From db00ea6ea1d3897dc878d1caa847cce2f7e381e7 Mon Sep 17 00:00:00 2001 From: pixhawk Date: Wed, 26 May 2010 09:52:42 +0200 Subject: [PATCH] Added Extra Message Checkboxes --- 1-log-acc.txt | 5038 ++++++++ 2-simulated-flight.txt | 6593 ++++++++++ 3-real-flight.txt | 18666 ++++++++++++++++++++++++++++ src/uas/UAS.cc | 88 + src/uas/UAS.h | 4 + src/ui/QGCSensorSettingsWidget.cc | 4 + src/ui/QGCSensorSettingsWidget.ui | 28 + 7 files changed, 30421 insertions(+) create mode 100644 1-log-acc.txt create mode 100644 2-simulated-flight.txt create mode 100644 3-real-flight.txt diff --git a/1-log-acc.txt b/1-log-acc.txt new file mode 100644 index 000000000..5652d8fec --- /dev/null +++ b/1-log-acc.txt @@ -0,0 +1,5038 @@ +unix_timestamp Accel._X Accel._Y Accel._Z Gyro_Phi Gyro_Psi Gyro_Theta vis._rot_r1 vis._rot_r2 vis._rot_r3 vis._rot_r4 vis._rot_r5 vis._rot_r6 vis._rot_r7 vis._rot_r8 vis._rot_r9 vis._x vis._y vis._z +1274188806476 0.994797 0.0666115 0.0770873 -0.0854003 0.957808 0.274428 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UAS::enableRawSensorFusionTransmission(bool enabled) sendMessage(msg); } +void UAS::enablePositionTransmission(bool enabled) +{ + // Buffers to write data to + mavlink_message_t msg; + mavlink_request_data_stream_t stream; + // Select the message to request from now on + stream.req_stream_id = 6; + // Select the update rate in Hz the message should be send + stream.req_message_rate = 200; + // Start / stop the message + stream.start_stop = (enabled) ? 1 : 0; + // The system which should take this command + stream.target_system = uasId; + // The component / subsystem which should take this command + stream.target_component = 0; + // Encode and send the message + mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream); + // Send message twice to increase chance of reception + sendMessage(msg); + sendMessage(msg); +} + +void UAS::enableExtra1Transmission(bool enabled) +{ + // Buffers to write data to + mavlink_message_t msg; + mavlink_request_data_stream_t stream; + // Select the message to request from now on + stream.req_stream_id = 7; + // Select the update rate in Hz the message should be send + stream.req_message_rate = 200; + // Start / stop the message + stream.start_stop = (enabled) ? 1 : 0; + // The system which should take this command + stream.target_system = uasId; + // The component / subsystem which should take this command + stream.target_component = 0; + // Encode and send the message + mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream); + // Send message twice to increase chance of reception + sendMessage(msg); + sendMessage(msg); +} + +void UAS::enableExtra2Transmission(bool enabled) +{ + // Buffers to write data to + mavlink_message_t msg; + mavlink_request_data_stream_t stream; + // Select the message to request from now on + stream.req_stream_id = 8; + // Select the update rate in Hz the message should be send + stream.req_message_rate = 200; + // Start / stop the message + stream.start_stop = (enabled) ? 1 : 0; + // The system which should take this command + stream.target_system = uasId; + // The component / subsystem which should take this command + stream.target_component = 0; + // Encode and send the message + mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream); + // Send message twice to increase chance of reception + sendMessage(msg); + sendMessage(msg); +} + +void UAS::enableExtra3Transmission(bool enabled) +{ + // Buffers to write data to + mavlink_message_t msg; + mavlink_request_data_stream_t stream; + // Select the message to request from now on + stream.req_stream_id = 9; + // Select the update rate in Hz the message should be send + stream.req_message_rate = 200; + // Start / stop the message + stream.start_stop = (enabled) ? 1 : 0; + // The system which should take this command + stream.target_system = uasId; + // The component / subsystem which should take this command + stream.target_component = 0; + // Encode and send the message + mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream); + // Send message twice to increase chance of reception + sendMessage(msg); + sendMessage(msg); +} + void UAS::setParameter(int component, QString id, float value) { mavlink_message_t msg; diff --git a/src/uas/UAS.h b/src/uas/UAS.h index 7ae62b639..fdac701bb 100644 --- a/src/uas/UAS.h +++ b/src/uas/UAS.h @@ -202,6 +202,10 @@ public slots: void enableRCChannelDataTransmission(bool enabled); void enableRawControllerDataTransmission(bool enabled); void enableRawSensorFusionTransmission(bool enabled); + void enablePositionTransmission(bool enabled); + void enableExtra1Transmission(bool enabled); + void enableExtra2Transmission(bool enabled); + void enableExtra3Transmission(bool enabled); /** @brief Update the system state */ void updateState(); diff --git a/src/ui/QGCSensorSettingsWidget.cc b/src/ui/QGCSensorSettingsWidget.cc index e3af813d5..7b9678cf5 100644 --- a/src/ui/QGCSensorSettingsWidget.cc +++ b/src/ui/QGCSensorSettingsWidget.cc @@ -12,6 +12,10 @@ QGCSensorSettingsWidget::QGCSensorSettingsWidget(UASInterface* uas, QWidget *par connect(ui->sendControllerCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableRawControllerDataTransmission(bool))); connect(ui->sendExtendedCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableExtendedSystemStatusTransmission(bool))); connect(ui->sendRCCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableRCChannelDataTransmission(bool))); + connect(ui->sendPositionCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enablePositionTransmission(bool))); + connect(ui->sendExtra1CheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableExtra1Transmission(bool))); + connect(ui->sendExtra2CheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableExtra2Transmission(bool))); + connect(ui->sendExtra3CheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableExtra3Transmission(bool))); } QGCSensorSettingsWidget::~QGCSensorSettingsWidget() diff --git a/src/ui/QGCSensorSettingsWidget.ui b/src/ui/QGCSensorSettingsWidget.ui index ab5de7c1e..d8977889e 100644 --- a/src/ui/QGCSensorSettingsWidget.ui +++ b/src/ui/QGCSensorSettingsWidget.ui @@ -54,6 +54,34 @@ + + + + Send position setpoint and estimate + + + + + + + Send Extra1 + + + + + + + Send Extra2 + + + + + + + Send Extra3 + + + -- 2.22.0