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Commit dfae554b authored by pixhawk's avatar pixhawk
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Major stability improvements

parent 4fa6562e
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demo-log.txt 0 → 100644
View file @ dfae554b
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images/style-dev.css deleted 100644 → 0
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QWidget#colorIcon {}
QWidget {
/*background-color: #252528;
color: #DDDDDF;
border-color: #EEEEEE;*/
background-clip: border;
font-size: 11px;
}
QGroupBox {
border: 1px solid;/* #555555; */
border-radius: 3px;
padding: 10px 0px 0px 0px;
margin-top: 1ex; /* leave space at the top for the title */
}
/*
QCheckBox {
background-color: #252528;
color: #454545;
}*/
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
margin: 0 3px 0px 3px;
padding: 0 3px 0px 0px;
font: bold 8px;
}
QDockWidget {
font: bold;
border: 1px solid #32345E;
}
QDockWidget::close-button, QDockWidget::float-button {
background-color: #181820;
color: #EEEEEE;
}
QDockWidget::title {
text-align: left;
background: #222224;
padding-left: 5px;
height: 10px;
border-bottom: 1px solid #555555;
}
QSeparator {
color: #EEEEEE;
}
QSpinBox {
min-height: 12 px;
}
QPushButton {
font-weight: bold;
min-height: 22px;
max-height: 32px;
border: 1px solid #AAAAAA;
border-radius: 5px;
padding-left: 10px;
padding-right: 10px;
/*background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #303030, stop: 1 #202020);*/
}
/*
QPushButton:checked {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #101010, stop: 1 #404040);
}
QPushButton:pressed {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0);
}*/
QToolButton {
font-weight: bold;
min-height: 16px;
min-width: 24px;
max-height: 32px;
border: 1px solid #EEEEEE;
border-radius: 5px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #303030, stop: 1 #202020);
}
QToolButton:pressed {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0);
}
QPushButton#forceLandButton {
font-weight: bold;
min-height: 30px;
color: #000000;
background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
stop:0 #ffee01, stop:1 #ae8f00) url("ICONDIR/control/emergency-button.png");
background-clip: border;
border-width: 1px;
border-color: #555555;
border-radius: 5px;
}
QPushButton:pressed#forceLandButton {
font-weight: bold;
min-height: 30px;
color: #000000;
background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
stop:0 #bbaa00, stop:1 #a05b00) url("ICONDIR/control/emergency-button.png");
background-clip: border;
border-width: 1px;
border-color: #555555;
border-radius: 5px;
}
QPushButton#killButton {
font-weight: bold;
min-height: 30px;
color: #000000;
background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
stop:0 #ffb917, stop:1 #b37300) url("ICONDIR/control/emergency-button.png");
background-clip: border;
border-width: 1px;
border-color: #555555;
border-radius: 5px;
}
QPushButton:pressed#killButton {
font-weight: bold;
min-height: 30px;
color: #000000;
background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
stop:0 #bb8500, stop:1 #903000) url("ICONDIR/control/emergency-button.png");
background-clip: border;
border-width: 1px;
border-color: #555555;
border-radius: 5px;
}
QPushButton#autoButton {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #4eb0e8, stop: 1 #285a77);
}
QPushButton:checked#autoButton {
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #a77f11, stop: 1 #f1b718);
}
QProgressBar {
border: 1px solid white;
border-radius: 4px;
text-align: center;
padding: 2px;
color: white;
background-color: #111111;
}
QProgressBar:horizontal {
height 12px;
}
QProgressBar:vertical {
width 12px;
}
QProgressBar::chunk {
background-color: #656565;
}
QProgressBar::chunk#batteryBar {
background-color: green;
}
QProgressBar::chunk#speedBar {
background-color: yellow;
}
QProgressBar::chunk#thrustBar {
background-color: orange;
}
QProgressBar::chunk#bandwidthBar {
background-color: orange;
}
QProgressBar::chunk#loadBar {
background-color: yellow;
}
QProgressBar::chunk#topRotorBar {
background-color: yellow;
}
QProgressBar::chunk#botRotorBar {
background-color: yellow;
}
QProgressBar::chunk#leftServoBar {
background-color: #99BFDD;
}
QProgressBar::chunk#rightServoBar
{
background-color: blue;
}
images/style-mission.css
View file @ dfae554b
QWidget#colorIcon {}
QWidget {
background-color: #151518;
background-color: #050508;
color: #DDDDDF;
background-clip: border;
font-size: 11px;
}
QGroupBox {
border: 1px solid #777777;
border: 1px solid #66666B;
border-radius: 3px;
padding: 10px 0px 0px 0px;
margin-top: 1ex; /* leave space at the top for the title */
......@@ -107,11 +107,11 @@ QPushButton {
font-weight: bold;
min-height: 18px;
max-height: 32px;
border: 1px solid #EEEEEE;
border: 2px solid #4A4A4F;
border-radius: 5px;
padding-left: 10px;
padding-right: 10px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #303030, stop: 1 #202020);
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #232228, stop: 1 #020208);
}
QPushButton:checked {
......@@ -186,7 +186,7 @@ QPushButton:pressed#killButton {
QPushButton#controlButton {
min-height: 25px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #b76f11, stop: 1 #e1a718);
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #A0AE00, stop: 1 #909E00);
}
QPushButton:checked#controlButton {
......@@ -194,12 +194,12 @@ QPushButton:checked#controlButton {
}
QProgressBar {
border: 1px solid white;
border: 1px solid #EEEEEE;
border-radius: 4px;
text-align: center;
padding: 2px;
color: white;
background-color: #111111;
background-color: #111118;
}
QProgressBar:horizontal {
......
mavground.pro
View file @ dfae554b
......@@ -78,7 +78,7 @@ HEADERS += src/MG.h \
src/configuration.h \
src/ui/uas/UASView.h \
src/ui/CameraView.h \
src/comm/MavlinkSimulationLink.h \
src/comm/MAVLinkSimulationLink.h \
src/comm/UDPLink.h \
src/ui/ParameterInterface.h \
src/ui/WaypointList.h \
......@@ -129,7 +129,7 @@ SOURCES += src/main.cc \
src/ui/linechart/ScrollZoomer.cc \
src/ui/uas/UASView.cc \
src/ui/CameraView.cc \
src/comm/MavlinkSimulationLink.cc \
src/comm/MAVLinkSimulationLink.cc \
src/comm/UDPLink.cc \
src/ui/ParameterInterface.cc \
src/ui/WaypointList.cc \
......
src/comm/MAVLinkSimulationLink.cc
View file @ dfae554b
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
PIXHAWK is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Implementation of simulated system link
......@@ -53,17 +53,18 @@ This file is part of the PIXHAWK project
* @param writeFile The received messages are written to that file
* @param rate The rate at which the messages are sent (in intervals of milliseconds)
**/
MAVLinkSimulationLink::MAVLinkSimulationLink(QFile* readFile, QFile* writeFile, int rate) :
readyBytes(0)
MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile, int rate) :
readyBytes(0),
timeOffset(0)
{
this->id = getNextLinkId();
LinkManager::instance()->add(this);
this->rate = rate;
_isConnected = false;
if (readFile != NULL)
if (readFile != "")
{
this->name = "Simulation: " + readFile->fileName();
this->name = "Simulation: " + readFile;
}
else
{
......@@ -72,20 +73,18 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QFile* readFile, QFile* writeFile,
// Comments on the variables can be found in the header file
simulationFile = readFile;
simulationHeader = readFile->readLine();
receiveFile = writeFile;
simulationFile = new QFile(readFile, this);
if (simulationFile->exists() && simulationFile->open(QIODevice::ReadOnly | QIODevice::Text))
{
simulationHeader = simulationFile->readLine();
}
receiveFile = new QFile(writeFile, this);
lastSent = MG::TIME::getGroundTimeNow();
// Initialize the pseudo-random number generator
srand(QTime::currentTime().msec());
maxTimeNoise = 0;
// timer = new QTimer(this);
// QObject::connect(timer, SIGNAL(timeout()), this, SLOT(mainloop()));
// _isConnected = false;
// this->rate = rate;
}
MAVLinkSimulationLink::~MAVLinkSimulationLink()
......@@ -97,6 +96,13 @@ MAVLinkSimulationLink::~MAVLinkSimulationLink()
void MAVLinkSimulationLink::run()
{
status.mode = MAV_MODE_UNINIT;
status.status = MAV_STATE_UNINIT;
status.vbat = 0;
status.motor_block = 1;
status.packet_drop = 0;
forever
{
......@@ -116,72 +122,41 @@ void MAVLinkSimulationLink::run()
}
}
void MAVLinkSimulationLink::enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg)
{
// Allocate buffer with packet data
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
unsigned int bufferlength = message_to_send_buffer(buf, msg);
//add data into datastream
memcpy(stream+(*index),buf, bufferlength);
(*index) += bufferlength;
}
void MAVLinkSimulationLink::mainloop()
{
// Test for encoding / decoding packets
// Test data stream
const int streamlength = 1024;
const int streamlength = 4096;
int streampointer = 0;
//const int testoffset = 0;
uint8_t stream[streamlength];
uint8_t stream[streamlength] = {};
// Fake system values
uint8_t systemId = 220;
uint8_t componentId = 0;
uint16_t version = 1000;
// Fake sensor values
uint32_t xacc = 0;
uint32_t yacc = 0;
uint32_t zacc = 9810;
uint32_t xgyro = 10;
uint32_t ygyro = 5;
uint32_t zgyro = 100;
uint32_t xmag = 0;
uint32_t ymag = 1000;
uint32_t zmag = 500;
uint32_t pressure = 20000;
uint32_t grounddist = 500;
uint32_t temp = 20000;
static float fullVoltage = 4.2 * 3;
static float emptyVoltage = 3.35 * 3;
static float voltage = fullVoltage;
static float drainRate = 0.0025; // x.xx% of the capacity is linearly drained per second
// uint32_t chan1 = 1500;
// uint32_t chan2 = 1500;
// uint32_t chan3 = 1500;
// uint32_t chan4 = 1500;
// uint32_t chan5 = 1500;
float act1 = 0.1;
float act2 = 0.2;
float act3 = 0.3;
float act4 = 0.4;
// Fake coordinates
float roll = 0.0f;
float pitch = 10.0f;
float yaw = 60.5f;
// Fake Marker positions
uint32_t markerId = 20;
float confidence = 100.0f;
float posX = -1.0f;
float posY = 1.0f;
float posZ = 2.5f;
// Fake timestamp
unsigned int usec = MG::TIME::getGroundTimeNow();
attitude_t attitude;
raw_aux_t rawAuxValues;
raw_imu_t rawImuValues;
raw_sensor_t rawSensorValues;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
int bufferlength;
......@@ -200,80 +175,238 @@ void MAVLinkSimulationLink::mainloop()
voltage = voltage - ((fullVoltage - emptyVoltage) * drainRate / rate);
if (voltage < 3.550 * 3) voltage = 3.550 * 3;
//uint8_t msgbuffer[COMM_MAX_PACKET_LEN];
static int state = 0;
// 100 HZ TASKS
if (rate50hzCounter == 1000 / rate / 100)
if (state == 0)
{
// Read values
char buf[1024];
qint64 lineLength = simulationFile->readLine(buf, sizeof(buf));
if (lineLength != -1)
{
// Data is available
}
else
// BOOT
// Pack message and get size of encoded byte string
messageSize = message_boot_pack(systemId, componentId, &msg, version);
// Allocate buffer with packet data
bufferlength = message_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
state++;
}
// 50 HZ TASKS
if (rate50hzCounter == 1000 / rate / 40)
{
if (simulationFile->isOpen())
{
// We reached the end of the file, start from scratch
file.reset();
//simulationHeader
if (simulationFile->atEnd())
{
// We reached the end of the file, start from scratch
simulationFile->reset();
simulationHeader = simulationFile->readLine();
}
// Data was made available, read one line
// first entry is the timestamp
QString values = QString(simulationFile->readLine());
QStringList parts = values.split("\t");
QStringList keys = simulationHeader.split("\t");
//qDebug() << simulationHeader;
//qDebug() << values;
bool ok;
static quint64 lastTime = 0;
static quint64 baseTime = 0;
quint64 time = QString(parts.first()).toLongLong(&ok, 10);
if (ok)
{
if (timeOffset == 0)
{
timeOffset = time;
baseTime = time;
}
if (lastTime > time)
{
// We have wrapped around in the logfile
// Add the measurement time interval to the base time
baseTime += lastTime - timeOffset;
}
lastTime = time;
time = time - timeOffset + baseTime;
// Gather individual measurement values
for (int i = 1; i < (parts.size() - 1); ++i)
{
// Get one data field
bool res;
double d = QString(parts.at(i)).toDouble(&res);
if (!res) d = 0;
//qDebug() << "TIME" << time << "VALUE" << d;
//emit valueChanged(220, keys.at(i), d, MG::TIME::getGroundTimeNow());
if (keys.value(i, "") == "Accel._X")
{
rawImuValues.xacc = d;
}
if (keys.value(i, "") == "Accel._Y")
{
rawImuValues.yacc = d;
}
if (keys.value(i, "") == "Accel._Z")
{
rawImuValues.zacc = d;
}
if (keys.value(i, "") == "Gyro_Phi")
{
rawImuValues.xgyro = d;
}
if (keys.value(i, "") == "Gyro_Theta")
{
rawImuValues.ygyro = d;
}
if (keys.value(i, "") == "Gyro_Psi")
{
rawImuValues.zgyro = d;
}
if (keys.value(i, "") == "Pressure")
{
rawAuxValues.baro = d;
}
if (keys.value(i, "") == "Battery")
{
rawAuxValues.vbat = d;
}
if (keys.value(i, "") == "roll_IMU")
{
attitude.roll = d;
}
if (keys.value(i, "") == "pitch_IMU")
{
attitude.pitch = d;
}
if (keys.value(i, "") == "yaw_IMU")
{
attitude.yaw = d;
}
//Accel._X Accel._Y Accel._Z Battery Bottom_Rotor CPU_Load Ground_Dist. Gyro_Phi Gyro_Psi Gyro_Theta Left_Servo Mag._X Mag._Y Mag._Z Pressure Right_Servo Temperature Top_Rotor pitch_IMU roll_IMU yaw_IMU
}
// Send out packets
// ATTITUDE
attitude.msec = time;
// Pack message and get size of encoded byte string
message_attitude_encode(systemId, componentId, &msg, &attitude);
// Allocate buffer with packet data
bufferlength = message_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
// IMU
rawImuValues.msec = time;
rawImuValues.xmag = 0;
rawImuValues.ymag = 0;
rawImuValues.zmag = 0;
// Pack message and get size of encoded byte string
message_raw_imu_encode(systemId, componentId, &msg, &rawImuValues);
// Allocate buffer with packet data
bufferlength = message_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
//qDebug() << "ATTITUDE" << "BUF LEN" << bufferlength << "POINTER" << streampointer;
//qDebug() << "REALTIME" << MG::TIME::getGroundTimeNow() << "ONBOARDTIME" << attitude.msec << "ROLL" << attitude.roll;
}
}
rate50hzCounter = 1;
}
// 10 HZ TASKS
if (rate10hzCounter == 1000 / rate / 9)
{
rate10hzCounter = 1;
}
// 1 HZ TASKS
if (rate1hzCounter == 1000 / rate / 1)
{
// BOOT
// STATE
static int statusCounter = 0;
if (statusCounter == 100)
{
status.mode = (status.mode + 1) % MAV_MODE_TEST3;
statusCounter = 0;
}
statusCounter++;
status.vbat = voltage;
// Pack message and get size of encoded byte string
messageSize = message_boot_pack(systemId, componentId, &msg, version);
messageSize = message_sys_status_encode(systemId, componentId, &msg, &status);
// Allocate buffer with packet data
bufferlength = message_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
/*
// Pack message and get size of encoded byte string
messageSize = message_boot_pack(systemId, componentId, &msg, version);
// Allocate buffer with packet data
bufferlength = message_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;*/
// HEARTBEAT
static int typeCounter = 0;
uint8_t mavType = typeCounter % (OCU);
typeCounter++;
// Pack message and get size of encoded byte string
messageSize = message_heartbeat_pack(systemId, componentId, &msg, MAV_GENERIC);
messageSize = message_heartbeat_pack(systemId, componentId, &msg, mavType);
// Allocate buffer with packet data
bufferlength = message_to_send_buffer(buffer, &msg);
//add data into datastream
memcpy(stream+streampointer,buffer, bufferlength);
streampointer += bufferlength;
readyBufferMutex.lock();
for (int i = 0; i < streampointer; i++)
{
readyBuffer.enqueue(*(stream + i));
}
readyBufferMutex.unlock();
rate1hzCounter = 1;
}
//qDebug() << "BOOT" << "BUF LEN" << bufferlength << "POINTER" << streampointer;
// 10 HZ TASKS
if (rate10hzCounter == 1000 / rate / 10)
{
// AUX STATUS
rawAuxValues.vbat = voltage;
readyBufferMutex.lock();
for (int i = 0; i < streampointer; i++)
{
readyBuffer.enqueue(*(stream + i));
}
readyBufferMutex.unlock();
rate10hzCounter = 1;
rate1hzCounter = 1;
}
// FULL RATE TASKS
// Default is 50 Hz
/*
// 50 HZ TASKS
if (rate50hzCounter == 1000 / rate / 50)
{
streampointer = 0;
//streampointer = 0;
// Attitude
......@@ -286,7 +419,7 @@ void MAVLinkSimulationLink::mainloop()
streampointer += bufferlength;
rate50hzCounter = 1;
}
}*/
readyBufferMutex.lock();
for (int i = 0; i < streampointer; i++)
......@@ -317,14 +450,69 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
// Increase write counter
//bitsSentTotal += size * 8;
// Parse bytes
mavlink_message_t msg;
mavlink_status_t comm;
// Output all bytes as hex digits
int i;
for (i=0; i<size; i++)
{
if (mavlink_parse_char(this->id, data[i], &msg, &comm))
{
// MESSAGE RECEIVED!
switch (msg.msgid)
{
// SET THE SYSTEM MODE
case MAVLINK_MSG_ID_SET_MODE:
{
set_mode_t mode;
message_set_mode_decode(&msg, &mode);
// Set mode indepent of mode.target
status.mode = mode.mode;
}
// EXECUTE OPERATOR ACTIONS
case MAVLINK_MSG_ID_ACTION:
{
action_t action;
message_action_decode(&msg, &action);
switch (action.action)
{
case MAV_ACTION_LAUNCH:
status.status = MAV_STATE_ACTIVE;
status.mode = MAV_MODE_AUTO;
break;
case MAV_ACTION_RETURN:
break;
case MAV_ACTION_MOTORS_START:
status.status = MAV_STATE_ACTIVE;
status.mode = MAV_MODE_LOCKED;
break;
case MAV_ACTION_MOTORS_STOP:
status.status = MAV_STATE_STANDBY;
status.mode = MAV_MODE_LOCKED;
break;
case MAV_ACTION_EMCY_KILL:
status.status = MAV_STATE_EMERGENCY;
status.mode = MAV_MODE_MANUAL;
break;
}
}
break;
}
}
unsigned char v=data[i];
fprintf(stderr,"%02x ", v);
}
fprintf(stderr,"\n");
// Update comm status
status.packet_drop = comm.packet_rx_drop_count;
}
......
src/comm/MAVLinkSimulationLink.h
View file @ dfae554b
......@@ -38,12 +38,14 @@ This file is part of the PIXHAWK project
#include <QQueue>
#include <QMutex>
#include <inttypes.h>
#include <LinkInterface.h>
#include <mavlink.h>
#include "LinkInterface.h"
class MAVLinkSimulationLink : public LinkInterface
{
Q_OBJECT
public:
MAVLinkSimulationLink(QFile* readFile=NULL, QFile* writeFile=NULL, int rate=5);
MAVLinkSimulationLink(QString readFile="", QString writeFile="", int rate=5);
~MAVLinkSimulationLink();
bool isConnected();
qint64 bytesAvailable();
......@@ -94,7 +96,6 @@ protected:
/** File which contains the input data (simulated robot messages) **/
QFile* simulationFile;
QString simulationHeader;
int lineCounter = 0;
/** File where the commands sent by the groundstation are stored **/
QFile* receiveFile;
QTextStream stream;
......@@ -112,9 +113,15 @@ protected:
int id;
QString name;
qint64 timeOffset;
sys_status_t status;
void setMaximumTimeNoise(int milliseconds);
void addTimeNoise();
void enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg);
signals:
void valueChanged(int uasId, QString curve, double value, quint64 usec);
};
......
src/uas/UAS.cc
View file @ dfae554b
......@@ -113,6 +113,50 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit statusChanged(this, uasState, stateDescription);
onboardTimeOffset = 0; // Reset offset measurement
break;
case MAVLINK_MSG_ID_SYS_STATUS:
{
sys_status_t state;
message_sys_status_decode(&message, &state);
getStatusForCode((int)state.status, uasState, stateDescription);
emit statusChanged(this, uasState, stateDescription);
QString mode;
switch (state.mode)
{
case MAV_MODE_LOCKED:
mode = "MAV_MODE_LOCKED";
break;
case MAV_MODE_MANUAL:
mode = "MAV_MODE_MANUAL";
break;
case MAV_MODE_AUTO:
mode = "MAV_MODE_AUTO";
break;
case MAV_MODE_TEST1:
mode = "MAV_MODE_TEST1";
break;
case MAV_MODE_TEST2:
mode = "MAV_MODE_TEST2";
break;
case MAV_MODE_TEST3:
mode = "MAV_MODE_TEST3";
break;
default:
mode = "MAV_MODE_UNINIT";
break;
}
emit modeChanged(this->getUASID(), mode, "");
currentVoltage = state.vbat;
filterVoltage(currentVoltage);
if (startVoltage == 0) startVoltage = currentVoltage;
timeRemaining = calculateTimeRemaining();
//qDebug() << "Voltage: " << currentVoltage << " Chargelevel: " << getChargeLevel() << " Time remaining " << timeRemaining;
emit batteryChanged(this, filterVoltage(), getChargeLevel(), timeRemaining);
emit voltageChanged(message.sysid, state.vbat/1000.0f);
}
break;
/*
case MAVLINK_MSG_ID_SYSTEM:
// std::cerr << std::endl;
......@@ -198,9 +242,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
//std::cerr << "BYTES RESSOURCE RECEIVED" << std::endl;
emit imageDataReceived(message_bytestream_get_rid(message.payload), message_bytestream_get_data(message.payload), message_bytestream_get_length(message.payload), message_bytestream_get_index(message.payload));
break;
case MAVLINK_MSG_ID_SENSRAW:
*/
case MAVLINK_MSG_ID_RAW_IMU:
{
quint64 time = message_sensraw_get_usec(message.payload);
raw_imu_t raw;
message_raw_imu_decode(&message, &raw);
quint64 time = raw.msec;
if (time == 0)
{
time = MG::TIME::getGroundTimeNow();
......@@ -214,21 +261,17 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
time += onboardTimeOffset;
}
emit valueChanged(uasId, "Accel. X", message_sensraw_get_xacc(message.payload), time);
emit valueChanged(uasId, "Accel. Y", message_sensraw_get_yacc(message.payload), time);
emit valueChanged(uasId, "Accel. Z", message_sensraw_get_zacc(message.payload), time);
emit valueChanged(uasId, "Gyro Phi", message_sensraw_get_xgyro(message.payload), time);
emit valueChanged(uasId, "Gyro Theta", message_sensraw_get_ygyro(message.payload), time);
emit valueChanged(uasId, "Gyro Psi", message_sensraw_get_zgyro(message.payload), time);
emit valueChanged(uasId, "Mag. X", message_sensraw_get_xmag(message.payload), time);
emit valueChanged(uasId, "Mag. Y", message_sensraw_get_ymag(message.payload), time);
emit valueChanged(uasId, "Mag. Z", message_sensraw_get_zmag(message.payload), time);
emit valueChanged(uasId, "Ground Dist.", message_sensraw_get_gdist(message.payload), time);
emit valueChanged(uasId, "Pressure", message_sensraw_get_baro(message.payload), time);
emit valueChanged(uasId, "Temperature", message_sensraw_get_temp(message.payload), time);
emit valueChanged(uasId, "Accel. X", raw.xacc, time);
emit valueChanged(uasId, "Accel. Y", raw.yacc, time);
emit valueChanged(uasId, "Accel. Z", raw.zacc, time);
emit valueChanged(uasId, "Gyro Phi", raw.xgyro, time);
emit valueChanged(uasId, "Gyro Theta", raw.ygyro, time);
emit valueChanged(uasId, "Gyro Psi", raw.zgyro, time);
emit valueChanged(uasId, "Mag. X", raw.xmag, time);
emit valueChanged(uasId, "Mag. Y", raw.ymag, time);
emit valueChanged(uasId, "Mag. Z", raw.zmag, time);
}
break;
*/
case MAVLINK_MSG_ID_ATTITUDE:
//std::cerr << std::endl;
//std::cerr << "Decoded attitude message:" << " roll: " << std::dec << message_attitude_get_roll(message.payload) << " pitch: " << message_attitude_get_pitch(message.payload) << " yaw: " << message_attitude_get_yaw(message.payload) << std::endl;
......@@ -338,12 +381,15 @@ void UAS::setAutoMode(bool autoMode)
}
}
void UAS::setMode(enum MAV_MODE mode)
void UAS::setMode(int mode)
{
this->mode = mode;
mavlink_message_t msg;
message_set_mode_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, getUASID(), (unsigned char)mode);
sendMessage(msg);
if (mode >= MAV_MODE_LOCKED && mode <= MAV_MODE_TEST3)
{
this->mode = mode;
mavlink_message_t msg;
message_set_mode_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, getUASID(), (unsigned char)mode);
sendMessage(msg);
}
}
void UAS::sendMessage(mavlink_message_t message)
......
src/uas/UAS.h
View file @ dfae554b
......@@ -115,7 +115,7 @@ protected:
bool controlPitchManual; ///< status flag, true if pitch is controlled manually
bool controlYawManual; ///< status flag, true if yaw is controlled manually
bool controlThrustManual;///< status flag, true if thrust is controlled manually
enum MAV_MODE mode; ///< The current mode of the MAV
int mode; ///< The current mode of the MAV
quint64 onboardTimeOffset;
/** @brief Set the current battery type */
......@@ -178,7 +178,7 @@ public slots:
void setSelected();
/** @brief Set current mode of operation, e.g. auto or manual */
void setMode(enum MAV_MODE mode);
void setMode(int mode);
signals:
......
src/uas/UASInterface.h
View file @ dfae554b
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
Please see our website at <http://pixhawk.ethz.ch>
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
......@@ -159,6 +158,8 @@ public slots:
* @param autoMode true for autonomous operation, false for manual control
*/
virtual void setAutoMode(bool autoMode) = 0;
virtual void setMode(int mode) = 0;
/** Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/
virtual void emergencySTOP() = 0;
/** Kills the robot. All systems are immediately shut down (e.g. the main power line is cut). This might lead to a crash **/
......@@ -210,6 +211,8 @@ signals:
* @param description longer textual description. Should be however limited to a short text, e.g. 200 chars.
*/
void statusChanged(UASInterface* uas, QString status, QString description);
/** @brief Robot mode has changed */
void modeChanged(int sysId, QString status, QString description);
/** @brief A command has been issued **/
void commandSent(int command);
/** @brief The connection status has changed **/
......
src/ui/HDDisplay.cc
View file @ dfae554b
......@@ -31,13 +31,14 @@ This file is part of the PIXHAWK project
#include <QFile>
#include <QGLWidget>
#include <QStringList>
#include "UASManager.h"
#include "HDDisplay.h"
#include "ui_HDDisplay.h"
#include <QDebug>
HDDisplay::HDDisplay(QWidget *parent) :
HDDisplay::HDDisplay(QStringList* plotList, QWidget *parent) :
QWidget(parent),
uas(NULL),
values(QMap<QString, float>()),
......@@ -45,6 +46,10 @@ HDDisplay::HDDisplay(QWidget *parent) :
valuesMean(QMap<QString, float>()),
valuesCount(QMap<QString, int>()),
lastUpdate(QMap<QString, quint64>()),
minValues(),
maxValues(),
goodRanges(),
critRanges(),
xCenterOffset(0.0f),
yCenterOffset(0.0f),
vwidth(80.0f),
......@@ -62,6 +67,7 @@ HDDisplay::HDDisplay(QWidget *parent) :
strongStrokeWidth(1.5f),
normalStrokeWidth(1.0f),
fineStrokeWidth(0.5f),
acceptList(plotList),
m_ui(new Ui::HDDisplay)
{
//m_ui->setupUi(this);
......@@ -82,7 +88,7 @@ HDDisplay::HDDisplay(QWidget *parent) :
if (font.family() != fontFamilyName) qDebug() << "ERROR! Font not loaded: " << fontFamilyName;
// Connect with UAS
//connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
//start();
}
......@@ -93,7 +99,6 @@ HDDisplay::~HDDisplay()
void HDDisplay::paintEvent(QPaintEvent * event)
{
paintGL();
}
......@@ -108,13 +113,36 @@ void HDDisplay::paintGL()
if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH;
QPainter painter(this);
painter.setRenderHint(QPainter::Antialiasing, true);
painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
painter.fillRect(QRect(0, 0, width(), height()), backgroundColor);
painter.setRenderHint(QPainter::HighQualityAntialiasing);
const float gaugeWidth = 15.0f;
const int columns = 3;
const float spacing = 0.4f; // 40% of width
const float gaugeWidth = vwidth / (((float)columns) + (((float)columns+1) * spacing + spacing * 0.1f));
const QColor gaugeColor = QColor(200, 200, 200);
drawSystemIndicator(10.0f-gaugeWidth/2.0f, 20.0f, 10.0f, 40.0f, 15.0f, &painter);
drawGauge(10.0f, 10.0f, gaugeWidth/2.0f, 0, 1.0f, "thrust", values.value("thrust", 0.0f), gaugeColor, &painter, qMakePair(0.45f, 0.8f), qMakePair(0.8f, 1.0f), true);
drawGauge(10.0f+gaugeWidth*1.7f, 10.0f, gaugeWidth/2.0f, 0, 10.0f, "altitude", values.value("altitude", 0.0f), gaugeColor, &painter, qMakePair(1.0f, 2.5f), qMakePair(0.0f, 0.5f), true);
//drawSystemIndicator(10.0f-gaugeWidth/2.0f, 20.0f, 10.0f, 40.0f, 15.0f, &painter);
//drawGauge(15.0f, 15.0f, gaugeWidth/2.0f, 0, 1.0f, "thrust", values.value("thrust", 0.0f), gaugeColor, &painter, qMakePair(0.45f, 0.8f), qMakePair(0.8f, 1.0f), true);
//drawGauge(15.0f+gaugeWidth*1.7f, 15.0f, gaugeWidth/2.0f, 0, 10.0f, "altitude", values.value("altitude", 0.0f), gaugeColor, &painter, qMakePair(1.0f, 2.5f), qMakePair(0.0f, 0.5f), true);
// Left spacing from border / other gauges, measured from left edge to center
float leftSpacing = gaugeWidth * spacing;
float xCoord = leftSpacing + gaugeWidth/2.0f;
float topSpacing = leftSpacing;
float yCoord = topSpacing + gaugeWidth/2.0f;
for (int i = 0; i < acceptList->size(); ++i)
{
QString value = acceptList->at(i);
drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, 0.0f), maxValues.value(value, 1.0f), value, values.value(value, minValues.value(value, 0.0f)), gaugeColor, &painter, goodRanges.value(value, qMakePair(0.0f, 0.5f)), critRanges.value(value, qMakePair(0.7f, 1.0f)), true);
xCoord += gaugeWidth + leftSpacing;
// Move one row down if necessary
if (xCoord + gaugeWidth > vwidth)
{
yCoord += topSpacing + gaugeWidth;
xCoord = leftSpacing + gaugeWidth/2.0f;
}
}
}
void HDDisplay::start()
......@@ -133,7 +161,7 @@ void HDDisplay::stop()
*/
void HDDisplay::setActiveUAS(UASInterface* uas)
{
qDebug() << "ATTEMPTING TO SET UAS";
//qDebug() << "ATTEMPTING TO SET UAS";
if (this->uas != NULL && this->uas != uas)
{
// Disconnect any previously connected active MAV
......@@ -144,7 +172,7 @@ void HDDisplay::setActiveUAS(UASInterface* uas)
//if (this->uas != uas)
// {
qDebug() << "UAS SET!" << "ID:" << uas->getUASID();
//qDebug() << "UAS SET!" << "ID:" << uas->getUASID();
// Setup communication
connect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
//}
......@@ -349,11 +377,8 @@ void HDDisplay::drawSystemIndicator(float xRef, float yRef, int maxNum, float ma
float height = 1.5f;
const float hspacing = 0.6f;
// TODO ensure that instrument stays smaller than maxWidth and maxHeight
int i = 0;
while (value.hasNext() && i < maxNum)
while (value.hasNext() && i < maxNum && x < maxWidth && y < maxHeight)
{
value.next();
QBrush brush(Qt::SolidPattern);
......
src/ui/HDDisplay.h
View file @ dfae554b
......@@ -36,6 +36,8 @@ This file is part of the PIXHAWK project
#include <QColor>
#include <QTimer>
#include <QFontDatabase>
#include <QMap>
#include <QPair>
#include <cmath>
#include "UASInterface.h"
......@@ -47,7 +49,7 @@ namespace Ui {
class HDDisplay : public QWidget {
Q_OBJECT
public:
HDDisplay(QWidget *parent = 0);
HDDisplay(QStringList* plotList, QWidget *parent = 0);
~HDDisplay();
public slots:
......@@ -84,6 +86,10 @@ protected:
QMap<QString, float> valuesMean; ///< Mean since system startup for this variable
QMap<QString, int> valuesCount; ///< Number of values received so far
QMap<QString, quint64> lastUpdate; ///< The last update time for this variable
QMap<QString, float> minValues; ///< The minimum value this variable is assumed to have
QMap<QString, float> maxValues; ///< The maximum value this variable is assumed to have
QMap<QString, QPair<float, float> > goodRanges; ///< The range of good values
QMap<QString, QPair<float, float> > critRanges; ///< The range of critical values
double scalingFactor; ///< Factor used to scale all absolute values to screen coordinates
float xCenterOffset, yCenterOffset; ///< Offset from center of window in mm coordinates
float vwidth; ///< Virtual width of this window, 200 mm per default. This allows to hardcode positions and aspect ratios. This virtual image plane is then scaled to the window size.
......@@ -114,6 +120,8 @@ protected:
float normalStrokeWidth; ///< Normal line stroke width, used throughout the HUD
float fineStrokeWidth; ///< Fine line stroke width, used throughout the HUD
QStringList* acceptList; ///< Variable names to plot
private:
Ui::HDDisplay *m_ui;
};
......
src/ui/HUD.cc
View file @ dfae554b
......@@ -31,6 +31,7 @@ This file is part of the PIXHAWK project
#include <QDebug>
#include <cmath>
#include <limits>
#include "UASManager.h"
#include "HUD.h"
......@@ -41,6 +42,20 @@ This file is part of the PIXHAWK project
#define GL_MULTISAMPLE 0x809D
#endif
template<typename T>
inline bool isnan(T value)
{
return value != value;
}
// requires #include <limits>
template<typename T>
inline bool isinf(T value)
{
return std::numeric_limits<T>::has_infinity && (value == std::numeric_limits<T>::infinity() || (-1*value) == std::numeric_limits<T>::infinity());
}
/**
* @warning The HUD widget will not start painting its content automatically
* to update the view, start the auto-update by calling HUD::start().
......@@ -158,16 +173,25 @@ void HUD::updateValue(UASInterface* uas, QString name, double value, quint64 mse
{
// if (this->uas == uas)
//{
if (!isnan(value) && !isinf(value))
{
// Update mean
const float oldMean = valuesMean.value(name, 0.0f);
const int meanCount = valuesCount.value(name, 0);
valuesMean.insert(name, (oldMean * meanCount + value) / (meanCount + 1));
double mean = (oldMean * meanCount + value) / (meanCount + 1);
if (isnan(mean) || isinf(mean)) mean = 0.0;
valuesMean.insert(name, mean);
valuesCount.insert(name, meanCount + 1);
// Two-value sliding average
valuesDot.insert(name, (valuesDot.value(name) + (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f))/2.0f);
double dot = (valuesDot.value(name) + (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f))/2.0f;
if (isnan(dot) || isinf(dot)) dot = 0.0;
valuesDot.insert(name, dot);
values.insert(name, value);
lastUpdate.insert(name, msec);
//}
qDebug() << __FILE__ << __LINE__ << "VALUE:" << value << "MEAN:" << mean << "DOT:" << dot << "COUNT:" << meanCount;
}
}
/**
......@@ -477,9 +501,9 @@ void HUD::paintRollPitchStrips()
void HUD::paintGL()
{
// Read out most important values to limit hash table lookups
const float roll = values.value("roll", 0.0f);
const float pitch = values.value("pitch", 0.0f);
const float yaw = values.value("yaw", 0.0f);
static float roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f);
static float pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f);
static float yaw = yaw * 0.5 + 0.5 * values.value("yaw", 0.0f);
//qDebug() << __FILE__ << __LINE__ << "ROLL:" << roll << "PITCH:" << pitch << "YAW:" << yaw;
......@@ -616,20 +640,15 @@ void HUD::paintGL()
// MOVING PARTS
painter.translate(0, (pitch/M_PI)* -180.0f * refToScreenY(2.0f));
// Translate for yaw
const float maxYawTrans = 100.0f;
const float maxYawTrans = 60.0f;
float yawDiff = valuesDot.value("yaw", 0.0f);
while (yawDiff > M_PI)
{
yawDiff = yawDiff - M_PI;
}
if (isinf(yawDiff)) yawDiff = 0.0f;
if (yawDiff > M_PI) yawDiff = yawDiff - M_PI;
while (yawDiff < -M_PI)
{
yawDiff = yawDiff + M_PI;
}
if (yawDiff < -M_PI) yawDiff = yawDiff + M_PI;
yawInt += yawDiff;
......@@ -642,6 +661,8 @@ void HUD::paintGL()
painter.translate(refToScreenX(yawTrans), 0);
painter.translate(0, (pitch/M_PI)* -180.0f * refToScreenY(2.0f));
// Rotate view and draw all roll-dependent indicators
painter.rotate((roll/M_PI)* -180.0f);
......
src/ui/MainWindow.cc
View file @ dfae554b
......@@ -96,10 +96,19 @@ MGMainWindow::MGMainWindow(QWidget *parent) : QMainWindow(parent)
protocol->setVisible(false);
parameters = new ParameterInterface(this);
parameters->setVisible(false);
/*headDown1 = new HDDisplay(this);
QStringList* acceptList = new QStringList();
acceptList->append("roll IMU");
acceptList->append("pitch IMU");
acceptList->append("yaw IMU");
headDown1 = new HDDisplay(acceptList, this);
headDown1->setVisible(false);
headDown2 = new HDDisplay(this);
headDown2->setVisible(false);*/
QStringList* acceptList2 = new QStringList();
acceptList2->append("Battery");
acceptList2->append("Pressure");
headDown2 = new HDDisplay(acceptList2, this);
headDown2->setVisible(false);
centerStack->addWidget(map);
centerStack->addWidget(hud);
setCentralWidget(centerStack);
......@@ -107,7 +116,8 @@ MGMainWindow::MGMainWindow(QWidget *parent) : QMainWindow(parent)
// Get IPs
QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();
QString windowname = qApp->applicationName() + qApp->applicationVersion();
QString windowname = qApp->applicationName() + " " + qApp->applicationVersion();
/*
windowname.append(" (" + QHostInfo::localHostName() + ": ");
bool prevAddr = false;
for (int i = 0; i < hostAddresses.size(); i++)
......@@ -122,6 +132,7 @@ MGMainWindow::MGMainWindow(QWidget *parent) : QMainWindow(parent)
}
windowname.append(")");
*/
setWindowTitle(windowname);
#ifndef Q_WS_MAC
......@@ -155,7 +166,8 @@ MGMainWindow::MGMainWindow(QWidget *parent) : QMainWindow(parent)
ui.menuNetwork->addAction(commWidget->getAction());
udpLink->connect();
simulationLink = new MAVLinkSimulationLink();
simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
connect(simulationLink, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64)));
LinkManager::instance()->addProtocol(simulationLink, mavlink);
//CommConfigurationWindow* simulationWidget = new CommConfigurationWindow(simulationLink, mavlink, this);
//ui.menuNetwork->addAction(commWidget->getAction());
......@@ -177,6 +189,40 @@ QStatusBar* MGMainWindow::createStatusBar()
return bar;
}
void MGMainWindow::startVideoCapture()
{
QString format = "bmp";
QString initialPath = QDir::currentPath() + tr("/untitled.") + format;
QString screenFileName = QFileDialog::getSaveFileName(this, tr("Save As"),
initialPath,
tr("%1 Files (*.%2);;All Files (*)")
.arg(format.toUpper())
.arg(format));
delete videoTimer;
videoTimer = new QTimer(this);
videoTimer->setInterval(40);
connect(videoTimer, SIGNAL(timeout()), this, SLOT(saveScreen()));
}
void MGMainWindow::stopVideoCapture()
{
videoTimer->stop();
// TODO Convert raw images to PNG
}
void MGMainWindow::saveScreen()
{
QPixmap window = QPixmap::grabWindow(this->winId());
QString format = "bmp";
if (!screenFileName.isEmpty())
{
window.save(screenFileName, format.toAscii());
}
}
void MGMainWindow::reloadStylesheet()
{
// Load style sheet
......@@ -313,18 +359,19 @@ void MGMainWindow::loadPilotView()
// HEAD UP DISPLAY
centerStack->setCurrentWidget(hud);
hud->start();
/*headDown1->start();
headDown2->start();
//connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), pfd, SLOT(setActiveUAS(UASInterface*)));
QDockWidget* container1 = new QDockWidget(tr("Main Instruments"), this);
QDockWidget* container1 = new QDockWidget(tr("Primary Flight Display"), this);
container1->setWidget(headDown1);
addDockWidget(Qt::RightDockWidgetArea, container1);
QDockWidget* container2 = new QDockWidget(tr("Auxiliary Instruments"), this);
QDockWidget* container2 = new QDockWidget(tr("Payload Status"), this);
container2->setWidget(headDown2);
addDockWidget(Qt::RightDockWidgetArea, container2);
*/
headDown1->start();
headDown2->start();
this->show();
}
......
src/ui/MainWindow.h
View file @ dfae554b
......@@ -114,6 +114,9 @@ public slots:
void addLink();
void configure();
void UASCreated(UASInterface* uas);
void startVideoCapture();
void stopVideoCapture();
void saveScreen();
/** @brief Load view for pilot */
void loadPilotView();
......@@ -154,6 +157,8 @@ protected:
LogCompressor* comp;
QString screenFileName;
QTimer* videoTimer;
private:
Ui::MGMainWindow ui;
......
src/ui/UASView.ui
View file @ dfae554b
......@@ -245,7 +245,7 @@ QProgressBar::chunk#thrustBar {
</widget>
</item>
<item row="0" column="6" colspan="2">
<widget class="QLabel" name="lastStatusLabel">
<widget class="QLabel" name="modeLabel">
<property name="maximumSize">
<size>
<width>16777215</width>
......@@ -288,19 +288,7 @@ QProgressBar::chunk#thrustBar {
</property>
</widget>
</item>
<item row="3" column="6" rowspan="2">
<widget class="QProgressBar" name="loadBar">
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="3" column="7" rowspan="2">
<item row="3" column="6" rowspan="2" colspan="2">
<widget class="QProgressBar" name="thrustBar">
<property name="font">
<font>
......@@ -402,19 +390,6 @@ QProgressBar::chunk#thrustBar {
</property>
</widget>
</item>
<item row="5" column="5" rowspan="3">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>5</width>
<height>5</height>
</size>
</property>
</spacer>
</item>
<item row="7" column="3" colspan="2">
<widget class="QLabel" name="waypointLabel">
<property name="font">
......@@ -495,13 +470,13 @@ QProgressBar::chunk#thrustBar {
</property>
</widget>
</item>
<item row="6" column="6" rowspan="2" colspan="2">
<item row="6" column="5" rowspan="2" colspan="3">
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="spacing">
<number>4</number>
</property>
<property name="sizeConstraint">
<enum>QLayout::SetDefaultConstraint</enum>
<enum>QLayout::SetMinimumSize</enum>
</property>
<item>
<widget class="QPushButton" name="liftoffButton">
......
src/ui/uas/UASControlWidget.cc
View file @ dfae554b
......@@ -117,6 +117,9 @@ void UASControlWidget::setMode(int mode)
case MAV_MODE_TEST3:
break;
}
// Set mode on system
if (mode >= MAV_MODE_LOCKED && mode <= MAV_MODE_TEST3) this->uas->setMode(mode);
}
void UASControlWidget::cycleContextButton()
......
src/ui/uas/UASView.cc
View file @ dfae554b
......@@ -23,7 +23,7 @@ This file is part of the PIXHAWK project
/**
* @file
* @brief Display the airstrip of one unmanned vehicle in the UAS list
* @brief Implementation of one airstrip
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
......@@ -43,6 +43,8 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
timeRemaining(0),
state("UNKNOWN"),
stateDesc(tr("Unknown system state")),
mode("MAV_MODE_UNKNOWN"),
thrust(0),
m_ui(new Ui::UASView)
{
this->uas = uas;
......@@ -58,6 +60,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString,QString)));
connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
//connect(uas, SIGNAL(waypointUpdated(int,int,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,int,double,double,double,double,bool,bool)));
connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int,int)));
......@@ -104,6 +107,11 @@ UASView::~UASView()
delete m_ui;
}
void UASView::updateMode(int sysId, QString status, QString description)
{
if (sysId == this->uas->getUASID()) m_ui->modeLabel->setText(status);
}
void UASView::mouseDoubleClickEvent (QMouseEvent * event)
{
UASManager::instance()->setActiveUAS(uas);
......@@ -269,7 +277,8 @@ void UASView::refresh()
// Battery
m_ui->batteryBar->setValue(static_cast<int>(this->chargeLevel));
m_ui->loadBar->setValue(static_cast<int>(this->load));
//m_ui->loadBar->setValue(static_cast<int>(this->load));
m_ui->thrustBar->setValue(this->thrust);
if(this->timeRemaining > 1 && this->timeRemaining < MG::MAX_FLIGHT_TIME)
{
......
src/ui/uas/UASView.h
View file @ dfae554b
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
Please see our website at <http://pixhawk.ethz.ch>
(c) 2009 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
......@@ -24,7 +23,7 @@ This file is part of the PIXHAWK project
/**
* @file
* @brief Display the airstrip of one unmanned vehicle in the UAS list
* @brief Definition of one airstrip
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
......@@ -57,6 +56,8 @@ public slots:
void updateGlobalPosition(UASInterface*, double lon, double lat, double alt, quint64 usec);
void updateSpeed(UASInterface*, double x, double y, double z, quint64 usec);
void updateState(UASInterface*, QString uasState, QString stateDescription);
/** @brief Update the MAV mode */
void updateMode(int sysId, QString status, QString description);
void updateLoad(UASInterface* uas, double load);
void receiveValue(int uasid, QString id, double value, quint64 time);
void refresh();
......@@ -78,6 +79,8 @@ protected:
double load;
QString state;
QString stateDesc;
QString mode;
double thrust;
void mouseDoubleClickEvent (QMouseEvent * event);
/** @brief Mouse enters the widget */
......
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