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Commit e6ed6da3 authored by lm's avatar lm
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Last adjustments to new mission structure

parent 522297a4
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Showing with 35 additions and 38 deletions
src/comm/MAVLinkProtocol.cc
View file @ e6ed6da3
......@@ -180,7 +180,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
// Write message to buffer
mavlink_msg_to_send_buffer(buf+sizeof(quint64), &message);
QByteArray b((const char*)buf, len);
if(m_logfile->write(b) < static_cast<int>(MAVLINK_MAX_PACKET_LEN+sizeof(quint64)))
if(m_logfile->write(b) < static_cast<qint64>(MAVLINK_MAX_PACKET_LEN+sizeof(quint64)))
{
emit protocolStatusMessage(tr("MAVLink Logging failed"), tr("Could not write to file %1, disabling logging.").arg(m_logfile->fileName()));
// Stop logging
......
src/comm/MAVLinkSimulationMAV.cc
View file @ e6ed6da3
......@@ -168,7 +168,7 @@ void MAVLinkSimulationMAV::mainloop()
hud.airspeed = pos.vx;
hud.groundspeed = pos.vx;
hud.alt = pos.alt;
hud.heading = ((yaw/M_PI)*180.0f+180.0f);
hud.heading = static_cast<int>((yaw/M_PI)*180.0f+180.0f) % 360;
hud.climb = pos.vz;
hud.throttle = 90;
mavlink_msg_vfr_hud_encode(systemid, MAV_COMP_ID_IMU, &msg, &hud);
......
src/uas/UAS.cc
View file @ e6ed6da3
......@@ -441,8 +441,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, "throttle", "m/s", hud.throttle, time);
emit thrustChanged(this, hud.throttle/100.0);
emit altitudeChanged(uasId, hud.alt);
yaw = (hud.heading-180.0f/360.0f)*M_PI;
emit attitudeChanged(this, roll, pitch, yaw, getUnixTime());
//yaw = (hud.heading-180.0f/360.0f)*M_PI;
//emit attitudeChanged(this, roll, pitch, yaw, getUnixTime());
emit speedChanged(this, hud.airspeed, 0.0f, hud.climb, getUnixTime());
}
break;
......
src/ui/WaypointView.cc
View file @ e6ed6da3
......@@ -35,14 +35,14 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
customCommand->setupUi(m_ui->customActionWidget);
// add actions
m_ui->comboBox_action->addItem(tr("Navigate"),MAV_ACTION_NAVIGATE);
m_ui->comboBox_action->addItem(tr("TakeOff"),MAV_ACTION_TAKEOFF);
m_ui->comboBox_action->addItem(tr("Loiter Unlim."),MAV_ACTION_LOITER);
m_ui->comboBox_action->addItem(tr("Loiter Time"),MAV_ACTION_LOITER_MAX_TIME);
m_ui->comboBox_action->addItem(tr("Loiter Turns"),MAV_ACTION_LOITER_MAX_TURNS);
m_ui->comboBox_action->addItem(tr("Return to Launch"),MAV_ACTION_RETURN);
m_ui->comboBox_action->addItem(tr("Land"),MAV_ACTION_LAND);
m_ui->comboBox_action->addItem(tr("Other"), MAV_ACTION_NB);
m_ui->comboBox_action->addItem(tr("Navigate"),MAV_CMD_NAV_WAYPOINT);
m_ui->comboBox_action->addItem(tr("TakeOff"),MAV_CMD_NAV_TAKEOFF);
m_ui->comboBox_action->addItem(tr("Loiter Unlim."),MAV_CMD_NAV_LOITER_UNLIM);
m_ui->comboBox_action->addItem(tr("Loiter Time"),MAV_CMD_NAV_LOITER_TIME);
m_ui->comboBox_action->addItem(tr("Loiter Turns"),MAV_CMD_NAV_LOITER_TURNS);
m_ui->comboBox_action->addItem(tr("Return to Launch"),MAV_CMD_NAV_RETURN_TO_LAUNCH);
m_ui->comboBox_action->addItem(tr("Land"),MAV_CMD_NAV_LAND);
m_ui->comboBox_action->addItem(tr("Other"), MAV_COMMAND_ENUM_END);
// m_ui->comboBox_action->addItem(tr("Delay"), MAV_ACTION_DELAY_BEFORE_COMMAND);
// m_ui->comboBox_action->addItem(tr("Ascend/Descent"), MAV_ACTION_ASCEND_AT_RATE);
// m_ui->comboBox_action->addItem(tr("Change Mode"), MAV_ACTION_CHANGE_MODE);
......@@ -145,7 +145,7 @@ void WaypointView::updateActionView(int action)
switch(action)
{
case MAV_ACTION_TAKEOFF:
case MAV_CMD_NAV_TAKEOFF:
m_ui->orbitSpinBox->hide();
m_ui->yawSpinBox->hide();
m_ui->turnsSpinBox->hide();
......@@ -155,7 +155,7 @@ void WaypointView::updateActionView(int action)
m_ui->customActionWidget->hide();
m_ui->takeOffAngleSpinBox->show();
break;
case MAV_ACTION_LAND:
case MAV_CMD_NAV_LAND:
m_ui->orbitSpinBox->hide();
m_ui->takeOffAngleSpinBox->hide();
m_ui->yawSpinBox->hide();
......@@ -165,7 +165,7 @@ void WaypointView::updateActionView(int action)
m_ui->acceptanceSpinBox->hide();
m_ui->customActionWidget->hide();
break;
case MAV_ACTION_RETURN:
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
m_ui->orbitSpinBox->hide();
m_ui->takeOffAngleSpinBox->hide();
m_ui->yawSpinBox->hide();
......@@ -175,7 +175,7 @@ void WaypointView::updateActionView(int action)
m_ui->acceptanceSpinBox->hide();
m_ui->customActionWidget->hide();
break;
case MAV_ACTION_NAVIGATE:
case MAV_CMD_NAV_WAYPOINT:
m_ui->orbitSpinBox->hide();
m_ui->takeOffAngleSpinBox->hide();
m_ui->turnsSpinBox->hide();
......@@ -186,7 +186,7 @@ void WaypointView::updateActionView(int action)
m_ui->acceptanceSpinBox->show();
m_ui->yawSpinBox->show();
break;
case MAV_ACTION_LOITER:
case MAV_CMD_NAV_LOITER_UNLIM:
m_ui->takeOffAngleSpinBox->hide();
m_ui->yawSpinBox->hide();
m_ui->turnsSpinBox->hide();
......@@ -196,7 +196,7 @@ void WaypointView::updateActionView(int action)
m_ui->customActionWidget->hide();
m_ui->orbitSpinBox->show();
break;
case MAV_ACTION_LOITER_MAX_TURNS:
case MAV_CMD_NAV_LOITER_TURNS:
m_ui->takeOffAngleSpinBox->hide();
m_ui->yawSpinBox->hide();
m_ui->autoContinue->hide();
......@@ -206,7 +206,7 @@ void WaypointView::updateActionView(int action)
m_ui->orbitSpinBox->show();
m_ui->turnsSpinBox->show();
break;
case MAV_ACTION_LOITER_MAX_TIME:
case MAV_CMD_NAV_LOITER_TIME:
m_ui->takeOffAngleSpinBox->hide();
m_ui->yawSpinBox->hide();
m_ui->turnsSpinBox->hide();
......@@ -228,9 +228,9 @@ void WaypointView::changedAction(int index)
{
// set waypoint action
int actionIndex = m_ui->comboBox_action->itemData(index).toUInt();
if (actionIndex < MAV_ACTION_NB && actionIndex >= 0)
if (actionIndex < MAV_COMMAND_ENUM_END && actionIndex >= 0)
{
MAV_ACTION action = (MAV_ACTION) actionIndex;
MAV_COMMAND action = (MAV_COMMAND) actionIndex;
wp->setAction(action);
}
......@@ -240,24 +240,21 @@ void WaypointView::changedAction(int index)
switch(actionIndex)
{
case MAV_ACTION_TAKEOFF:
case MAV_ACTION_LAND:
case MAV_ACTION_RETURN:
case MAV_ACTION_NAVIGATE:
case MAV_ACTION_LOITER:
case MAV_ACTION_LOITER_MAX_TURNS:
case MAV_ACTION_LOITER_MAX_TIME:
case MAV_ACTION_DELAY_BEFORE_COMMAND:
case MAV_ACTION_CHANGE_MODE:
case MAV_ACTION_SET_ORIGIN:
case MAV_ACTION_RELAY_ON:
case MAV_ACTION_RELAY_OFF:
case MAV_CMD_NAV_TAKEOFF:
case MAV_CMD_NAV_LAND:
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
case MAV_CMD_NAV_WAYPOINT:
case MAV_CMD_NAV_LOITER_UNLIM:
case MAV_CMD_NAV_LOITER_TURNS:
case MAV_CMD_NAV_LOITER_TIME:
case MAV_CMD_NAV_DELAY:
case MAV_CMD_SYS_SET_MODE:
// Back to global frame
if (wp->getFrame() == MAV_FRAME_MISSION) changedFrame(0);
// Update view
updateActionView(actionIndex);
break;
case MAV_ACTION_NB:
case MAV_COMMAND_ENUM_END:
default:
// Switch to mission frame
changedFrame(MAV_FRAME_MISSION);
......@@ -435,13 +432,13 @@ void WaypointView::updateValues()
}
switch(action)
{
case MAV_ACTION_TAKEOFF:
case MAV_CMD_NAV_TAKEOFF:
break;
case MAV_ACTION_LAND:
case MAV_CMD_NAV_LAND:
break;
case MAV_ACTION_NAVIGATE:
case MAV_CMD_NAV_WAYPOINT:
break;
case MAV_ACTION_LOITER:
case MAV_CMD_NAV_LOITER_UNLIM:
break;
default:
std::cerr << "unknown action" << std::endl;
......
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