Skip to content
Projects
Groups
Snippets
Help
Loading...
Help
Support
Submit feedback
Contribute to GitLab
Sign in
Toggle navigation
Q
qgroundcontrol
Project
Project
Details
Activity
Releases
Cycle Analytics
Repository
Repository
Files
Commits
Branches
Tags
Contributors
Graph
Compare
Charts
Issues
0
Issues
0
List
Boards
Labels
Milestones
Merge Requests
0
Merge Requests
0
CI / CD
CI / CD
Pipelines
Jobs
Schedules
Charts
Wiki
Wiki
Snippets
Snippets
Members
Members
Collapse sidebar
Close sidebar
Activity
Graph
Charts
Create a new issue
Jobs
Commits
Issue Boards
Open sidebar
Valentin Platzgummer
qgroundcontrol
Commits
ee6b85b4
Commit
ee6b85b4
authored
Sep 02, 2011
by
lm
Browse files
Options
Browse Files
Download
Plain Diff
Merged
parents
7ca73ac3
047dc94e
Changes
7
Hide whitespace changes
Inline
Side-by-side
Showing
7 changed files
with
66 additions
and
27 deletions
+66
-27
PxQuadMAV.cc
src/uas/PxQuadMAV.cc
+10
-1
UAS.cc
src/uas/UAS.cc
+22
-23
UASInterface.h
src/uas/UASInterface.h
+3
-0
HDDisplay.ui
src/ui/HDDisplay.ui
+3
-0
HSIDisplay.cc
src/ui/HSIDisplay.cc
+21
-2
HSIDisplay.h
src/ui/HSIDisplay.h
+6
-0
QGCMAVLinkInspector.cc
src/ui/QGCMAVLinkInspector.cc
+1
-1
No files found.
src/uas/PxQuadMAV.cc
View file @
ee6b85b4
...
...
@@ -120,7 +120,16 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit
valueChanged
(
uasId
,
"vicon x"
,
"m"
,
pos
.
x
,
time
);
emit
valueChanged
(
uasId
,
"vicon y"
,
"m"
,
pos
.
y
,
time
);
emit
valueChanged
(
uasId
,
"vicon z"
,
"m"
,
pos
.
z
,
time
);
emit
localPositionChanged
(
this
,
pos
.
x
,
pos
.
y
,
pos
.
z
,
time
);
//emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
}
break
;
case
MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE
:
{
mavlink_vision_speed_estimate_t
speed
;
mavlink_msg_vision_speed_estimate_decode
(
&
message
,
&
speed
);
quint64
time
=
getUnixTime
(
speed
.
usec
);
emit
valueChanged
(
uasId
,
"vis. speed x"
,
"m/s"
,
speed
.
x
,
time
);
emit
valueChanged
(
uasId
,
"vis. speed y"
,
"m/s"
,
speed
.
y
,
time
);
emit
valueChanged
(
uasId
,
"vis. speed z"
,
"m/s"
,
speed
.
z
,
time
);
}
break
;
default:
...
...
src/uas/UAS.cc
View file @
ee6b85b4
...
...
@@ -259,8 +259,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
modechanged
=
true
;
this
->
mode
=
static_cast
<
int
>
(
state
.
base_mode
);
shortModeText
=
getShortModeTextFor
(
this
->
mode
);
emit
modeChanged
(
this
->
getUASID
(),
shortModeText
,
""
);
...
...
@@ -345,7 +343,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit
dropRateChanged
(
this
->
getUASID
(),
state
.
drop_rate_comm
/
10000.0
f
);
}
break
;
case
MAVLINK_MSG_ID_RAW_IMU
:
{
mavlink_raw_imu_t
raw
;
...
...
@@ -381,8 +378,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
break
;
case
MAVLINK_MSG_ID_ATTITUDE
:
//std::cerr << std::endl;
//std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
{
mavlink_attitude_t
attitude
;
mavlink_msg_attitude_decode
(
&
message
,
&
attitude
);
...
...
@@ -449,8 +444,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit
altitudeChanged
(
uasId
,
hud
.
alt
);
//yaw = (hud.heading-180.0f/360.0f)*M_PI;
//emit attitudeChanged(this, roll, pitch, yaw, getUnixTime());
emit
speedChanged
(
this
,
hud
.
airspeed
,
0.0
f
,
hud
.
climb
,
getUnixTime
());
emit
speedChanged
(
this
,
hud
.
airspeed
,
0.0
f
,
hud
.
climb
,
time
);
}
break
;
case
MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT
:
...
...
@@ -833,6 +827,19 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit
valueChanged
(
uasId
,
"servo #8"
,
"us"
,
servos
.
servo8_raw
,
time
);
}
break
;
case
MAVLINK_MSG_ID_OPTICAL_FLOW
:
{
mavlink_optical_flow_t
flow
;
mavlink_msg_optical_flow_decode
(
&
message
,
&
flow
);
quint64
time
=
getUnixTime
(
flow
.
time
);
emit
valueChanged
(
uasId
,
QString
(
"opt_flow_%1.x"
).
arg
(
flow
.
sensor_id
),
"Pixel"
,
flow
.
flow_x
,
time
);
emit
valueChanged
(
uasId
,
QString
(
"opt_flow_%1.y"
).
arg
(
flow
.
sensor_id
),
"Pixel"
,
flow
.
flow_y
,
time
);
emit
valueChanged
(
uasId
,
QString
(
"opt_flow_%1.qual"
).
arg
(
flow
.
sensor_id
),
"0-255"
,
flow
.
quality
,
time
);
emit
valueChanged
(
uasId
,
QString
(
"opt_flow_%1.dist"
).
arg
(
flow
.
sensor_id
),
"m"
,
flow
.
ground_distance
,
time
);
}
break
;
case
MAVLINK_MSG_ID_STATUSTEXT
:
{
QByteArray
b
;
...
...
@@ -908,6 +915,14 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit
valueChanged
(
uasId
,
str
+
".z"
,
"raw"
,
vect
.
z
,
time
);
}
break
;
case
MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT
:
{
mavlink_object_detection_event_t
event
;
mavlink_msg_object_detection_event_decode
(
&
message
,
&
event
);
QString
str
(
event
.
name
);
emit
objectDetected
(
event
.
time
,
event
.
object_id
,
event
.
type
,
str
,
event
.
quality
,
event
.
bearing
,
event
.
distance
);
}
break
;
// WILL BE ENABLED ONCE MESSAGE IS IN COMMON MESSAGE SET
// case MAVLINK_MSG_ID_MEMORY_VECT:
// {
...
...
@@ -957,22 +972,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
// }
// }
// break;
//#ifdef MAVLINK_ENABLED_PIXHAWK
// case MAVLINK_MSG_ID_POINT_OF_INTEREST:
// {
// mavlink_point_of_interest_t poi;
// mavlink_msg_point_of_interest_decode(&message, &poi);
// emit poiFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN), poi.x, poi.y, poi.z);
// }
// break;
// case MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION:
// {
// mavlink_point_of_interest_connection_t poi;
// mavlink_msg_point_of_interest_connection_decode(&message, &poi);
// emit poiConnectionFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN), poi.x1, poi.y1, poi.z1, poi.x2, poi.y2, poi.z2);
// }
// break;
//#endif
#ifdef MAVLINK_ENABLED_UALBERTA
case
MAVLINK_MSG_ID_NAV_FILTER_BIAS
:
{
...
...
src/uas/UASInterface.h
View file @
ee6b85b4
...
...
@@ -476,6 +476,9 @@ signals:
/** @brief Core specifications have changed */
void
systemSpecsChanged
(
int
uasId
);
/** @brief Object detected */
void
objectDetected
(
unsigned
int
time
,
int
id
,
int
type
,
const
QString
&
name
,
int
quality
,
float
bearing
,
float
distance
);
// HOME POSITION / ORIGIN CHANGES
void
homePositionChanged
(
int
uas
,
double
lat
,
double
lon
,
double
alt
);
...
...
src/ui/HDDisplay.ui
View file @
ee6b85b4
...
...
@@ -14,6 +14,9 @@
<string>
Form
</string>
</property>
<layout
class=
"QHBoxLayout"
name=
"horizontalLayout"
>
<property
name=
"margin"
>
<number>
0
</number>
</property>
<item>
<widget
class=
"QGraphicsView"
name=
"view"
/>
</item>
...
...
src/ui/HSIDisplay.cc
View file @
ee6b85b4
...
...
@@ -119,8 +119,8 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
// Add interaction elements
QHBoxLayout
*
layout
=
new
QHBoxLayout
(
this
);
layout
->
setMargin
(
2
);
layout
->
setSpacing
(
0
);
layout
->
setMargin
(
0
);
layout
->
setSpacing
(
12
);
QDoubleSpinBox
*
spinBox
=
new
QDoubleSpinBox
(
this
);
spinBox
->
setMinimum
(
0.1
);
spinBox
->
setMaximum
(
9999
);
...
...
@@ -453,6 +453,23 @@ void HSIDisplay::updatePositionZControllerEnabled(bool enabled)
zControlKnown
=
true
;
}
void
HSIDisplay
::
updateObjectPosition
(
unsigned
int
time
,
int
id
,
int
type
,
const
QString
&
name
,
int
quality
,
float
bearing
,
float
distance
)
{
// FIXME add multi-object support
QPainter
painter
(
this
);
QColor
color
(
Qt
::
yellow
);
float
radius
=
vwidth
/
20.0
f
;
QPen
pen
(
color
);
pen
.
setWidthF
(
refLineWidthToPen
(
0.4
f
));
pen
.
setColor
(
color
);
painter
.
setPen
(
pen
);
painter
.
setBrush
(
Qt
::
NoBrush
);
QPointF
in
(
cos
(
bearing
)
-
sin
(
bearing
)
*
distance
,
sin
(
bearing
)
+
cos
(
bearing
)
*
distance
);
// Scale from metric to screen reference coordinates
QPointF
p
=
metricBodyToRef
(
in
);
drawCircle
(
p
.
x
(),
p
.
y
(),
radius
,
0.4
f
,
color
,
&
painter
);
}
QPointF
HSIDisplay
::
metricWorldToBody
(
QPointF
world
)
{
// First translate to body-centered coordinates
...
...
@@ -554,6 +571,7 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
disconnect
(
this
->
uas
,
SIGNAL
(
visionLocalizationChanged
(
UASInterface
*
,
int
)),
this
,
SLOT
(
updateVisionLocalization
(
UASInterface
*
,
int
)));
disconnect
(
this
->
uas
,
SIGNAL
(
gpsLocalizationChanged
(
UASInterface
*
,
int
)),
this
,
SLOT
(
updateGpsLocalization
(
UASInterface
*
,
int
)));
disconnect
(
this
->
uas
,
SIGNAL
(
irUltraSoundLocalizationChanged
(
UASInterface
*
,
int
)),
this
,
SLOT
(
updateInfraredUltrasoundLocalization
(
UASInterface
*
,
int
)));
disconnect
(
this
->
uas
,
SIGNAL
(
objectDetected
(
uint
,
int
,
int
,
QString
,
int
,
float
,
float
)),
this
,
SLOT
(
updateObjectPosition
(
uint
,
int
,
int
,
QString
,
int
,
float
,
float
)));
}
connect
(
uas
,
SIGNAL
(
gpsSatelliteStatusChanged
(
int
,
int
,
float
,
float
,
float
,
bool
)),
this
,
SLOT
(
updateSatellite
(
int
,
int
,
float
,
float
,
float
,
bool
)));
...
...
@@ -573,6 +591,7 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
connect
(
uas
,
SIGNAL
(
visionLocalizationChanged
(
UASInterface
*
,
int
)),
this
,
SLOT
(
updateVisionLocalization
(
UASInterface
*
,
int
)));
connect
(
uas
,
SIGNAL
(
gpsLocalizationChanged
(
UASInterface
*
,
int
)),
this
,
SLOT
(
updateGpsLocalization
(
UASInterface
*
,
int
)));
connect
(
uas
,
SIGNAL
(
irUltraSoundLocalizationChanged
(
UASInterface
*
,
int
)),
this
,
SLOT
(
updateInfraredUltrasoundLocalization
(
UASInterface
*
,
int
)));
connect
(
uas
,
SIGNAL
(
objectDetected
(
uint
,
int
,
int
,
QString
,
int
,
float
,
float
)),
this
,
SLOT
(
updateObjectPosition
(
uint
,
int
,
int
,
QString
,
int
,
float
,
float
)));
this
->
uas
=
uas
;
...
...
src/ui/HSIDisplay.h
View file @
ee6b85b4
...
...
@@ -65,6 +65,7 @@ public slots:
void
updateAttitudeControllerEnabled
(
bool
enabled
);
void
updatePositionXYControllerEnabled
(
bool
enabled
);
void
updatePositionZControllerEnabled
(
bool
enabled
);
void
updateObjectPosition
(
unsigned
int
time
,
int
id
,
int
type
,
const
QString
&
name
,
int
quality
,
float
bearing
,
float
distance
);
/** @brief Heading control enabled/disabled */
void
updatePositionYawControllerEnabled
(
bool
enabled
);
...
...
@@ -132,6 +133,11 @@ protected:
QPointF
metricBodyToRef
(
QPointF
&
metric
);
/** @brief Metric body coordinates to screen coordinates */
QPointF
metricBodyToScreen
(
QPointF
metric
);
QMap
<
int
,
QString
>
objectNames
;
QMap
<
int
,
int
>
objectTypes
;
QMap
<
int
,
float
>
objectQualities
;
QMap
<
int
,
float
>
objectBearings
;
QMap
<
int
,
float
>
objectDistances
;
/**
* @brief Private data container class to be used within the HSI widget
...
...
src/ui/QGCMAVLinkInspector.cc
View file @
ee6b85b4
...
...
@@ -13,7 +13,7 @@ QGCMAVLinkInspector::QGCMAVLinkInspector(MAVLinkProtocol* protocol, QWidget *par
ui
->
setupUi
(
this
);
/* Insert system */
//ui->systemComboBox(
);
ui
->
systemComboBox
->
addItem
(
tr
(
"All Systems"
),
-
1
);
mavlink_message_info_t
msg
[
256
]
=
MAVLINK_MESSAGE_INFO
;
memcpy
(
messageInfo
,
msg
,
sizeof
(
mavlink_message_info_t
)
*
256
);
...
...
Write
Preview
Markdown
is supported
0%
Try again
or
attach a new file
Attach a file
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment