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Valentin Platzgummer
qgroundcontrol
Commits
e2f510f3
Commit
e2f510f3
authored
Dec 06, 2010
by
lm
Browse files
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Plain Diff
Moved debug message to common message set
parent
f864c001
Changes
2
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2 changed files
with
13 additions
and
15 deletions
+13
-15
PxQuadMAV.cc
src/uas/PxQuadMAV.cc
+0
-11
UAS.cc
src/uas/UAS.cc
+13
-4
No files found.
src/uas/PxQuadMAV.cc
View file @
e2f510f3
...
...
@@ -104,17 +104,6 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit
processChanged
(
this
->
uasId
,
payload
.
watchdog_id
,
payload
.
process_id
,
payload
.
state
,
(
payload
.
muted
==
1
)
?
true
:
false
,
payload
.
crashes
,
payload
.
pid
);
}
break
;
case
MAVLINK_MSG_ID_DEBUG_VECT
:
{
mavlink_debug_vect_t
vect
;
mavlink_msg_debug_vect_decode
(
msg
,
&
vect
);
QString
str
((
const
char
*
)
vect
.
name
);
quint64
time
=
getUnixTime
(
vect
.
usec
);
emit
valueChanged
(
uasId
,
str
+
".x"
,
vect
.
x
,
time
);
emit
valueChanged
(
uasId
,
str
+
".y"
,
vect
.
y
,
time
);
emit
valueChanged
(
uasId
,
str
+
".z"
,
vect
.
z
,
time
);
}
break
;
case
MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE
:
{
mavlink_vision_position_estimate_t
pos
;
...
...
src/uas/UAS.cc
View file @
e2f510f3
...
...
@@ -565,6 +565,17 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit
textMessageReceived
(
uasId
,
message
.
compid
,
severity
,
text
);
}
break
;
case
MAVLINK_MSG_ID_DEBUG_VECT
:
{
mavlink_debug_vect_t
vect
;
mavlink_msg_debug_vect_decode
(
&
message
,
&
vect
);
QString
str
((
const
char
*
)
vect
.
name
);
quint64
time
=
getUnixTime
(
vect
.
usec
);
emit
valueChanged
(
uasId
,
str
+
".x"
,
vect
.
x
,
time
);
emit
valueChanged
(
uasId
,
str
+
".y"
,
vect
.
y
,
time
);
emit
valueChanged
(
uasId
,
str
+
".z"
,
vect
.
z
,
time
);
}
break
;
//#ifdef MAVLINK_ENABLED_PIXHAWK
// case MAVLINK_MSG_ID_POINT_OF_INTEREST:
// {
...
...
@@ -648,11 +659,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
void
UAS
::
setLocalPositionSetpoint
(
float
x
,
float
y
,
float
z
,
float
yaw
)
{
#ifdef MAVLINK_ENABLED_PIXHAWK
#ifdef MAVLINK_ENABLED_PIXHAWK
mavlink_message_t
msg
;
mavlink_msg_position_control_setpoint_set_pack
(
mavlink
->
getSystemId
(),
mavlink
->
getComponentId
(),
&
msg
,
uasId
,
0
,
0
,
x
,
y
,
z
,
yaw
);
sendMessage
(
msg
);
#endif
#endif
}
void
UAS
::
setLocalPositionOffset
(
float
x
,
float
y
,
float
z
,
float
yaw
)
...
...
@@ -1213,14 +1224,12 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double
// if(mode == (int)MAV_MODE_MANUAL)
// {
#ifdef MAVLINK_ENABLED_PIXHAWK
mavlink_message_t
message
;
mavlink_msg_manual_control_pack
(
MG
::
SYSTEM
::
ID
,
MG
::
SYSTEM
::
COMPID
,
&
message
,
this
->
uasId
,
(
float
)
manualRollAngle
,
(
float
)
manualPitchAngle
,
(
float
)
manualYawAngle
,
(
float
)
manualThrust
,
controlRollManual
,
controlPitchManual
,
controlYawManual
,
controlThrustManual
);
sendMessage
(
message
);
qDebug
()
<<
__FILE__
<<
__LINE__
<<
": SENT MANUAL CONTROL MESSAGE: roll"
<<
manualRollAngle
<<
" pitch: "
<<
manualPitchAngle
<<
" yaw: "
<<
manualYawAngle
<<
" thrust: "
<<
manualThrust
;
emit
attitudeThrustSetPointChanged
(
this
,
roll
,
pitch
,
yaw
,
thrust
,
MG
::
TIME
::
getGroundTimeNow
());
#endif
// }
}
...
...
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