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Commit f1e7c9bd authored by dogmaphobic's avatar dogmaphobic
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Separating RC from Telemetry RSSI

parent 29d1ba18
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qgroundcontrol.qrc
View file @ f1e7c9bd
......@@ -156,7 +156,8 @@
<file alias="Kill">resources/Kill.svg</file>
<file alias="Shutdown">resources/Shutdown.svg</file>
<file alias="Antenna">resources/antenna.svg</file>
<file alias="AntennaT">resources/Antenna_T.svg</file>
<file alias="AntennaRC">resources/Antenna_RC.svg</file>
<file alias="Gps">resources/Gps.svg</file>
<file alias="Megaphone">resources/Megaphone.png</file>
<file alias="Yield">resources/Yield.png</file>
......
resources/Antenna_RC.svg 0 → 100644
View file @ f1e7c9bd
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resources/Antenna_T.svg 0 → 100644
View file @ f1e7c9bd
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resources/antenna.svg deleted 100644 → 0
View file @ 29d1ba18
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src/uas/UAS.cc
View file @ f1e7c9bd
......@@ -923,10 +923,28 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
mavlink_rc_channels_t channels;
mavlink_msg_rc_channels_decode(&message, &channels);
// UINT8_MAX indicates this value is unknown
if (channels.rssi != UINT8_MAX) {
emit remoteControlRSSIChanged(channels.rssi/100.0f);
}
/*
* Full RSSI field: 0b 1 111 1111
* | | |
* | | ^ These four bits encode a total of
* | | 16 RSSI levels. 15 = full, 0 = no signal
* | |
* | ^ These three bits encode a total of 8
* | digital RC input types.
* | 0: PPM, 1: SBUS, 2: Spektrum, 3: ST24
* |
* ^ If bit is set, RSSI encodes type + RSSI
*/
// TODO: Because the code on the firmware side never sets rssi to 0 on loss of connection
// we get a minimum value of 1 (3.5dB). This is what it does to compute it:
// msg.rssi |= (rc.rssi <= 100) ? ((rc.rssi / 7) + 1) : 15;
// Therefore, I'm eliminating bit 0 as well.
int tRssi = (channels.rssi & 0x0E) * 7;
if(tRssi > 100) {
tRssi = 100;
}
emit remoteControlRSSIChanged((uint8_t)tRssi);
if (channels.chan1_raw != UINT16_MAX && channels.chancount > 0)
emit remoteControlChannelRawChanged(0, channels.chan1_raw);
......@@ -967,6 +985,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
break;
// TODO: (gg 20150420) PX4 Firmware does not seem to send this message. Don't know what to do about it.
case MAVLINK_MSG_ID_RC_CHANNELS_SCALED:
{
mavlink_rc_channels_scaled_t channels;
......@@ -974,7 +994,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
const unsigned int portWidth = 8; // XXX magic number
emit remoteControlRSSIChanged(channels.rssi/255.0f);
// TODO: This makes an assumption the RSSI has been normalized to 0-100
emit remoteControlRSSIChanged(channels.rssi);
if (static_cast<uint16_t>(channels.chan1_scaled) != UINT16_MAX)
emit remoteControlChannelScaledChanged(channels.port * portWidth + 0, channels.chan1_scaled/10000.0f);
if (static_cast<uint16_t>(channels.chan2_scaled) != UINT16_MAX)
......
src/uas/UASInterface.h
View file @ f1e7c9bd
......@@ -570,8 +570,8 @@ signals:
void remoteControlChannelRawChanged(int channelId, float raw);
/** @brief Value of a remote control channel (scaled)*/
void remoteControlChannelScaledChanged(int channelId, float normalized);
/** @brief Remote control RSSI changed */
void remoteControlRSSIChanged(float rssi);
/** @brief Remote control RSSI changed (0% - 100%)*/
void remoteControlRSSIChanged(uint8_t rssi);
/**
* @brief Localization quality changed
......
src/ui/toolbar/MainToolBar.cc
View file @ f1e7c9bd
......@@ -61,8 +61,9 @@ MainToolBar::MainToolBar(QWidget* parent)
, _showRSSI(true)
, _showBattery(true)
, _progressBarValue(0.0f)
, _remoteRSSI(0.0f)
, _telemetryRSSI(0)
, _remoteRSSI(0)
, _telemetryRRSSI(0)
, _telemetryLRSSI(0)
, _rollDownMessages(0)
{
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
......@@ -359,13 +360,19 @@ void MainToolBar::_setActiveUAS(UASInterface* active)
emit mavPresentChanged(_mav != NULL);
}
void MainToolBar::_telemetryChanged(LinkInterface*, unsigned, unsigned, unsigned rssi, unsigned, unsigned, unsigned, unsigned)
void MainToolBar::_telemetryChanged(LinkInterface*, unsigned, unsigned, unsigned rssi, unsigned remrssi, unsigned, unsigned, unsigned)
{
// We only care if we haveone single connection
if(_connectionCount == 1) {
if((unsigned)_telemetryRSSI != rssi) {
_telemetryRSSI = rssi;
emit telemetryRSSIChanged(_telemetryRSSI);
if((unsigned)_telemetryLRSSI != rssi) {
// According to the Silabs data sheet, the RSSI value is 0.5db per bit
_telemetryLRSSI = rssi >> 1;
emit telemetryLRSSIChanged(_telemetryLRSSI);
}
if((unsigned)_telemetryRRSSI != remrssi) {
// According to the Silabs data sheet, the RSSI value is 0.5db per bit
_telemetryRRSSI = remrssi >> 1;
emit telemetryRRSSIChanged(_telemetryRRSSI);
}
}
}
......@@ -461,12 +468,16 @@ void MainToolBar::_updateConnection(LinkInterface *disconnectedLink)
emit connectedListChanged(_connectedList);
}
// Update telemetry RSSI display
if(_connectionCount != 1 && _telemetryRSSI > 0) {
_telemetryRSSI = 0;
emit telemetryRSSIChanged(_telemetryRSSI);
if(_connectionCount != 1 && _telemetryRRSSI > 0) {
_telemetryRRSSI = 0;
emit telemetryRRSSIChanged(_telemetryRRSSI);
}
if(_connectionCount != 1 && _telemetryLRSSI > 0) {
_telemetryLRSSI = 0;
emit telemetryLRSSIChanged(_telemetryLRSSI);
}
if(_connectionCount != 1 && _remoteRSSI > 0.0f) {
_remoteRSSI = 0.0f;
if(_connectionCount != 1 && _remoteRSSI > 0) {
_remoteRSSI = 0;
emit remoteRSSIChanged(_remoteRSSI);
}
}
......
src/ui/toolbar/MainToolBar.h
View file @ f1e7c9bd
......@@ -99,12 +99,14 @@ public:
Q_PROPERTY(bool showBattery MEMBER _showBattery NOTIFY showBatteryChanged)
Q_PROPERTY(bool showRSSI MEMBER _showRSSI NOTIFY showRSSIChanged)
Q_PROPERTY(float progressBarValue MEMBER _progressBarValue NOTIFY progressBarValueChanged)
Q_PROPERTY(float remoteRSSI READ remoteRSSI NOTIFY remoteRSSIChanged)
Q_PROPERTY(int telemetryRSSI READ telemetryRSSI NOTIFY telemetryRSSIChanged)
Q_PROPERTY(int remoteRSSI READ remoteRSSI NOTIFY remoteRSSIChanged)
Q_PROPERTY(int telemetryRRSSI READ telemetryRRSSI NOTIFY telemetryRRSSIChanged)
Q_PROPERTY(int telemetryLRSSI READ telemetryLRSSI NOTIFY telemetryLRSSIChanged)
bool mavPresent () { return _mav != NULL; }
float remoteRSSI () { return _remoteRSSI; }
int telemetryRSSI () { return _telemetryRSSI; }
int remoteRSSI () { return _remoteRSSI; }
int telemetryRRSSI () { return _telemetryRRSSI; }
int telemetryLRSSI () { return _telemetryLRSSI; }
void setCurrentView (int currentView);
void viewStateChanged (const QString& key, bool value);
......@@ -134,8 +136,9 @@ signals:
void showBatteryChanged (bool value);
void showRSSIChanged (bool value);
void progressBarValueChanged (float value);
void remoteRSSIChanged (float value);
void telemetryRSSIChanged (int value);
void remoteRSSIChanged (int value);
void telemetryRRSSIChanged (int value);
void telemetryLRSSIChanged (int value);
private slots:
void _setActiveUAS (UASInterface* active);
......@@ -194,8 +197,9 @@ private:
bool _showRSSI;
bool _showBattery;
float _progressBarValue;
float _remoteRSSI;
int _telemetryRSSI;
int _remoteRSSI;
int _telemetryRRSSI;
int _telemetryLRSSI;
UASMessageViewRollDown* _rollDownMessages;
};
......
src/ui/toolbar/MainToolBar.qml
View file @ f1e7c9bd
......@@ -126,9 +126,12 @@ Rectangle {
return colorGreen;
}
function getRSSIColor() {
// TODO: Figure out RSSI threshold values
return colorBlue;
function getRSSIColor(value) {
if(value < 10)
return colorRed;
if(value < 50)
return colorOrange;
return colorGreen;
}
function showMavStatus() {
......@@ -231,7 +234,7 @@ Rectangle {
visible: (mainToolBar.connectionCount > 0) && (mainToolBar.showMessages)
anchors.verticalCenter: parent.verticalCenter
color: getMessageColor()
radius: cellRadius
//radius: cellRadius
border.color: "#00000000"
border.width: 0
property bool showTriangle: false
......@@ -305,7 +308,7 @@ Rectangle {
visible: showMavStatus() && (mainToolBar.showMav)
anchors.verticalCenter: parent.verticalCenter
color: colorBlue
radius: cellRadius
//radius: cellRadius
border.color: "#00000000"
border.width: 0
Image {
......@@ -324,7 +327,7 @@ Rectangle {
visible: showMavStatus() && (mainToolBar.showGPS)
anchors.verticalCenter: parent.verticalCenter
color: getSatelliteColor();
radius: cellRadius
//radius: cellRadius
border.color: "#00000000"
border.width: 0
......@@ -353,19 +356,18 @@ Rectangle {
}
Rectangle {
id: rssi
width: getProportionalDimmension(70)
id: rssiRC
width: getProportionalDimmension(55)
height: cellHeight
visible: showMavStatus() && (mainToolBar.showRSSI) && ((mainToolBar.remoteRSSI > 0) || (mainToolBar.telemetryRSSI > 0))
visible: showMavStatus() && mainToolBar.showRSSI
anchors.verticalCenter: parent.verticalCenter
color: getRSSIColor();
radius: cellRadius
color: getRSSIColor(mainToolBar.remoteRSSI);
//radius: cellRadius
border.color: "#00000000"
border.width: 0
Image {
source: "qrc:/res/Antenna";
height: cellHeight * 0.65
source: "qrc:/res/AntennaRC";
width: cellHeight * 0.7
fillMode: Image.PreserveAspectFit
anchors.verticalCenter: parent.verticalCenter
anchors.left: parent.left
......@@ -373,26 +375,55 @@ Rectangle {
mipmap: true
smooth: true
}
QGCLabel {
text: mainToolBar.remoteRSSI
anchors.right: parent.right
anchors.rightMargin: getProportionalDimmension(6)
anchors.verticalCenter: parent.verticalCenter
horizontalAlignment: Text.AlignRight
font.pointSize: screenTools.dpiAdjustedPointSize(12);
font.weight: Font.DemiBold
color: colorWhite
}
}
Rectangle {
id: rssiTelemetry
width: getProportionalDimmension(80)
height: cellHeight
visible: showMavStatus() && (mainToolBar.showRSSI) && ((mainToolBar.telemetryRRSSI > 0) && (mainToolBar.telemetryLRSSI > 0))
anchors.verticalCenter: parent.verticalCenter
color: getRSSIColor(Math.min(mainToolBar.telemetryRRSSI,mainToolBar.telemetryLRSSI));
//radius: cellRadius
border.color: "#00000000"
border.width: 0
Image {
source: "qrc:/res/AntennaT";
width: cellHeight * 0.7
fillMode: Image.PreserveAspectFit
anchors.verticalCenter: parent.verticalCenter
anchors.left: parent.left
anchors.leftMargin: getProportionalDimmension(6)
mipmap: true
smooth: true
}
Column {
id: rssiCombined
anchors.verticalCenter: parent.verticalCenter
anchors.right: parent.right
anchors.rightMargin: getProportionalDimmension(6)
visible: (mainToolBar.remoteRSSI > 0) && (mainToolBar.telemetryRSSI > 0)
Row {
anchors.right: parent.right
QGCLabel {
text: 'R '
font.pointSize: screenTools.dpiAdjustedPointSize(12);
font.pointSize: screenTools.dpiAdjustedPointSize(11);
font.weight: Font.DemiBold
color: colorWhite
}
QGCLabel {
text: (mainToolBar.remoteRSSI * 100).toFixed(0)
width: getProportionalDimmension(20)
text: mainToolBar.telemetryRRSSI + 'dB'
width: getProportionalDimmension(30)
horizontalAlignment: Text.AlignRight
font.pointSize: screenTools.dpiAdjustedPointSize(12);
font.pointSize: screenTools.dpiAdjustedPointSize(11);
font.weight: Font.DemiBold
color: colorWhite
}
......@@ -400,65 +431,21 @@ Rectangle {
Row {
anchors.right: parent.right
QGCLabel {
text: 'T '
font.pointSize: screenTools.dpiAdjustedPointSize(12);
text: 'L '
font.pointSize: screenTools.dpiAdjustedPointSize(11);
font.weight: Font.DemiBold
color: colorWhite
}
QGCLabel {
text: mainToolBar.telemetryRSSI
width: getProportionalDimmension(20)
text: mainToolBar.telemetryLRSSI + 'dB'
width: getProportionalDimmension(30)
horizontalAlignment: Text.AlignRight
font.pointSize: screenTools.dpiAdjustedPointSize(12);
font.pointSize: screenTools.dpiAdjustedPointSize(11);
font.weight: Font.DemiBold
color: colorWhite
}
}
}
Row {
id: telemetryRSSISingle
anchors.right: parent.right
anchors.rightMargin: getProportionalDimmension(6)
visible: (mainToolBar.remoteRSSI < 0.01) && (mainToolBar.telemetryRSSI > 0)
anchors.verticalCenter: parent.verticalCenter
QGCLabel {
text: 'T '
font.pointSize: screenTools.dpiAdjustedPointSize(12);
font.weight: Font.DemiBold
color: colorWhite
}
QGCLabel {
text: mainToolBar.telemetryRSSI
width: getProportionalDimmension(20)
horizontalAlignment: Text.AlignRight
font.pointSize: screenTools.dpiAdjustedPointSize(12);
font.weight: Font.DemiBold
color: colorWhite
}
}
Row {
id: remoteRSSISingle
anchors.right: parent.right
anchors.rightMargin: getProportionalDimmension(6)
visible: (mainToolBar.remoteRSSI > 0) && (mainToolBar.telemetryRSSI === 0)
anchors.verticalCenter: parent.verticalCenter
QGCLabel {
text: 'R '
font.pointSize: screenTools.dpiAdjustedPointSize(12);
font.weight: Font.DemiBold
color: colorWhite
}
QGCLabel {
text: (mainToolBar.remoteRSSI * 100).toFixed(0)
width: getProportionalDimmension(20)
horizontalAlignment: Text.AlignRight
font.pointSize: screenTools.dpiAdjustedPointSize(12);
font.weight: Font.DemiBold
color: colorWhite
}
}
}
Rectangle {
......@@ -468,7 +455,7 @@ Rectangle {
visible: showMavStatus() && (mainToolBar.showBattery)
anchors.verticalCenter: parent.verticalCenter
color: (mainToolBar.batteryPercent > 40.0 || mainToolBar.batteryPercent < 0.01) ? colorBlue : colorRed
radius: cellRadius
//radius: cellRadius
border.color: "#00000000"
border.width: 0
......
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