            emit valueChanged(uasId, "vis. vz", pos.vz, time);
+            emit valueChanged(uasId, "vis. vyaw", pos.vyaw, time);
+            // Set internal state
+            if (!positionLock)
+            {
+                // If position was not locked before, notify positive
+                GAudioOutput::instance()->notifyPositive();
+            }
+            positionLock = true;
+        }
+        break;
     default:
         // Do nothing
         break;

src/uas/UAS.cc

@@ -254,6 +254,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_aux_status_t status;
                 mavlink_msg_aux_status_decode(&message, &status);
                 emit loadChanged(this, status.load/10.0f);
+                emit errCountChanged(uasId, "IMU", "I2C0", status.i2c0_err_count);
+                emit errCountChanged(uasId, "IMU", "I2C1", status.i2c1_err_count);
+                emit errCountChanged(uasId, "IMU", "SPI0", status.spi0_err_count);
+                emit errCountChanged(uasId, "IMU", "SPI1", status.spi1_err_count);
+                emit errCountChanged(uasId, "IMU", "UART", status.uart_total_err_count);
                 emit valueChanged(this, "Load", ((float)status.load)/1000.0f, MG::TIME::getGroundTimeNow());
             }
             break;
@@ -302,37 +307,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit attitudeChanged(this, mavlink_msg_attitude_get_roll(&message), mavlink_msg_attitude_get_pitch(&message), mavlink_msg_attitude_get_yaw(&message), time);
             }
             break;
-        case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
-            {
-                mavlink_vision_position_estimate_t pos;
-                mavlink_msg_vision_position_estimate_decode(&message, &pos);
-                quint64 time = getUnixTime(pos.usec);
-                emit valueChanged(uasId, "vis. time", pos.usec, time);
-                emit valueChanged(uasId, "vis. roll", pos.roll, time);
-                emit valueChanged(uasId, "vis. pitch", pos.pitch, time);
-                emit valueChanged(uasId, "vis. yaw", pos.yaw, time);
-                emit valueChanged(uasId, "vis. x", pos.x, time);
-                emit valueChanged(uasId, "vis. y", pos.y, time);
-                emit valueChanged(uasId, "vis. z", pos.z, time);
-                // FIXME Only for testing for now
-                emit valueChanged(uasId, "vis. rot r1", pos.r1, time);
-                emit valueChanged(uasId, "vis. rot r2", pos.r2, time);
-                emit valueChanged(uasId, "vis. rot r3", pos.r3, time);
-                emit valueChanged(uasId, "vis. rot r4", pos.r4, time);
-                emit valueChanged(uasId, "vis. rot r5", pos.r5, time);
-                emit valueChanged(uasId, "vis. rot r6", pos.r6, time);
-                emit valueChanged(uasId, "vis. rot r7", pos.r7, time);
-                emit valueChanged(uasId, "vis. rot r8", pos.r8, time);
-                emit valueChanged(uasId, "vis. rot r9", pos.r9, time);
-                // Set internal state
-                if (!positionLock)
-                {
-                    // If position was not locked before, notify positive
-                    GAudioOutput::instance()->notifyPositive();
-                }
-                positionLock = true;
-            }
-            break;
         case MAVLINK_MSG_ID_LOCAL_POSITION:
             //std::cerr << std::endl;
             //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;

src/uas/UASInterface.h

@@ -232,6 +232,21 @@ signals:
      * @param severity The severity of the message, 0 for plain debug messages, 10 for very critical messages
      */
     void textMessageReceived(int uasid, int severity, QString text);
+    /**
+     * @brief Update the error count of a device
+     *
+     * The error count indicates how many errors occured during the use of a device.
+     * Usually a random error from time to time is acceptable, e.g. through electromagnetic
+     * interferences on device lines like I2C and SPI. A constantly and rapidly increasing
+     * error count however can help to identify broken cables or misbehaving drivers.
+     *
+     * @param uasid System ID
+     * @param component Name of the component, e.g. "IMU"
+     * @param device Name of the device, e.g. "SPI0" or "I2C1"
+     * @param count Errors occured since system startup
+     */
+    void errCountChanged(int uasid, QString component, QString device, int count);
+
     /**
      * @brief Drop rate of communication link updated
      *

src/ui/MapWidget.cc

@@ -34,9 +34,13 @@ This file is part of the PIXHAWK project
 #include "UASInterface.h"
 #include "UASManager.h"
 
+#include "MG.h"
+
 MapWidget::MapWidget(QWidget *parent) :
         QWidget(parent),
         zoomLevel(0),
+        uasIcons(),
+        uasTrails(),
         m_ui(new Ui::MapWidget)
 {
     m_ui->setupUi(this);
@@ -48,6 +52,8 @@ MapWidget::MapWidget(QWidget *parent) :
     mc->showScale(true);
     mc->enablePersistentCache();
 
+    //uasIcons = QMap<int, CirclePoint*>();
+
     //QSize(480,640)
     //      ImageManager::instance()->setProxy("www-cache", 8080);
 
@@ -74,7 +80,7 @@ MapWidget::MapWidget(QWidget *parent) :
     QPushButton* zoomout = new QPushButton(QIcon(":/images/actions/list-remove.svg"), "", this);
     followgps = new QPushButton(QIcon(":/images/actions/system-lock-screen.svg"), "", this);
     followgps->setCheckable(true);
-   // gpsposition = new QLabel();
+    // gpsposition = new QLabel();
     zoomin->setMaximumWidth(50);
     zoomout->setMaximumWidth(50);
     followgps->setMaximumWidth(50);
@@ -120,38 +126,67 @@ void MapWidget::addUAS(UASInterface* uas)
 void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec)
 {
     Q_UNUSED(usec);
-    // create a LineString
-    QList<Point*> points;
-    // Points with a circle
-    // A QPen can be used to customize the
-    QPen* pointpen = new QPen(uas->getColor());
-    pointpen->setWidth(3);
-    points.append(new CirclePoint(lat, lon, alt, uas->getUASName(), Point::Middle, pointpen));
-//    points.append(new CirclePoint(8.275145, 50.016992, 15, "Wiesbaden-Mainz-Kastel, Johannes-Goßner-Straße", Point::Middle, pointpen));
-//    points.append(new CirclePoint(8.270476, 50.021426, 15, "Wiesbaden-Mainz-Kastel, Ruthof", Point::Middle, pointpen));
-//    // "Blind" Points
-//    points.append(new Point(8.266445, 50.025913, "Wiesbaden-Mainz-Kastel, Mudra Kaserne"));
-//    points.append(new Point(8.260378, 50.030345, "Wiesbaden-Mainz-Amoneburg, Dyckerhoffstraße"));
-
-    // A QPen also can use transparency
-    QPen* linepen = new QPen(QColor(0, 0, 255, 100));
-    linepen->setWidth(5);
-    // Add the Points and the QPen to a LineString
-    LineString* ls = new LineString(points, "Path", linepen);
-
-    // Add the LineString to the layer
-    osmLayer->addGeometry(ls);
-
-    // Connect click events of the layer to this object
-    //connect(osmLayer, SIGNAL(geometryClicked(Geometry*, QPoint)),
-    //                  this, SLOT(geometryClicked(Geometry*, QPoint)));
-
-    // Sets the view to the interesting area
-    //QList<QPointF> view;
-    //view.append(QPointF(8.24764, 50.0319));
-    //view.append(QPointF(8.28412, 49.9998));
-   // mc->setView(view);
-    updatePosition(0, lat, lon);
+    quint64 currTime = MG::TIME::getGroundTimeNow();
+    if (currTime - lastUpdate > 90)
+    {
+        lastUpdate = currTime;
+        // create a LineString
+        //QList<Point*> points;
+        // Points with a circle
+        // A QPen can be used to customize the
+        //pointpen->setWidth(3);
+        //points.append(new CirclePoint(lat, lon, 10, uas->getUASName(), Point::Middle, pointpen));
+
+        if (!uasIcons.contains(uas->getUASID()))
+        {
+            // Get the UAS color
+            QColor uasColor = uas->getColor();
+
+            // Icon
+            QPen* pointpen = new QPen(uasColor);
+            CirclePoint* p = new CirclePoint(lat, lon, 10, uas->getUASName(), Point::Middle, pointpen);
+            uasIcons.insert(uas->getUASID(), p);
+            osmLayer->addGeometry(p);
+
+            // Line
+            // A QPen also can use transparency
+
+            QList<Point*> points;
+            points.append(new Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon)));
+            QPen* linepen = new QPen(uasColor.darker());
+            linepen->setWidth(2);
+            // Add the Points and the QPen to a LineString
+            LineString* ls = new LineString(points, uas->getUASName(), linepen);
+            uasTrails.insert(uas->getUASID(), ls);
+
+            // Add the LineString to the layer
+            osmLayer->addGeometry(ls);
+        }
+        else
+        {
+            CirclePoint* p = uasIcons.value(uas->getUASID());
+            p->setCoordinate(QPointF(lat, lon));
+            // Extend trail
+            uasTrails.value(uas->getUASID())->addPoint(new Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon)));
+        }
+
+        //    points.append(new CirclePoint(8.275145, 50.016992, 15, "Wiesbaden-Mainz-Kastel, Johannes-Goßner-Straße", Point::Middle, pointpen));
+        //    points.append(new CirclePoint(8.270476, 50.021426, 15, "Wiesbaden-Mainz-Kastel, Ruthof", Point::Middle, pointpen));
+        //    // "Blind" Points
+        //    points.append(new Point(8.266445, 50.025913, "Wiesbaden-Mainz-Kastel, Mudra Kaserne"));
+        //    points.append(new Point(8.260378, 50.030345, "Wiesbaden-Mainz-Amoneburg, Dyckerhoffstraße"));
+
+        // Connect click events of the layer to this object
+        //connect(osmLayer, SIGNAL(geometryClicked(Geometry*, QPoint)),
+        //                  this, SLOT(geometryClicked(Geometry*, QPoint)));
+
+        // Sets the view to the interesting area
+        //QList<QPointF> view;
+        //view.append(QPointF(8.24764, 50.0319));
+        //view.append(QPointF(8.28412, 49.9998));
+        // mc->setView(view);
+        updatePosition(0, lat, lon);
+    }
 }
 
 

src/ui/MapWidget.h

@@ -33,6 +33,7 @@ This file is part of the PIXHAWK project
 #define MAPWIDGET_H
 
 #include <QtGui/QWidget>
+#include <QMap>
 #include "qmapcontrol.h"
 #include "UASInterface.h"
 
@@ -71,7 +72,10 @@ protected:
     Layer* osmLayer;
     Layer* gSatLayer;
 
+    QMap<int, CirclePoint*> uasIcons;
+    QMap<int, LineString*> uasTrails;
     UASInterface* mav;
+    quint64 lastUpdate;
 
 private:
     Ui::MapWidget *m_ui;

src/ui/uas/UASInfoWidget.cc

@@ -61,7 +61,7 @@ UASInfoWidget::UASInfoWidget(QWidget *parent, QString name) : QWidget(parent)
 
     // Set default values
     /** Set two voltage decimals and zero charge level decimals **/
-    this->voltageDecimals     = 2;
+    this->voltageDecimals = 2;
     this->loadDecimals = 2;
 
     this->voltage = 0;
@@ -69,6 +69,7 @@ UASInfoWidget::UASInfoWidget(QWidget *parent, QString name) : QWidget(parent)
     this->load = 0;
     receiveLoss = 0;
     sendLoss = 0;
+    errors = QMap<QString, int>();
 
     updateTimer = new QTimer(this);
     connect(updateTimer, SIGNAL(timeout()), this, SLOT(refresh()));
@@ -88,6 +89,7 @@ void UASInfoWidget::addUAS(UASInterface* uas)
         connect(uas, SIGNAL(batteryChanged(UASInterface*,double,double,int)), this, SLOT(updateBattery(UASInterface*,double,double,int)));
         connect(uas, SIGNAL(dropRateChanged(int,float)), this, SLOT(updateReceiveLoss(int,float)));
         connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateCPULoad(UASInterface*,double)));
+        connect(uas, SIGNAL(errCountChanged(int,QString,QString,int)), this, SLOT(updateErrorCount(int,QString,QString,int)));
 
         // Set this UAS as active if it is the first one
         if (activeUAS == 0) activeUAS = uas;
@@ -106,6 +108,16 @@ void UASInfoWidget::updateBattery(UASInterface* uas, double voltage, double perc
     setTimeRemaining(uas, seconds);
 }
 
+void UASInfoWidget::updateErrorCount(int uasid, QString component, QString device, int count)
+{
+    qDebug() << __FILE__ << __LINE__ << activeUAS->getUASID() << "=" << uasid;
+    if (activeUAS->getUASID() == uasid)
+    {
+        errors.remove(component + ":" + device);
+        errors.insert(component + ":" + device, count);
+    }
+}
+
 /**
  *
  */
@@ -168,4 +180,7 @@ void UASInfoWidget::refresh()
 
     ui.sendLossBar->setValue(sendLoss);
     ui.sendLossLabel->setText(QString::number(sendLoss, 'f', 2));
+
+    QString errorString;
+   // ui.
 }

src/ui/uas/UASInfoWidget.h

@@ -60,6 +60,8 @@ public slots:
     void updateReceiveLoss(int uasId, float receiveLoss);
     /** @brief Set the loss rate of packets sent from the MAV */
     void updateSendLoss(int uasId, float sendLoss);
+    /** @brief Update the error count */
+    void updateErrorCount(int uasid, QString component, QString device, int count);
 
     void setVoltage(UASInterface* uas, double voltage);
     void setChargeLevel(UASInterface* uas, double chargeLevel);
@@ -90,6 +92,7 @@ protected:
     QTimer* updateTimer;
     QString name;
     quint64 startTime;
+    QMap<QString, int> errors;
 //    double lastRemainingTime;
 //    double lastChargeLevel;
 //    double startVoltage;