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qgroundcontrol
Commit dfadbc75 authored by pixhawk's avatar pixhawk
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Merge branch 'v10release' of https://github.com/pixhawk/qgroundcontrol into v10release

parents a1ce3cde fdaca2c4
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files/mavlink_generator/C/include_v1.0/mavlink_helpers.h
View file @ dfadbc75
......@@ -120,7 +120,7 @@ MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint
*/
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
{
memcpy(buffer, (uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
memcpy(buffer, (const uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len;
}
......@@ -182,7 +182,15 @@ MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
*/
MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
{
#if MAVLINK_EXTERNAL_RX_BUFFER
// No m_mavlink_message array defined in function,
// has to be defined externally
#ifndef m_mavlink_message
#error ERROR: IF #define MAVLINK_EXTERNAL_RX_BUFFER IS SET, THE BUFFER HAS TO BE ALLOCATED OUTSIDE OF THIS FUNCTION
#endif
#else
static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS];
#endif
/*
default message crc function. You can override this per-system to
......@@ -209,6 +217,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
rxmsg->len = 0;
rxmsg->magic = c;
mavlink_start_checksum(rxmsg);
}
break;
......@@ -269,7 +278,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
break;
case MAVLINK_PARSE_STATE_GOT_MSGID:
_MAV_PAYLOAD(rxmsg)[status->packet_idx++] = (char)c;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx++] = (char)c;
mavlink_update_checksum(rxmsg, c);
if (status->packet_idx == rxmsg->len)
{
......@@ -296,6 +305,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
else
{
status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx] = (char)c;
}
break;
......@@ -317,6 +327,7 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
// Successfully got message
status->msg_received = 1;
status->parse_state = MAVLINK_PARSE_STATE_IDLE;
_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx+1] = (char)c;
memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
}
break;
......
files/mavlink_generator/C/include_v1.0/mavlink_types.h
View file @ dfadbc75
#ifndef MAVLINK_TYPES_H_
#define MAVLINK_TYPES_H_
#include <inttypes.h>
enum MAV_ACTION
{
MAV_ACTION_HOLD = 0,
......@@ -66,6 +68,8 @@ typedef struct param_union {
float param_float;
int32_t param_int32;
uint32_t param_uint32;
uint8_t param_uint8;
uint8_t bytes[4];
};
uint8_t type;
} mavlink_param_union_t;
......@@ -107,12 +111,12 @@ typedef enum {
#define MAVLINK_MAX_FIELDS 64
typedef struct __mavlink_field_info {
const char *name; // name of this field
const char *print_format; // printing format hint, or NULL
mavlink_message_type_t type; // type of this field
unsigned array_length; // if non-zero, field is an array
unsigned wire_offset; // offset of each field in the payload
unsigned structure_offset; // offset in a C structure
const char *name; // name of this field
const char *print_format; // printing format hint, or NULL
mavlink_message_type_t type; // type of this field
unsigned int array_length; // if non-zero, field is an array
unsigned int wire_offset; // offset of each field in the payload
unsigned int structure_offset; // offset in a C structure
} mavlink_field_info_t;
// note that in this structure the order of fields is the order
......@@ -123,11 +127,12 @@ typedef struct __mavlink_message_info {
mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information
} mavlink_message_info_t;
#define _MAV_PAYLOAD(msg) ((char *)(&(msg)->payload64[0]))
#define _MAV_PAYLOAD(msg) ((const char *)(&(msg)->payload64[0]))
#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)((char *)(&(msg)->payload64[0])))
// checksum is immediately after the payload bytes
#define mavlink_ck_a(msg) *(msg->len + (uint8_t *)_MAV_PAYLOAD(msg))
#define mavlink_ck_b(msg) *((msg->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD(msg))
#define mavlink_ck_a(msg) *(msg->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
#define mavlink_ck_b(msg) *((msg->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
typedef enum {
MAVLINK_COMM_0,
......
files/mavlink_generator/C/include_v1.0/protocol.h
View file @ dfadbc75
......@@ -153,17 +153,25 @@ static inline void byte_copy_8(char *dst, const char *src)
#define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b
#endif
/*
like memcpy(), but if src is NULL, do a memset to zero
*/
static void mav_array_memcpy(void *dest, const void *src, size_t n)
{
if (src == NULL) {
memset(dest, 0, n);
} else {
memcpy(dest, src, n);
}
}
/*
* Place a char array into a buffer
*/
static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
{
if (b == NULL) {
memset(&buf[wire_offset], 0, array_length);
} else {
memcpy(&buf[wire_offset], b, array_length);
}
mav_array_memcpy(&buf[wire_offset], b, array_length);
}
/*
......@@ -171,11 +179,8 @@ static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const cha
*/
static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
{
if (b == NULL) {
memset(&buf[wire_offset], 0, array_length);
} else {
memcpy(&buf[wire_offset], b, array_length);
}
mav_array_memcpy(&buf[wire_offset], b, array_length);
}
/*
......@@ -183,11 +188,8 @@ static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const
*/
static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
{
if (b == NULL) {
memset(&buf[wire_offset], 0, array_length);
} else {
memcpy(&buf[wire_offset], b, array_length);
}
mav_array_memcpy(&buf[wire_offset], b, array_length);
}
#if MAVLINK_NEED_BYTE_SWAP
......@@ -207,11 +209,7 @@ static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, co
#define _MAV_PUT_ARRAY(TYPE, V) \
static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
{ \
if (b == NULL) { \
memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \
} else { \
memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
} \
mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
}
#endif
......@@ -224,9 +222,9 @@ _MAV_PUT_ARRAY(int64_t, i64)
_MAV_PUT_ARRAY(float, f)
_MAV_PUT_ARRAY(double, d)
#define _MAV_RETURN_char(msg, wire_offset) _MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_int8_t(msg, wire_offset) (int8_t)_MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_uint8_t(msg, wire_offset) (uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_char(msg, wire_offset) (const char)_MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_int8_t(msg, wire_offset) (const int8_t)_MAV_PAYLOAD(msg)[wire_offset]
#define _MAV_RETURN_uint8_t(msg, wire_offset) (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
#if MAVLINK_NEED_BYTE_SWAP
#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
......
files/vehicles/SenseSoar_Airplane/senseSoarDummy.dae 0 → 100644
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files/vehicles/sFly_Hexrotor/sfly-hex.dae 0 → 100644
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files/vehicles/sFly_Hexrotor/sfly-hex.skp 0 → 100644
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B໿SketchUp Model૿{8.0.4810}싀菾崲題皖⻣៓纯ÿ覡乃￿ 噃牥楳湯慍ｰ￾䌉䄀爀挀䌀甀爀瘀攀Ā＀￾䌊䄀琀琀爀椀戀甀琀攀＀￾䌓䄀琀琀爀椀戀甀琀攀䌀漀渀琀愀椀渀攀爀＀￾䌏䄀琀琀爀椀戀甀琀攀一愀洀攀搀Ā＀￾䌐䈀愀挀欀最爀漀甀渀搀䤀洀愀最攀਀＀￾䌇䌀愀洀攀爀愀Ԁ＀￾䌊䌀漀洀瀀漀渀攀渀琀଀＀￾䌒䌀漀洀瀀漀渀攀渀琀䈀攀栀愀瘀椀漀爀Ԁ＀￾䌔䌀漀洀瀀漀渀攀渀琀䐀攀昀椀渀椀琀椀漀渀਀＀￾䌒䌀漀洀瀀漀渀攀渀琀䤀渀猀琀愀渀挀攀Ѐ＀￾䌕䌀漀渀猀琀爀甀挀琀椀漀渀䜀攀漀洀攀琀爀礀＀￾䌑䌀漀渀猀琀爀甀挀琀椀漀渀䰀椀渀攀Ā＀￾䌒䌀漀渀猀琀爀甀挀琀椀漀渀倀漀椀渀琀＀￾䌆䌀甀爀瘀攀Ѐ＀￾䌏䐀攀昀椀渀椀琀椀漀渀䰀椀猀琀＀￾䌄䐀椀戀̀＀￾䌊䐀椀洀攀渀猀椀漀渀Ā＀￾䌐䐀椀洀攀渀猀椀漀渀䰀椀渀攀愀爀؀＀￾䌐䐀椀洀攀渀猀椀漀渀刀愀搀椀愀氀Ȁ＀￾䌏䐀椀洀攀渀猀椀漀渀匀琀礀氀攀Ѐ＀￾䌏䐀爀愀眀椀渀最䔀氀攀洀攀渀琀ऀ＀￾䌅䔀搀最攀Ȁ＀￾䌈䔀搀最攀唀猀攀Ā＀￾䌇䔀渀琀椀琀礀̀＀￾䌅䘀愀挀攀̀＀￾䌒䘀愀挀攀吀攀砀琀甀爀攀䌀漀漀爀搀猀Ѐ＀￾䌌䘀漀渀琀䴀愀渀愀最攀爀＀￾䌆䜀爀漀甀瀀Ā＀￾䌆䤀洀愀最攀Ā＀￾䌆䰀愀礀攀爀Ȁ＀￾䌍䰀愀礀攀爀䴀愀渀愀最攀爀Ѐ＀￾䌅䰀漀漀瀀Ā＀￾䌉䴀愀琀攀爀椀愀氀ఀ＀￾䌐䴀愀琀攀爀椀愀氀䴀愀渀愀最攀爀Ѐ＀￾䌉倀愀最攀䰀椀猀琀Ā＀￾䌋倀漀氀礀氀椀渀攀㌀搀＀￾䌍刀攀氀愀琀椀漀渀猀栀椀瀀＀￾䌐刀攀氀愀琀椀漀渀猀栀椀瀀䴀愀瀀＀￾䌑刀攀渀搀攀爀椀渀最伀瀀琀椀漀渀猀␀＀￾䌍匀攀挀琀椀漀渀倀氀愀渀攀Ȁ＀￾䌋匀栀愀搀漀眀䤀渀昀漀܀＀￾䌇匀欀䘀漀渀琀Ā＀￾䌉匀欀攀琀挀栀䌀匀＀￾䌎匀欀攀琀挀栀唀瀀䴀漀搀攀氀ᘀ＀￾䌍匀欀攀琀挀栀唀瀀倀愀最攀Ā＀￾䌉匀欀瀀匀琀礀氀攀Ā＀￾䌐匀欀瀀匀琀礀氀攀䴀愀渀愀最攀爀Ȁ＀￾䌅吀攀砀琀ऀ＀￾䌊吀攀砀琀匀琀礀氀攀Ԁ＀￾䌈吀攀砀琀甀爀攀؀＀￾䌊吀栀甀洀戀渀愀椀氀Ā＀￾䌇嘀攀爀琀攀砀＀￾䌉嘀椀攀眀倀愀最攀ఀ＀￾䌊圀愀琀攀爀洀愀爀欀Ā＀￾䌑圀愀琀攀爀洀愀爀欀䴀愀渀愀最攀爀Ȁ＀￾䔒渀搀ⴀ伀昀ⴀ嘀攀爀猀椀漀渀ⴀ䴀愀瀀Ȁ뀀Ā＀ϿЀ䌀楄Ѣ洀褀乐േᨊ
images/earth-singlesystem.html 0 → 100644
View file @ dfadbc75
This diff is collapsed.
images/earth.html
View file @ dfadbc75
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html>
<head>
......@@ -7,20 +7,19 @@
<!-- QGroundControl -->
<title>QGroundControl Google Earth View</title>
<!-- *** Replace the key below below with your own API key, available at http://code.google.com/apis/maps/signup.html *** -->
<!--<script type="text/javascript" src="https://getfirebug.com/firebug-lite-beta.js"></script>-->
<script type="text/javascript" src="http://www.google.com/jsapi?key=ABQIAAAAwbkbZLyhsmTCWXbTcjbgbRSzHs7K5SvaUdm8ua-Xxy_-2dYwMxQMhnagaawTo7L1FE1-amhuQxIlXw"></script>
<script type="text/javascript" src="https://getfirebug.com/firebug-lite-beta.js"></script>
<script type="text/javascript" src="https://www.google.com/jsapi?key=ABQIAAAA5Q6wxQ6lxKS8haLVdUJaqhSjosg_0jiTTs2iXtkDVG0n0If1mBRHzhWw5VqBZX-j4NuzoVpU-UaHVg"></script>
<script type="text/javascript">
google.load("earth", "1", { 'language': 'en'});
var ge = null;
var initialized = false;
var currAircraft = 0;
var followEnabled = false;
var lineAltitudeOffset = 0.5; ///< 0.5 m higher than waypoint, prevents the line from entering the ground
var lastLat = 0;
var lastLon = 0;
var lastAlt = 0;
var lastLat = [];
var lastLon = [];
var lastAlt = [];
var currLat = 47.3769;
var currLon = 8.549444;
var currAlt = 470;
......@@ -59,6 +58,9 @@ var planeLoc;
var aircraft = [];
var aircraftLocations = [];
var aircraftLastLocations = [];
var aircraftScaleFactors = [];
var aircraftLinks = [];
var aircraftModels = [];
var attitudes = [];
var locations = [];
var trails = [];
......@@ -99,6 +101,11 @@ var clickMode = 0;
var homePlacemark = null;
// Data / heightmap
var heightMapPlacemark = null;
var heightMapModel = null;
function getGlobal(variable)
{
return variable;
......@@ -297,7 +304,6 @@ function setGCSHome(lat, lon, alt)
homeLon = lon;
homeAlt = alt;
if (homePlacemark == null)
{
var placemark = ge.createPlacemark('');
......@@ -407,31 +413,39 @@ function updateWaypoint(id, index, lat, lon, alt, action)
function createAircraft(id, type, color)
{
planePlacemark = ge.createPlacemark('');
planePlacemark.setName('aircraft');
planeModel = ge.createModel('');
ge.getFeatures().appendChild(planePlacemark);
planeLoc = ge.createLocation('');
planeModel.setLocation(planeLoc);
planeLink = ge.createLink('');
planeOrient = ge.createOrientation('');
planeModel.setOrientation(planeOrient);
planeLink.setHref('http://www.asl.ethz.ch/people/rudink/senseSoarDummy.dae');
planeModel.setLink(planeLink);
planeModel.setAltitudeMode (ge.ALTITUDE_ABSOLUTE);
planeLoc.setLatitude(currLat);
planeLoc.setLongitude(currLon);
planeLoc.setAltitude(currAlt);
planePlacemark.setGeometry(planeModel);
aircraft[id] = ge.createPlacemark('');
aircraft[id].setName('aircraft');
aircraftModels[id] = ge.createModel('');
ge.getFeatures().appendChild(aircraft[id]);
aircraftLocations[id] = ge.createLocation('');
aircraftModels[id].setLocation(aircraftLocations[id]);
aircraftLinks[id] = ge.createLink('');
attitudes[id] = ge.createOrientation('');
aircraftModels[id].setOrientation(attitudes[id]);
aircraftScaleFactors[id] = 1.0;
//planeLink.setHref('http://www.asl.ethz.ch/people/rudink/senseSoarDummy.dae');
aircraftLinks[id].setHref('http://qgroundcontrol.org/_media/users/models/sfly-hex.dae');
aircraftScaleFactors[id] = 1.0/1000.0;
//planeLink.setHref('http://qgroundcontrol.org/_media/users/models/ascent-park-glider.dae');
aircraftModels[id].setLink(aircraftLinks[id]);
var scale = aircraftModels[id].getScale();
scale.set(scale.getX()*aircraftScaleFactors[id], scale.getY()*aircraftScaleFactors[id], scale.getZ()*aircraftScaleFactors[id])
aircraftModels[id].setScale(scale);
aircraftModels[id].setAltitudeMode (ge.ALTITUDE_ABSOLUTE);
aircraftLocations[id].setLatitude(currLat);
aircraftLocations[id].setLongitude(currLon);
aircraftLocations[id].setAltitude(currAlt);
aircraft[id].setGeometry(aircraftModels[id]);
// Write into global structure
aircraft[id] = planePlacemark;
attitudes[id] = planeOrient;
aircraftLocations[id] = planeLoc;
aircraftLastLocations[id] = ge.createLocation('');
aircraftLastLocations[id] = aircraftLocations[id];
lastLat[id] = 0;
lastLon[id] = 0;
lastAlt[id] = 0;
createTrail(id, color);
createWaypointLine(id, color);
......@@ -551,53 +565,83 @@ function initCallback(object)
ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true);
ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
enableEventListener();
document.getElementById('JScript_initialized').setAttribute('value','true');
// Load heightmap
// http://www.inf.ethz.ch/personal/lomeier/data/untex-environment.dae
/*heightMapPlacemark = ge.createPlacemark('');
heightMapPlacemark.setName('aircraft');
heightMapModel = ge.createModel('');
ge.getFeatures().appendChild(heightMapPlacemark);
planeLoc = ge.createLocation('');
heightMapModel.setLocation(planeLoc);
planeLink = ge.createLink('');
planeOrient = ge.createOrientation('');
heightMapModel.setOrientation(planeOrient);
planeLink.setHref('http://www.inf.ethz.ch/personal/lomeier/data/untex-environment.dae');
heightMapModel.setLink(planeLink);
var scale = heightMapModel.getScale();
var factor = 1.0;//1.0/1000.0;
scale.set(scale.getX()*factor, scale.getY()*factor, scale.getZ()*factor)
heightMapModel.setScale(scale);
heightMapModel.setAltitudeMode (ge.ALTITUDE_ABSOLUTE);
planeLoc.setLatitude(currLat);
planeLoc.setLongitude(currLon);
planeLoc.setAltitude(currAlt);
heightMapPlacemark.setGeometry(heightMapModel);*/
enableEventListener();
document.getElementById('JScript_initialized').setAttribute('value','true');
initialized = true;
}
function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
{
if (lastLat[id] == 0)
{
lastLat[id] = lat;
lastLon[id] = lon;
}
if (id == currAircraft)
{
if (lastLat == 0)
{
lastLat = currLat;
lastLon = currLon;
}
currFollowHeading = currFollowHeading*0.95+0.05*(((yaw/M_PI))*180.0);
currLat = lat;
currLon = lon;
var trueGroundAlt = ge.getGlobe().getGroundAltitude(lat, lon);
if (trueGroundAlt < alt)
{
currAlt = alt;
currAlt = alt;
}
else
{
currAlt = trueGroundAlt+0.1;
currAlt = trueGroundAlt+0.1;
}
// Interpolate between t-1 and t and set new states
lastLat = lastLat*0.8+currLat*0.2;
lastLon = lastLon*0.8+currLon*0.2;
lastAlt = lastAlt*0.8+currAlt*0.2;
//currFollowHeading = ((yaw/M_PI)+1.0)*360.0;
}
// Interpolate between t-1 and t and set new states
//lastLat[id] = lastLat[id]*0.5+lat*0.5;
//lastLon[id] = lastLon[id]*0.5+lon*0.5;
//lastAlt[id] = lastAlt[id]*0.5+alt*0.5;
planeOrient.setRoll(+((pitch / M_PI)) * 180.0);
planeOrient.setTilt(-((roll / M_PI)) * 180.0);
planeOrient.setHeading(((yaw / M_PI)) * 180.0 - 90.0);
planeModel.setOrientation(planeOrient);
lastLat[id] = lastLat[id]*0.5+lat*0.5;
lastLon[id] = lastLon[id]*0.5+lon*0.5;
lastAlt[id] = lastAlt[id]*0.5+alt*0.5;
currFollowHeading = ((yaw/M_PI))*180.0;
attitudes[id].setRoll(+((roll/M_PI))*180.0);
attitudes[id].setTilt(-((pitch/M_PI))*180.0);
attitudes[id].setHeading(((yaw/M_PI))*180.0-90.0);
aircraftModels[id].setOrientation(attitudes[id]);
planeLoc.setLatitude(lastLat);
planeLoc.setLongitude(lastLon);
planeLoc.setAltitude(lastAlt);
planeModel.setLocation(planeLoc);
aircraftLocations[id].setLatitude(lastLat[id]);
aircraftLocations[id].setLongitude(lastLon[id]);
aircraftLocations[id].setAltitude(lastAlt[id]);
aircraftModels[id].setLocation(aircraftLocations[id]);
if (followEnabled) updateFollowAircraft();
}
if (followEnabled && id == currAircraft) updateFollowAircraft();
}
function enableDaylight(enabled)
......@@ -663,32 +707,25 @@ function setViewMode(mode)
function updateFollowAircraft()
{
currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
currView.setLatitude(lastLat);
currView.setLongitude(lastLon);
currView.setLatitude(lastLat[currAircraft]);
currView.setLongitude(lastLon[currAircraft]);
if (distanceMode == 1)
{
var groundAltitude = ge.getGlobe().getGroundAltitude(lastLat, lastLon);
var groundAltitude = ge.getGlobe().getGroundAltitude(lastLat[currAircraft], lastLon[currAircraft]);
currView.setAltitude(groundAltitude);
}
if (distanceMode == 0) currView.setAltitude(lastAlt);
if (distanceMode == 0) currView.setAltitude(lastAlt[currAircraft]);
currView.setRange(currViewRange);
if (viewMode != 3) // VIEW_MODE_CHASE_FREE
{
ge.getView().setAbstractView(currView);
var camera = ge.getView().copyAsCamera(ge.ALTITUDE_ABSOLUTE);
camera.setTilt(currFollowTilt);
camera.setRoll(0);
camera.setHeading(currFollowHeading);
ge.getView().setAbstractView(camera);
}
else
{
ge.getView().setAbstractView(currView);
currView.setTilt(currFollowTilt);
currView.setHeading(currFollowHeading);
}
ge.getView().setAbstractView(currView);
}
function failureCallback(object)
......
qgroundcontrol.pri
View file @ dfadbc75
......@@ -42,8 +42,8 @@ macx {
# COMPILER_VERSION = $$system(gcc -v)
#message(Using compiler $$COMPILER_VERSION)
CONFIG += x86_64 cocoa phonon
CONFIG -= x86
CONFIG += x86 cocoa phonon
CONFIG -= x86_64
#HARDWARE_PLATFORM = $$system(uname -a)
#contains( $$HARDWARE_PLATFORM, "9.6.0" ) || contains( $$HARDWARE_PLATFORM, "9.7.0" ) || contains( $$HARDWARE_PLATFORM, "9.8.0" ) || contains( $$HARDWARE_PLATFORM, "9.9.0" ) {
......
qgroundcontrol.pro
View file @ dfadbc75
......@@ -542,19 +542,19 @@ TRANSLATIONS += es-MX.ts \
# xbee support
# libxbee only supported by linux and windows systems
#win32-msvc2008|win32-msvc2010|linux{
# HEADERS += src/comm/XbeeLinkInterface.h \
# src/comm/XbeeLink.h \
# src/comm/HexSpinBox.h \
# src/ui/XbeeConfigurationWindow.h \
# src/comm/CallConv.h
# SOURCES += src/comm/XbeeLink.cpp \
# src/comm/HexSpinBox.cpp \
# src/ui/XbeeConfigurationWindow.cpp
# DEFINES += XBEELINK
# INCLUDEPATH += thirdParty/libxbee
win32-msvc2008|win32-msvc2010|linux{
HEADERS += src/comm/XbeeLinkInterface.h \
src/comm/XbeeLink.h \
src/comm/HexSpinBox.h \
src/ui/XbeeConfigurationWindow.h \
src/comm/CallConv.h
SOURCES += src/comm/XbeeLink.cpp \
src/comm/HexSpinBox.cpp \
src/ui/XbeeConfigurationWindow.cpp
DEFINES += XBEELINK
INCLUDEPATH += thirdParty/libxbee
# TO DO: build library when it does not exists already
# LIBS += -LthirdParty/libxbee/lib \
# -llibxbee
#
#}
LIBS += -LthirdParty/libxbee/lib \
-llibxbee
}
src/QGCCore.cc
View file @ dfadbc75
......@@ -204,8 +204,9 @@ QGCCore::~QGCCore()
{
//mainWindow->storeSettings();
mainWindow->close();
mainWindow->deleteLater();
//mainWindow->deleteLater();
// Delete singletons
delete MainWindow::instance();
delete LinkManager::instance();
delete UASManager::instance();
}
......
src/apps/mavlinkgen/generator/MAVLinkXMLParserV10.cc
View file @ dfadbc75
......@@ -96,7 +96,7 @@ void MAVLinkXMLParserV10::processError(QProcess::ProcessError err)
bool MAVLinkXMLParserV10::generate()
{
#ifdef Q_OS_WIN
QString generatorCall("%1/files/mavlink_generator/generator/mavgen.exe");
QString generatorCall("files/mavlink_generator/generator/mavgen.exe");
#endif
#if (defined Q_OS_MAC) || (defined Q_OS_LINUX)
QString generatorCall("python");
......
src/comm/HexSpinBox.cpp 0 → 100644
View file @ dfadbc75
#include "HexSpinBox.h"
#include <qregexp.h>
HexSpinBox::HexSpinBox(QWidget *parent)
: QSpinBox(parent), validator(NULL)
{
setRange(0, 0x7fffffff);
validator = new QRegExpValidator(QRegExp("[0-9A-Fa-f]{1,8}"), this);
}
HexSpinBox::~HexSpinBox(void)
{
if(this->validator)
{
delete this->validator;
this->validator = NULL;
}
}
QValidator::State HexSpinBox::validate(QString &text, int &pos) const
{
return validator->validate(text, pos);
}
QString HexSpinBox::textFromValue(int value) const
{
return QString::number(value, 16).toUpper();
}
int HexSpinBox::valueFromText(const QString &text) const
{
bool ok;
return text.toInt(&ok, 16);
}
\ No newline at end of file
src/comm/HexSpinBox.h 0 → 100644
View file @ dfadbc75
#ifndef HEXSPINBOX_H_
#define HEXSPINBOX_H_
#include <qspinbox.h>
class QRegExpValidator;
class HexSpinBox : public QSpinBox
{
Q_OBJECT
public:
HexSpinBox(QWidget *parent = 0);
~HexSpinBox(void);
protected:
QValidator::State validate(QString &text, int &pos) const;
int valueFromText(const QString &text) const;
QString textFromValue(int value) const;
private:
QRegExpValidator *validator;
};
#endif // HEXSPINBOX_H_
src/comm/MAVLinkSimulationLink.cc
View file @ dfadbc75
......@@ -358,19 +358,19 @@ void MAVLinkSimulationLink::mainloop()
if (rate10hzCounter == 1000 / rate / 9) {
rate10hzCounter = 1;
float lastX = x;
float lastY = y;
float lastZ = z;
float hackDt = 0.1f; // 100 ms
double lastX = x;
double lastY = y;
double lastZ = z;
double hackDt = 0.1f; // 100 ms
// Move X Position
x = 12.0*sin(((double)circleCounter)/200.0);
y = 5.0*cos(((double)circleCounter)/200.0);
z = 1.8 + 1.2*sin(((double)circleCounter)/200.0);
float xSpeed = (x - lastX)/hackDt;
float ySpeed = (y - lastY)/hackDt;
float zSpeed = (z - lastZ)/hackDt;
double xSpeed = (x - lastX)/hackDt;
double ySpeed = (y - lastY)/hackDt;
double zSpeed = (z - lastZ)/hackDt;
......@@ -414,12 +414,12 @@ void MAVLinkSimulationLink::mainloop()
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
// // GLOBAL POSITION VEHICLE 2
// mavlink_msg_global_position_int_pack(54, componentId, &ret, (473780.28137103+(x+0.002))*1E3, (85489.9892510421+((y/2)+0.3))*1E3, (z+570.0)*1000.0, xSpeed, ySpeed, zSpeed);
// bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
// //add data into datastream
// memcpy(stream+streampointer,buffer, bufferlength);
// streampointer += bufferlength;
// GLOBAL POSITION VEHICLE 2
mavlink_msg_global_position_int_pack(systemId+1, componentId+1, &ret, 0, (473780.28137103+(x+0.00001))*1E3, (85489.9892510421+((y/2)+0.00001))*1E3, (z+550.0)*1000.0, (z+550.0)*1000.0-1, xSpeed, ySpeed, zSpeed, yaw);
bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
// // ATTITUDE VEHICLE 2
// mavlink_msg_attitude_pack(54, MAV_COMP_ID_IMU, &ret, 0, 0, 0, atan2((y/2)+0.3, (x+0.002)), 0, 0, 0);
......@@ -427,7 +427,7 @@ void MAVLinkSimulationLink::mainloop()
// // GLOBAL POSITION VEHICLE 3
// mavlink_msg_global_position_int_pack(60, componentId, &ret, (473780.28137103+(x/2+0.002))*1E3, (85489.9892510421+((y*2)+0.3))*1E3, (z+590.0)*1000.0, 0*100.0, 0*100.0, 0*100.0);
// mavlink_msg_global_position_int_pack(60, componentId, &ret, 0, (473780.28137103+(x/2+0.002))*1E3, (85489.9892510421+((y*2)+0.3))*1E3, (z+590.0)*1000.0, 0*100.0, 0*100.0, 0*100.0);
// bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
// //add data into datastream
// memcpy(stream+streampointer,buffer, bufferlength);
......@@ -565,6 +565,15 @@ void MAVLinkSimulationLink::mainloop()
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
// Pack message and get size of encoded byte string
messageSize = mavlink_msg_heartbeat_pack(systemId+1, componentId+1, &msg, mavType, MAV_AUTOPILOT_GENERIC, system.base_mode, system.custom_mode, system.system_status);
// Allocate buffer with packet data
bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
//qDebug() << "CRC:" << msg.ck_a << msg.ck_b;
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
// Send controller states
......
src/comm/MAVLinkSimulationMAV.cc
View file @ dfadbc75
......@@ -14,10 +14,10 @@ MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int sy
timer1Hz(0),
latitude(lat),
longitude(lon),
altitude(0.0),
altitude(550.0),
x(lat),
y(lon),
z(550),
z(altitude),
roll(0.0),
pitch(0.0),
yaw(0.0),
......
src/comm/QGCFlightGearLink.cc
View file @ dfadbc75
......@@ -188,7 +188,7 @@ void QGCFlightGearLink::writeBytes(const char* data, qint64 size)
void QGCFlightGearLink::readBytes()
{
const qint64 maxLength = 65536;
static char data[maxLength];
char data[maxLength];
QHostAddress sender;
quint16 senderPort;
......
src/comm/UDPLink.cc
View file @ dfadbc75
......@@ -210,7 +210,7 @@ void UDPLink::writeBytes(const char* data, qint64 size)
void UDPLink::readBytes()
{
const qint64 maxLength = 65536;
static char data[maxLength];
char data[maxLength];
QHostAddress sender;
quint16 senderPort;
......
src/libs/opmapcontrol/src/core/providerstrings.cpp
View file @ dfadbc75
......@@ -63,7 +63,7 @@ namespace core {
/// Google Maps API generated using http://greatmaps.codeplex.com/
/// from http://code.google.com/intl/en-us/apis/maps/signup.html
/// </summary>
GoogleMapsAPIKey = "ABQIAAAAWaQgWiEBF3lW97ifKnAczhRAzBk5Igf8Z5n2W3hNnMT0j2TikxTLtVIGU7hCLLHMAuAMt-BO5UrEWA";
GoogleMapsAPIKey = "ABQIAAAA5Q6wxQ6lxKS8haLVdUJaqhSjosg_0jiTTs2iXtkDVG0n0If1mBRHzhWw5VqBZX-j4NuzoVpU-UaHVg";
// Yahoo version strings
VersionYahooMap = "4.3";
......
src/libs/opmapcontrol/src/core/pureimagecache.cpp
View file @ dfadbc75
......@@ -227,23 +227,25 @@ namespace core {
#endif //DEBUG_PUREIMAGECACHE
QString db=dir+"Data.qmdb";
QSqlDatabase cn;
cn = QSqlDatabase::addDatabase("QSQLITE",QString::number(id));
{
QSqlDatabase cn;
cn = QSqlDatabase::addDatabase("QSQLITE",QString::number(id));
cn.setDatabaseName(db);
cn.setConnectOptions("QSQLITE_ENABLE_SHARED_CACHE");
if(cn.open())
{
QSqlQuery query(cn);
query.exec(QString("SELECT Tile FROM TilesData WHERE id = (SELECT id FROM Tiles WHERE X=%1 AND Y=%2 AND Zoom=%3 AND Type=%4)").arg(pos.X()).arg(pos.Y()).arg(zoom).arg((int) type));
query.next();
if(query.isValid())
cn.setDatabaseName(db);
cn.setConnectOptions("QSQLITE_ENABLE_SHARED_CACHE");
if(cn.open())
{
ar=query.value(0).toByteArray();
}
cn.close();
}
QSqlQuery query(cn);
query.exec(QString("SELECT Tile FROM TilesData WHERE id = (SELECT id FROM Tiles WHERE X=%1 AND Y=%2 AND Zoom=%3 AND Type=%4)").arg(pos.X()).arg(pos.Y()).arg(zoom).arg((int) type));
query.next();
if(query.isValid())
{
ar=query.value(0).toByteArray();
}
cn.close();
}
}
QSqlDatabase::removeDatabase(QString::number(id));
lock.unlock();
return ar;
......
src/libs/opmapcontrol/src/mapwidget/waypointlineitem.cpp
View file @ dfadbc75
......@@ -27,7 +27,6 @@ WaypointLineItem::WaypointLineItem(WayPointItem* wp1, WayPointItem* wp2, QColor
setLine(localPoint1.X(), localPoint1.Y(), localPoint2.X(), localPoint2.Y());
// Connect updates
// Update line from both waypoints
connect(wp1, SIGNAL(WPValuesChanged(WayPointItem*)), this, SLOT(updateWPValues(WayPointItem*)));
connect(wp2, SIGNAL(WPValuesChanged(WayPointItem*)), this, SLOT(updateWPValues(WayPointItem*)));
......
src/uas/PxQuadMAV.cc
View file @ dfadbc75
......@@ -42,9 +42,12 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
#ifdef MAVLINK_ENABLED_PIXHAWK
mavlink_message_t* msg = &message;
if (message.sysid == uasId) {
switch (message.msgid) {
case MAVLINK_MSG_ID_RAW_AUX: {
if (message.sysid == uasId)
{
switch (message.msgid)
{
case MAVLINK_MSG_ID_RAW_AUX:
{
mavlink_raw_aux_t raw;
mavlink_msg_raw_aux_decode(&message, &raw);
quint64 time = getUnixTime(0);
......@@ -52,14 +55,16 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, "Temperature", "raw", raw.temp, time);
}
break;
case MAVLINK_MSG_ID_IMAGE_TRIGGERED: {
case MAVLINK_MSG_ID_IMAGE_TRIGGERED:
{
// FIXME Kind of a hack to load data from disk
mavlink_image_triggered_t img;
mavlink_msg_image_triggered_decode(&message, &img);
emit imageStarted(img.timestamp);
}
break;
case MAVLINK_MSG_ID_PATTERN_DETECTED: {
case MAVLINK_MSG_ID_PATTERN_DETECTED:
{
mavlink_pattern_detected_t detected;
mavlink_msg_pattern_detected_decode(&message, &detected);
QByteArray b;
......
src/uas/UAS.cc
View file @ dfadbc75
......@@ -82,6 +82,12 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
isGlobalPositionKnown(false),
systemIsArmed(false)
{
for (unsigned int i = 0; i<255;++i)
{
componentID[i] = -1;
componentMulti[i] = false;
}
color = UASInterface::getNextColor();
setBatterySpecs(QString("9V,9.5V,12.6V"));
connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
......@@ -210,6 +216,27 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
QString uasState;
QString stateDescription;
bool multiComponentSourceDetected = false;
bool wrongComponent = false;
// Store component ID
if (componentID[message.msgid] == -1)
{
componentID[message.msgid] = message.compid;
}
else
{
// Got this message already
if (componentID[message.msgid] != message.compid)
{
componentMulti[message.msgid] = true;
wrongComponent = true;
}
}
if (componentMulti[message.msgid] == true) multiComponentSourceDetected = true;
switch (message.msgid)
{
case MAVLINK_MSG_ID_HEARTBEAT:
......@@ -232,6 +259,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
case MAV_TYPE_QUADROTOR:
setAirframe(UASInterface::QGC_AIRFRAME_CHEETAH);
break;
case MAV_TYPE_HEXAROTOR:
setAirframe(UASInterface::QGC_AIRFRAME_HEXCOPTER);
break;
default:
// Do nothing
break;
......@@ -333,13 +363,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
break;
case MAVLINK_MSG_ID_SYS_STATUS:
{
if (multiComponentSourceDetected && message.compid != MAV_COMP_ID_IMU_2)
{
break;
}
mavlink_sys_status_t state;
mavlink_msg_sys_status_decode(&message, &state);
emit loadChanged(this,state.load/10.0f);
currentVoltage = state.voltage_battery/1000.0f;
lpVoltage = filterVoltage(currentVoltage);
......@@ -370,6 +402,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
break;
case MAVLINK_MSG_ID_ATTITUDE:
{
if (wrongComponent) break;
mavlink_attitude_t attitude;
mavlink_msg_attitude_decode(&message, &attitude);
quint64 time = getUnixReferenceTime(attitude.time_boot_ms);
......@@ -463,7 +497,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit globalPositionChanged(this, latitude, longitude, altitude, time);
emit speedChanged(this, speedX, speedY, speedZ, time);
// Set internal state
if (!positionLock) {
if (!positionLock)
{
// If position was not locked before, notify positive
GAudioOutput::instance()->notifyPositive();
}
......@@ -483,29 +518,35 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
// quint64 time = getUnixTime(pos.time_usec);
quint64 time = getUnixTime(pos.time_usec);
if (pos.fix_type > 2) {
if (pos.fix_type > 2)
{
emit globalPositionChanged(this, pos.lat/(double)1E7, pos.lon/(double)1E7, pos.alt/1000.0, time);
latitude = pos.lat/(double)1E7;
longitude = pos.lon/(double)1E7;
altitude = pos.alt/1000.0;
positionLock = true;
isGlobalPositionKnown = true;
// Check for NaN
int alt = pos.alt;
if (alt != alt) {
if (!isnan(alt) && !isinf(alt))
{
alt = 0;
emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
//emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN or Inf FOR ALTITUDE");
}
// FIXME REMOVE LATER emit valueChanged(uasId, "altitude", "m", pos.alt/(double)1E3, time);
// Smaller than threshold and not NaN
float vel = pos.vel/100.0f;
if (vel < 1000000 && !isnan(vel) && !isinf(vel)) {
if (vel < 1000000 && !isnan(vel) && !isinf(vel))
{
// FIXME REMOVE LATER emit valueChanged(uasId, "speed", "m/s", vel, time);
//qDebug() << "GOT GPS RAW";
// emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
} else {
}
else
{
emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(vel));
}
}
......
src/uas/UAS.h
View file @ dfadbc75
......@@ -544,6 +544,8 @@ protected:
quint64 getUnixTimeFromMs(quint64 time);
/** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
quint64 getUnixReferenceTime(quint64 time);
int componentID[256];
bool componentMulti[256];
protected slots:
/** @brief Write settings to disk */
......
src/ui/HDDisplay.cc
View file @ dfadbc75
......@@ -50,8 +50,8 @@ HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) :
acceptUnitList(new QStringList()),
lastPaintTime(0),
columns(3),
valuesChanged(true)/*,
m_ui(new Ui::HDDisplay)*/
valuesChanged(true),
m_ui(NULL)
{
setWindowTitle(title);
//m_ui->setupUi(this);
......@@ -135,7 +135,22 @@ HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) :
HDDisplay::~HDDisplay()
{
saveState();
delete m_ui;
if(this->refreshTimer)
{
delete this->refreshTimer;
}
if(this->acceptList)
{
delete this->acceptList;
}
if(this->acceptUnitList)
{
delete this->acceptUnitList;
}
if(this->m_ui)
{
delete m_ui;
}
}
QSize HDDisplay::sizeHint() const
......@@ -186,9 +201,9 @@ void HDDisplay::triggerUpdate()
void HDDisplay::paintEvent(QPaintEvent * event)
{
Q_UNUSED(event);
static quint64 interval = 0;
quint64 interval = 0;
//qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
interval = MG::TIME::getGroundTimeNow();
interval = QGC::groundTimeMilliseconds();
renderOverlay();
}
......
src/ui/HSIDisplay.cc
View file @ dfadbc75
......@@ -136,6 +136,11 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
setFocusPolicy(Qt::StrongFocus);
}
HSIDisplay::~HSIDisplay()
{
}
void HSIDisplay::resetMAVState()
{
mavInitialized = false;
......
src/ui/HSIDisplay.h
View file @ dfadbc75
......@@ -48,7 +48,7 @@ class HSIDisplay : public HDDisplay
Q_OBJECT
public:
HSIDisplay(QWidget *parent = 0);
// ~HSIDisplay();
~HSIDisplay();
public slots:
void setActiveUAS(UASInterface* uas);
......
src/ui/MAVLinkDecoder.cc
View file @ dfadbc75
......@@ -7,6 +7,11 @@ MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
mavlink_message_info_t msg[256] = MAVLINK_MESSAGE_INFO;
memcpy(messageInfo, msg, sizeof(mavlink_message_info_t)*256);
memset(receivedMessages, 0, sizeof(mavlink_message_t)*256);
for (unsigned int i = 0; i<255;++i)
{
componentID[i] = -1;
componentMulti[i] = false;
}
// Fill filter
messageFilter.insert(MAVLINK_MSG_ID_HEARTBEAT, false);
......@@ -69,6 +74,26 @@ void MAVLinkDecoder::receiveMessage(LinkInterface* link,mavlink_message_t messag
void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64 time)
{
bool multiComponentSourceDetected = false;
bool wrongComponent = false;
// Store component ID
if (componentID[msg->msgid] == -1)
{
componentID[msg->msgid] = msg->compid;
}
else
{
// Got this message already
if (componentID[msg->msgid] != msg->compid)
{
componentMulti[msg->msgid] = true;
wrongComponent = true;
}
}
if (componentMulti[msg->msgid] == true) multiComponentSourceDetected = true;
// Add field tree widget item
uint8_t msgid = msg->msgid;
if (messageFilter.contains(msgid)) return;
......@@ -78,6 +103,8 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
QString name("%1.%2");
QString unit("");
name = name.arg(messageInfo[msgid].name, fieldName);
if (multiComponentSourceDetected) name.prepend(QString("C%1:").arg(msg->compid));
name.prepend(QString("M%1:").arg(msg->sysid));
switch (messageInfo[msgid].fields[fieldid].type)
{
case MAVLINK_TYPE_CHAR:
......
src/ui/MAVLinkDecoder.h
View file @ dfadbc75
......@@ -30,6 +30,8 @@ protected:
mavlink_message_info_t messageInfo[256]; ///< Message information
QMap<uint16_t, bool> messageFilter; ///< Message/field names not to emit
QMap<uint16_t, bool> textMessageFilter; ///< Message/field names not to emit in text mode
int componentID[256]; ///< Multi component detection
bool componentMulti[256]; ///< Multi components detected
};
......
src/ui/MainWindow.cc
View file @ dfadbc75
......@@ -91,7 +91,7 @@ MainWindow::MainWindow(QWidget *parent):
currentStyle(QGC_MAINWINDOW_STYLE_INDOOR),
aboutToCloseFlag(false),
changingViewsFlag(false),
centerStackActionGroup(this),
centerStackActionGroup(new QActionGroup(this)),
styleFileName(QCoreApplication::applicationDirPath() + "/style-indoor.css"),
autoReconnect(false),
lowPowerMode(false)
......@@ -138,7 +138,7 @@ MainWindow::MainWindow(QWidget *parent):
setCorner(Qt::BottomRightCorner, Qt::RightDockWidgetArea);
// Setup UI state machines
centerStackActionGroup.setExclusive(true);
centerStackActionGroup->setExclusive(true);
centerStack = new QStackedWidget(this);
setCentralWidget(centerStack);
......@@ -246,8 +246,8 @@ MainWindow::~MainWindow()
if (dockWidget)
{
// Remove dock widget from main window
removeDockWidget(dockWidget);
delete dockWidget->widget();
// removeDockWidget(dockWidget);
// delete dockWidget->widget();
delete dockWidget;
}
else
......@@ -417,14 +417,14 @@ void MainWindow::buildCommonWidgets()
parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET");
addTool(parametersDockWidget, tr("Calibration and Parameters"), Qt::RightDockWidgetArea);
}
if (!hsiDockWidget) {
hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
hsiDockWidget->setWidget( new HSIDisplay(this) );
hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET");
addTool(hsiDockWidget, tr("Horizontal Situation"), Qt::BottomDockWidgetArea);
}
if (!headDown1DockWidget) {
headDown1DockWidget = new QDockWidget(tr("Flight Display"), this);
HDDisplay* hdDisplay = new HDDisplay(acceptList, "Flight Display", this);
......@@ -442,7 +442,7 @@ void MainWindow::buildCommonWidgets()
headDown2DockWidget->setObjectName("HEAD_DOWN_DISPLAY_2_DOCK_WIDGET");
addTool(headDown2DockWidget, tr("Actuator Status"), Qt::RightDockWidgetArea);
}
if (!rcViewDockWidget) {
rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
......@@ -555,7 +555,7 @@ void MainWindow::addCentralWidget(QWidget* widget, const QString& title)
QVariant var;
var.setValue((QWidget*)widget);
tempAction->setData(var);
centerStackActionGroup.addAction(tempAction);
centerStackActionGroup->addAction(tempAction);
connect(tempAction,SIGNAL(triggered()),this, SLOT(showCentralWidget()));
connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool)));
tempAction->setChecked(widget->isVisible());
......@@ -1503,108 +1503,3 @@ QList<QAction*> MainWindow::listLinkMenuActions(void)
{
return ui.menuNetwork->actions();
}
/*
void MainWindow::buildSenseSoarWidgets()
{
if (!linechartWidget)
{
// Center widgets
linechartWidget = new Linecharts(this);
addToCentralWidgetsMenu(linechartWidget, tr("Realtime Plot"), SLOT(showCentralWidget()), CENTRAL_LINECHART);
}
if (!hudWidget)
{
hudWidget = new HUD(320, 240, this);
addToCentralWidgetsMenu(hudWidget, tr("Head Up Display"), SLOT(showCentralWidget()), CENTRAL_HUD);
}
if (!dataplotWidget) {
dataplotWidget = new QGCDataPlot2D(this);
addToCentralWidgetsMenu(dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()), CENTRAL_DATA_PLOT);
}
#ifdef QGC_OSG_ENABLED
if (!_3DWidget) {
_3DWidget = Q3DWidgetFactory::get("PIXHAWK");
addToCentralWidgetsMenu(_3DWidget, tr("Local 3D"), SLOT(showCentralWidget()), CENTRAL_3D_LOCAL);
}
#endif
#ifdef QGC_OSGEARTH_ENABLED
if (!_3DMapWidget) {
_3DMapWidget = Q3DWidgetFactory::get("MAP3D");
addToCentralWidgetsMenu(_3DMapWidget, tr("OSG Earth 3D"), SLOT(showCentralWidget()), CENTRAL_OSGEARTH);
}
#endif
#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
// Dock widgets
if (!parametersDockWidget) {
parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this);
parametersDockWidget->setWidget( new ParameterInterface(this) );
parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET");
addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea);
}
if (!hsiDockWidget) {
hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
hsiDockWidget->setWidget( new HSIDisplay(this) );
hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET");
addToToolsMenu (hsiDockWidget, tr("Horizontal Situation"), SLOT(showToolWidget(bool)), MENU_HSI, Qt::BottomDockWidgetArea);
}
if (!rcViewDockWidget) {
rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET");
addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
}
if (!headUpDockWidget) {
headUpDockWidget = new QDockWidget(tr("HUD"), this);
headUpDockWidget->setWidget( new HUD(320, 240, this));
headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET");
addToToolsMenu (headUpDockWidget, tr("Head Up Display"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::RightDockWidgetArea);
}
}
void MainWindow::connectSenseSoarWidgets()
{
}
void MainWindow::arrangeSenseSoarCenterStack()
{
if (!centerStack) {
qDebug() << "Center Stack not Created!";
return;
}
if (linechartWidget && (centerStack->indexOf(linechartWidget) == -1)) centerStack->addWidget(linechartWidget);
#ifdef QGC_OSG_ENABLED
if (_3DWidget && (centerStack->indexOf(_3DWidget) == -1)) centerStack->addWidget(_3DWidget);
#endif
#ifdef QGC_OSGEARTH_ENABLED
if (_3DMapWidget && (centerStack->indexOf(_3DMapWidget) == -1)) centerStack->addWidget(_3DMapWidget);
#endif
#if (defined _MSC_VER) | (defined Q_OS_MAC)
if (gEarthWidget && (centerStack->indexOf(gEarthWidget) == -1)) centerStack->addWidget(gEarthWidget);
#endif
if (hudWidget && (centerStack->indexOf(hudWidget) == -1)) centerStack->addWidget(hudWidget);
if (dataplotWidget && (centerStack->indexOf(dataplotWidget) == -1)) centerStack->addWidget(dataplotWidget);
}
void MainWindow::connectSenseSoarActions()
{
}
*/
src/ui/MainWindow.h
View file @ dfadbc75
......@@ -303,7 +303,7 @@ protected:
QSettings settings;
QStackedWidget *centerStack;
QActionGroup centerStackActionGroup;
QActionGroup* centerStackActionGroup;
// Center widgets
QPointer<Linecharts> linechartWidget;
......
src/ui/QGCMAVLinkInspector.cc
View file @ dfadbc75
......@@ -41,7 +41,6 @@ void QGCMAVLinkInspector::refreshView()
messageName = messageName.arg(messageInfo[msg->msgid].name).arg(messagesHz.value(msg->msgid, 0), 2, 'f', 0).arg(msg->msgid);
if (!treeWidgetItems.contains(msg->msgid))
{
QStringList fields;
fields << messageName;
QTreeWidgetItem* widget = new QTreeWidgetItem(fields);
......@@ -72,8 +71,6 @@ void QGCMAVLinkInspector::receiveMessage(LinkInterface* link,mavlink_message_t m
{
Q_UNUSED(link);
// Only overwrite if system filter is set
// int filterValue = ui->systemComboBox()->value().toInt();
// if (filterValue != )
memcpy(receivedMessages+message.msgid, &message, sizeof(mavlink_message_t));
float msgHz = 0.0f;
......@@ -85,14 +82,10 @@ void QGCMAVLinkInspector::receiveMessage(LinkInterface* link,mavlink_message_t m
{
msgHz = 1;
}
//qDebug() << "DIFF:" << receiveTime - lastMessageUpdate.value(message.msgid);
float newHz = 0.001f*msgHz+0.999f*messagesHz.value(message.msgid, 1);
qDebug() << "HZ" << newHz;
float newHz = 0.05f*msgHz+0.95f*messagesHz.value(message.msgid, 1);
messagesHz.insert(message.msgid, newHz);
}
//qDebug() << "MSGHZ:" << messagesHz.value(message.msgid, 1000);
lastMessageUpdate.insert(message.msgid, receiveTime);
}
......
src/ui/QGCRemoteControlView.cc
View file @ dfadbc75
......@@ -43,8 +43,8 @@ QGCRemoteControlView::QGCRemoteControlView(QWidget *parent) :
uasId(-1),
rssi(0.0f),
updated(false),
channelLayout(new QVBoxLayout())//,
//ui(new Ui::QGCRemoteControlView)
channelLayout(new QVBoxLayout()),
ui(NULL)
{
ui->setupUi(this);
QGridLayout* layout = new QGridLayout(this);
......@@ -71,8 +71,14 @@ QGCRemoteControlView::QGCRemoteControlView(QWidget *parent) :
QGCRemoteControlView::~QGCRemoteControlView()
{
delete ui;
delete channelLayout;
if(this->ui)
{
delete ui;
}
if(this->channelLayout)
{
delete channelLayout;
}
}
void QGCRemoteControlView::setUASId(int id)
......@@ -172,7 +178,7 @@ void QGCRemoteControlView::setRemoteRSSI(float rssiNormalized)
void QGCRemoteControlView::appendChannelWidget(int channelId)
{
// Create new layout
QHBoxLayout* layout = new QHBoxLayout();
QHBoxLayout* layout = new QHBoxLayout(this);
// Add content
layout->addWidget(new QLabel(QString("Channel %1").arg(channelId + 1), this));
QLabel* raw = new QLabel(this);
......
src/ui/map3D/QGCGoogleEarthView.cc
View file @ dfadbc75
......@@ -54,15 +54,15 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
#ifdef _MSC_VER
// Create layout and attach webViewWin
QFile file("doc.html");
if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
qDebug() << __FILE__ << __LINE__ << "Could not open log file";
// QFile file("doc.html");
// if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
// qDebug() << __FILE__ << __LINE__ << "Could not open log file";
QTextStream out(&file);
out << webViewWin->generateDocumentation();
out.flush();
file.flush();
file.close();
// QTextStream out(&file);
// out << webViewWin->generateDocumentation();
// out.flush();
// file.flush();
// file.close();
#else
......@@ -284,8 +284,6 @@ void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lat, dou
{
Q_UNUSED(usec);
javaScript(QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 22).arg(lon, 0, 'f', 22).arg(alt, 0, 'f', 22));
//qDebug() << QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15);
}
void QGCGoogleEarthView::clearTrails()
......@@ -614,7 +612,8 @@ void QGCGoogleEarthView::updateState()
#if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
if (gEarthInitialized) {
if (gEarthInitialized)
{
int uasId = 0;
double lat = 47.3769;
double lon = 8.549444;
......@@ -628,6 +627,8 @@ void QGCGoogleEarthView::updateState()
QList<UASInterface*> mavs = UASManager::instance()->getUASList();
foreach (UASInterface* currMav, mavs)
{
// Only update if known
if (!currMav->globalPositionKnown()) continue;
uasId = currMav->getUASID();
lat = currMav->getLatitude();
lon = currMav->getLongitude();
......@@ -640,9 +641,9 @@ void QGCGoogleEarthView::updateState()
javaScript(QString("setAircraftPositionAttitude(%1, %2, %3, %4, %6, %7, %8);")
.arg(uasId)
.arg(lat, 0, 'f', 15)
.arg(lon, 0, 'f', 15)
.arg(alt, 0, 'f', 15)
.arg(lat, 0, 'f', 22)
.arg(lon, 0, 'f', 22)
.arg(alt, 0, 'f', 22)
.arg(roll, 0, 'f', 9)
.arg(pitch, 0, 'f', 9)
.arg(yaw, 0, 'f', 9));
......
src/ui/uas/UASView.cc
View file @ dfadbc75
This diff is collapsed.
src/ui/uas/UASView.h
View file @ dfadbc75
......@@ -117,6 +117,7 @@ protected:
float alt;
float groundDistance;
bool localFrame;
bool globalFrameKnown;
QAction* removeAction;
QAction* renameAction;
QAction* selectAction;
......@@ -126,6 +127,8 @@ protected:
static const int updateInterval = 800;
static const int errorUpdateInterval = 200;
bool lowPowerModeEnabled; ///< Low power mode reduces update rates
unsigned int generalUpdateCount; ///< Skip counter for updates
double filterTime; ///< Filter time estimate of battery
void mouseDoubleClickEvent (QMouseEvent * event);
......
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