Added datarate spin box's

src/uas/UAS.cc

@@ -883,7 +883,7 @@ void UAS::readParametersFromStorage()
     sendMessage(msg);
 }
 
-void UAS::enableAllDataTransmission(bool enabled)
+void UAS::enableAllDataTransmission(int rate)
 {
     // Buffers to write data to
     mavlink_message_t msg;
@@ -893,9 +893,11 @@ void UAS::enableAllDataTransmission(bool enabled)
     stream.req_stream_id = MAV_DATA_STREAM_ALL;
     // Select the update rate in Hz the message should be send
     // All messages will be send with their default rate
+    // TODO: use 0 to turn off and get rid of enable/disable? will require
+    //  a different magic flag for turning on defaults, possibly something really high like 1111 ?
     stream.req_message_rate = 0;
     // Start / stop the message
-    stream.start_stop = (enabled) ? 1 : 0;
+    stream.start_stop = (rate) ? 1 : 0;
     // The system which should take this command
     stream.target_system = uasId;
     // The component / subsystem which should take this command
@@ -907,7 +909,7 @@ void UAS::enableAllDataTransmission(bool enabled)
     sendMessage(msg);
 }
 
-void UAS::enableRawSensorDataTransmission(bool enabled)
+void UAS::enableRawSensorDataTransmission(int rate)
 {
     // Buffers to write data to
     mavlink_message_t msg;
@@ -915,9 +917,9 @@ void UAS::enableRawSensorDataTransmission(bool enabled)
     // Select the message to request from now on
     stream.req_stream_id = MAV_DATA_STREAM_RAW_SENSORS;
     // Select the update rate in Hz the message should be send
-    stream.req_message_rate = 200;
+    stream.req_message_rate = rate;
     // Start / stop the message
-    stream.start_stop = (enabled) ? 1 : 0;
+    stream.start_stop = (rate) ? 1 : 0;
     // The system which should take this command
     stream.target_system = uasId;
     // The component / subsystem which should take this command
@@ -929,7 +931,7 @@ void UAS::enableRawSensorDataTransmission(bool enabled)
     sendMessage(msg);
 }
 
-void UAS::enableExtendedSystemStatusTransmission(bool enabled)
+void UAS::enableExtendedSystemStatusTransmission(int rate)
 {
     // Buffers to write data to
     mavlink_message_t msg;
@@ -937,9 +939,9 @@ void UAS::enableExtendedSystemStatusTransmission(bool enabled)
     // Select the message to request from now on
     stream.req_stream_id = MAV_DATA_STREAM_EXTENDED_STATUS;
     // Select the update rate in Hz the message should be send
-    stream.req_message_rate = 10;
+    stream.req_message_rate = rate;
     // Start / stop the message
-    stream.start_stop = (enabled) ? 1 : 0;
+    stream.start_stop = (rate) ? 1 : 0;
     // The system which should take this command
     stream.target_system = uasId;
     // The component / subsystem which should take this command
@@ -951,7 +953,7 @@ void UAS::enableExtendedSystemStatusTransmission(bool enabled)
     sendMessage(msg);
 }
 
-void UAS::enableRCChannelDataTransmission(bool enabled)
+void UAS::enableRCChannelDataTransmission(int rate)
 {
 #if defined(MAVLINK_ENABLED_UALBERTA_MESSAGES)
     mavlink_message_t msg;
@@ -963,9 +965,9 @@ void UAS::enableRCChannelDataTransmission(bool enabled)
     // Select the message to request from now on
     stream.req_stream_id = MAV_DATA_STREAM_RC_CHANNELS;
     // Select the update rate in Hz the message should be send
-    stream.req_message_rate = 200;
+    stream.req_message_rate = rate;
     // Start / stop the message
-    stream.start_stop = (enabled) ? 1 : 0;
+    stream.start_stop = (rate) ? 1 : 0;
     // The system which should take this command
     stream.target_system = uasId;
     // The component / subsystem which should take this command
@@ -978,7 +980,7 @@ void UAS::enableRCChannelDataTransmission(bool enabled)
 #endif
 }
 
-void UAS::enableRawControllerDataTransmission(bool enabled)
+void UAS::enableRawControllerDataTransmission(int rate)
 {
     // Buffers to write data to
     mavlink_message_t msg;
@@ -986,9 +988,9 @@ void UAS::enableRawControllerDataTransmission(bool enabled)
     // Select the message to request from now on
     stream.req_stream_id = MAV_DATA_STREAM_RAW_CONTROLLER;
     // Select the update rate in Hz the message should be send
-    stream.req_message_rate = 200;
+    stream.req_message_rate = rate;
     // Start / stop the message
-    stream.start_stop = (enabled) ? 1 : 0;
+    stream.start_stop = (rate) ? 1 : 0;
     // The system which should take this command
     stream.target_system = uasId;
     // The component / subsystem which should take this command
@@ -1000,7 +1002,7 @@ void UAS::enableRawControllerDataTransmission(bool enabled)
     sendMessage(msg);
 }
 
-void UAS::enableRawSensorFusionTransmission(bool enabled)
+void UAS::enableRawSensorFusionTransmission(int rate)
 {
     // Buffers to write data to
     mavlink_message_t msg;
@@ -1008,9 +1010,9 @@ void UAS::enableRawSensorFusionTransmission(bool enabled)
     // Select the message to request from now on
     stream.req_stream_id = MAV_DATA_STREAM_RAW_SENSOR_FUSION;
     // Select the update rate in Hz the message should be send
-    stream.req_message_rate = 200;
+    stream.req_message_rate = rate;
     // Start / stop the message
-    stream.start_stop = (enabled) ? 1 : 0;
+    stream.start_stop = (rate) ? 1 : 0;
     // The system which should take this command
     stream.target_system = uasId;
     // The component / subsystem which should take this command
@@ -1022,7 +1024,7 @@ void UAS::enableRawSensorFusionTransmission(bool enabled)
     sendMessage(msg);
 }
 
-void UAS::enablePositionTransmission(bool enabled)
+void UAS::enablePositionTransmission(int rate)
 {
     // Buffers to write data to
     mavlink_message_t msg;
@@ -1030,9 +1032,9 @@ void UAS::enablePositionTransmission(bool enabled)
     // Select the message to request from now on
     stream.req_stream_id = MAV_DATA_STREAM_POSITION;
     // Select the update rate in Hz the message should be send
-    stream.req_message_rate = 200;
+    stream.req_message_rate = rate;
     // Start / stop the message
-    stream.start_stop = (enabled) ? 1 : 0;
+    stream.start_stop = (rate) ? 1 : 0;
     // The system which should take this command
     stream.target_system = uasId;
     // The component / subsystem which should take this command
@@ -1044,7 +1046,7 @@ void UAS::enablePositionTransmission(bool enabled)
     sendMessage(msg);
 }
 
-void UAS::enableExtra1Transmission(bool enabled)
+void UAS::enableExtra1Transmission(int rate)
 {
     // Buffers to write data to
     mavlink_message_t msg;
@@ -1052,9 +1054,9 @@ void UAS::enableExtra1Transmission(bool enabled)
     // Select the message to request from now on
     stream.req_stream_id = MAV_DATA_STREAM_EXTRA1;
     // Select the update rate in Hz the message should be send
-    stream.req_message_rate = 200;
+    stream.req_message_rate = rate;
     // Start / stop the message
-    stream.start_stop = (enabled) ? 1 : 0;
+    stream.start_stop = (rate) ? 1 : 0;
     // The system which should take this command
     stream.target_system = uasId;
     // The component / subsystem which should take this command
@@ -1066,7 +1068,7 @@ void UAS::enableExtra1Transmission(bool enabled)
     sendMessage(msg);
 }
 
-void UAS::enableExtra2Transmission(bool enabled)
+void UAS::enableExtra2Transmission(int rate)
 {
     // Buffers to write data to
     mavlink_message_t msg;
@@ -1074,9 +1076,9 @@ void UAS::enableExtra2Transmission(bool enabled)
     // Select the message to request from now on
     stream.req_stream_id = MAV_DATA_STREAM_EXTRA2;
     // Select the update rate in Hz the message should be send
-    stream.req_message_rate = 200;
+    stream.req_message_rate = rate;
     // Start / stop the message
-    stream.start_stop = (enabled) ? 1 : 0;
+    stream.start_stop = (rate) ? 1 : 0;
     // The system which should take this command
     stream.target_system = uasId;
     // The component / subsystem which should take this command
@@ -1088,7 +1090,7 @@ void UAS::enableExtra2Transmission(bool enabled)
     sendMessage(msg);
 }
 
-void UAS::enableExtra3Transmission(bool enabled)
+void UAS::enableExtra3Transmission(int rate)
 {
     // Buffers to write data to
     mavlink_message_t msg;
@@ -1096,9 +1098,9 @@ void UAS::enableExtra3Transmission(bool enabled)
     // Select the message to request from now on
     stream.req_stream_id = MAV_DATA_STREAM_EXTRA3;
     // Select the update rate in Hz the message should be send
-    stream.req_message_rate = 200;
+    stream.req_message_rate = rate;
     // Start / stop the message
-    stream.start_stop = (enabled) ? 1 : 0;
+    stream.start_stop = (rate) ? 1 : 0;
     // The system which should take this command
     stream.target_system = uasId;
     // The component / subsystem which should take this command

src/uas/UAS.h

@@ -223,16 +223,16 @@ public slots:
     /** @brief Read parameters from permanent storage */
     void readParametersFromStorage();
 
-    void enableAllDataTransmission(bool enabled);
-    void enableRawSensorDataTransmission(bool enabled);
-    void enableExtendedSystemStatusTransmission(bool enabled);
-    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);
+    void enableAllDataTransmission(int rate);
+    void enableRawSensorDataTransmission(int rate);
+    void enableExtendedSystemStatusTransmission(int rate);
+    void enableRCChannelDataTransmission(int rate);
+    void enableRawControllerDataTransmission(int rate);
+    void enableRawSensorFusionTransmission(int rate);
+    void enablePositionTransmission(int rate);
+    void enableExtra1Transmission(int rate);
+    void enableExtra2Transmission(int rate);
+    void enableExtra3Transmission(int rate);
 
     /** @brief Update the system state */
     void updateState();

src/uas/UASInterface.h

@@ -221,7 +221,7 @@ public slots:
     virtual void setSelected() = 0;
 
     virtual void enableAllDataTransmission(bool enabled) = 0;
-    virtual void enableRawSensorDataTransmission(bool enabled) = 0;
+    virtual void enableRawSensorDataTransmission(bool enabled, int rate = 0) = 0;
     virtual void enableExtendedSystemStatusTransmission(bool enabled) = 0;
     virtual void enableRCChannelDataTransmission(bool enabled) = 0;
     virtual void enableRawControllerDataTransmission(bool enabled) = 0;

src/ui/QGCSensorSettingsWidget.cc

@@ -37,14 +37,15 @@ QGCSensorSettingsWidget::QGCSensorSettingsWidget(UASInterface* uas, QWidget *par
     ui(new Ui::QGCSensorSettingsWidget)
 {
     ui->setupUi(this);
-    connect(ui->sendRawCheckBox, SIGNAL(toggled(bool)), mav, SLOT(enableRawSensorDataTransmission(bool)));
-    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)));
+    // XXX: This might be a bad idea sending a message every time the value changes
+    connect(ui->spinBox_rawSensor, SIGNAL(valueChanged(int)), mav, SLOT(enableRawSensorDataTransmission(int)));
+    connect(ui->spinBox_controller, SIGNAL(valueChanged(int)), mav, SLOT(enableRawControllerDataTransmission(int)));
+    connect(ui->spinBox_extended, SIGNAL(valueChanged(int)), mav, SLOT(enableExtendedSystemStatusTransmission(int)));
+    connect(ui->spinBox_rc, SIGNAL(valueChanged(int)), mav, SLOT(enableRCChannelDataTransmission(int)));
+    connect(ui->spinBox_position, SIGNAL(valueChanged(int)), mav, SLOT(enablePositionTransmission(int)));
+    connect(ui->spinBox_extra1, SIGNAL(valueChanged(int)), mav, SLOT(enableExtra1Transmission(int)));
+    connect(ui->spinBox_extra2, SIGNAL(valueChanged(int)), mav, SLOT(enableExtra2Transmission(int)));
+    connect(ui->spinBox_extra3, SIGNAL(valueChanged(int)), mav, SLOT(enableExtra3Transmission(int)));
 
     // Calibration
     connect(ui->rcCalButton, SIGNAL(clicked()), mav, SLOT(startRadioControlCalibration()));

src/ui/QGCSensorSettingsWidget.ui

@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>231</width>
+    <width>237</width>
     <height>221</height>
    </rect>
   </property>
@@ -75,7 +75,7 @@
    <item row="0" column="0">
     <widget class="QGroupBox" name="groupBox">
      <property name="title">
-      <string>Activate Extended Output</string>
+      <string>Data Stream Rates (Hz)</string>
      </property>
      <layout class="QGridLayout" name="gridLayout_2">
       <property name="leftMargin">
@@ -97,70 +97,114 @@
        <number>2</number>
       </property>
       <item row="0" column="0">
-       <widget class="QCheckBox" name="sendRawCheckBox">
-        <property name="enabled">
-         <bool>true</bool>
+       <widget class="QSpinBox" name="spinBox_rawSensor">
+        <property name="maximum">
+         <number>10000</number>
         </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLabel" name="label">
         <property name="text">
-         <string>RAW Sensors</string>
+         <string>Raw Sensor</string>
         </property>
-        <property name="checked">
-         <bool>false</bool>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QSpinBox" name="spinBox_extended">
+        <property name="maximum">
+         <number>10000</number>
         </property>
-        <property name="tristate">
-         <bool>false</bool>
+       </widget>
+      </item>
+      <item row="4" column="0">
+       <widget class="QSpinBox" name="spinBox_position">
+        <property name="maximum">
+         <number>10000</number>
         </property>
        </widget>
       </item>
-      <item row="0" column="1">
-       <widget class="QCheckBox" name="sendRCCheckBox">
-        <property name="enabled">
-         <bool>true</bool>
+      <item row="5" column="0">
+       <widget class="QSpinBox" name="spinBox_controller">
+        <property name="maximum">
+         <number>10000</number>
         </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QLabel" name="label_2">
         <property name="text">
-         <string>RC Values</string>
+         <string>Extended</string>
         </property>
        </widget>
       </item>
-      <item row="4" column="0">
-       <widget class="QCheckBox" name="sendPositionCheckBox">
+      <item row="4" column="1">
+       <widget class="QLabel" name="label_3">
         <property name="text">
-         <string>Position CTRL</string>
+         <string>Position</string>
         </property>
        </widget>
       </item>
-      <item row="5" column="0">
-       <widget class="QCheckBox" name="sendControllerCheckBox">
+      <item row="5" column="1">
+       <widget class="QLabel" name="label_4">
         <property name="text">
-         <string>Attitude CTRL</string>
+         <string>Controller</string>
         </property>
        </widget>
       </item>
-      <item row="1" column="1">
-       <widget class="QCheckBox" name="sendExtra1CheckBox">
+      <item row="0" column="2">
+       <widget class="QSpinBox" name="spinBox_rc">
+        <property name="maximum">
+         <number>10000</number>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="2">
+       <widget class="QSpinBox" name="spinBox_extra1">
+        <property name="maximum">
+         <number>10000</number>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="2">
+       <widget class="QSpinBox" name="spinBox_extra2">
+        <property name="maximum">
+         <number>10000</number>
+        </property>
+       </widget>
+      </item>
+      <item row="5" column="2">
+       <widget class="QSpinBox" name="spinBox_extra3">
+        <property name="maximum">
+         <number>10000</number>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="3">
+       <widget class="QLabel" name="label_5">
         <property name="text">
-         <string>Send Extra1</string>
+         <string>RC Values</string>
         </property>
        </widget>
       </item>
-      <item row="1" column="0">
-       <widget class="QCheckBox" name="sendExtendedCheckBox">
+      <item row="1" column="3">
+       <widget class="QLabel" name="label_6">
         <property name="text">
-         <string>Attitude</string>
+         <string>Extra 1</string>
         </property>
        </widget>
       </item>
-      <item row="4" column="1">
-       <widget class="QCheckBox" name="sendExtra2CheckBox">
+      <item row="4" column="3">
+       <widget class="QLabel" name="label_7">
         <property name="text">
-         <string>Send Extra2</string>
+         <string>Extra 2</string>
         </property>
        </widget>
       </item>
-      <item row="5" column="1">
-       <widget class="QCheckBox" name="sendExtra3CheckBox">
+      <item row="5" column="3">
+       <widget class="QLabel" name="label_8">
         <property name="text">
-         <string>Send Extra3</string>
+         <string>Extra 3</string>
         </property>
        </widget>
       </item>