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qgroundcontrol
Commit f929b6cb authored by lm's avatar lm
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Fixed compile warnings, moved MAVLink ids

parent e771303d
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Showing with 200 additions and 63 deletions
lib/QMapControl/src/fixedimageoverlay.cpp
View file @ f929b6cb
...@@ -46,6 +46,8 @@ namespace qmapcontrol ...@@ -46,6 +46,8 @@ namespace qmapcontrol
void FixedImageOverlay::draw(QPainter* painter, const MapAdapter* mapadapter, const QRect &viewport, const QPoint offset) void FixedImageOverlay::draw(QPainter* painter, const MapAdapter* mapadapter, const QRect &viewport, const QPoint offset)
{ {
Q_UNUSED(viewport)
Q_UNUSED(offset)
if (!visible) if (!visible)
return; return;
......
lib/QMapControl/src/googlesatmapadapter.cpp
View file @ f929b6cb
...@@ -64,10 +64,12 @@ namespace qmapcontrol ...@@ -64,10 +64,12 @@ namespace qmapcontrol
//double lon = ((point.x()/tilesize*numberOfTiles)*360)-180; //double lon = ((point.x()/tilesize*numberOfTiles)*360)-180;
//double lat = (((point.y()/tilesize*numberOfTiles)*180)-90)*-1; //double lat = (((point.y()/tilesize*numberOfTiles)*180)-90)*-1;
qreal lon = (point.x()*(360./(numberOfTiles*mytilesize)))-180.; qreal lon = (point.x()*(360.0/(numberOfTiles*mytilesize)))-180.0;
//double lat = -(point.y()*(180./(numberOfTiles*tilesize)))+90; // qreal lat = -(point.y()*(180.0/(numberOfTiles*mytilesize)))+90.0;
//qreal lat = getMercatorLatitude(point.y()*-1*(2*M_PI/(numberOfTiles*tilesize)) + M_PI); // FIXME Looks buggy
qreal lat = lat *180./M_PI;
qreal lat = getMercatorLatitude(point.y()*-1*(2*M_PI/(numberOfTiles*mytilesize)) + M_PI);
//qreal lat = lat *180./M_PI;
return QPointF(lon, lat); return QPointF(lon, lat);
} }
......
qgroundcontrol.pro
View file @ f929b6cb
...@@ -3,10 +3,10 @@ ...@@ -3,10 +3,10 @@
# from http://github.com/pixhawk/qmapcontrol/ # from http://github.com/pixhawk/qmapcontrol/
# over bundled version in lib directory # over bundled version in lib directory
# Version from GIT repository is preferred # Version from GIT repository is preferred
# include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{ include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
# Include bundled version if necessary # Include bundled version if necessary
include(lib/QMapControl/QMapControl.pri) #include(lib/QMapControl/QMapControl.pri)
message("Including bundled QMapControl version as FALLBACK. This is fine on Linux and MacOS, but not the best choice in Windows") #message("Including bundled QMapControl version as FALLBACK. This is fine on Linux and MacOS, but not the best choice in Windows")
QT += network opengl svg xml phonon QT += network opengl svg xml phonon
......
src/ui/HSIDisplay.cc
View file @ f929b6cb
...@@ -41,7 +41,28 @@ This file is part of the PIXHAWK project ...@@ -41,7 +41,28 @@ This file is part of the PIXHAWK project
HSIDisplay::HSIDisplay(QWidget *parent) : HSIDisplay::HSIDisplay(QWidget *parent) :
HDDisplay(NULL, parent), HDDisplay(NULL, parent),
gpsSatellites(), gpsSatellites(),
satellitesUsed(0) satellitesUsed(0),
attXSet(0),
attYSet(0),
attYawSet(0),
altitudeSet(1.0),
posXSet(0),
posYSet(0),
posZSet(0),
attXSaturation(0.33),
attYSaturation(0.33),
attYawSaturation(0.33),
posXSaturation(1.0),
posYSaturation(1.0),
altitudeSaturation(1.0),
lat(0),
lon(0),
alt(0),
globalAvailable(0),
x(0),
y(0),
z(0),
localAvailable(0)
{ {
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*))); connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
} }
...@@ -51,13 +72,22 @@ void HSIDisplay::paintEvent(QPaintEvent * event) ...@@ -51,13 +72,22 @@ void HSIDisplay::paintEvent(QPaintEvent * event)
Q_UNUSED(event); Q_UNUSED(event);
//paintGL(); //paintGL();
static quint64 interval = 0; static quint64 interval = 0;
qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__; //qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
interval = MG::TIME::getGroundTimeNow(); interval = MG::TIME::getGroundTimeNow();
paintDisplay(); paintDisplay();
} }
void HSIDisplay::paintDisplay() void HSIDisplay::paintDisplay()
{ {
// Center location of the HSI gauge items
float xCenterPos = vwidth/2.0f;
float yCenterPos = vheight/2.0f;
// Size of the ring instrument
const float margin = 0.1f; // 10% margin of total width on each side
float baseRadius = (vwidth - vwidth * 2.0f * margin) / 2.0f;
quint64 refreshInterval = 100; quint64 refreshInterval = 100;
quint64 currTime = MG::TIME::getGroundTimeNow(); quint64 currTime = MG::TIME::getGroundTimeNow();
if (currTime - lastPaintTime < refreshInterval) if (currTime - lastPaintTime < refreshInterval)
...@@ -78,14 +108,11 @@ void HSIDisplay::paintDisplay() ...@@ -78,14 +108,11 @@ void HSIDisplay::paintDisplay()
painter.setRenderHint(QPainter::Antialiasing, true); painter.setRenderHint(QPainter::Antialiasing, true);
painter.setRenderHint(QPainter::HighQualityAntialiasing, true); painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
painter.fillRect(QRect(0, 0, width(), height()), backgroundColor); painter.fillRect(QRect(0, 0, width(), height()), backgroundColor);
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 ringColor = QColor(200, 250, 200); const QColor ringColor = QColor(200, 250, 200);
// Draw base instrument
// ----------------------
const int ringCount = 2; const int ringCount = 2;
const float margin = 0.1f; // 10% margin of total width on each side
for (int i = 0; i < ringCount; i++) for (int i = 0; i < ringCount; i++)
{ {
float radius = (vwidth - vwidth * 2.0f * margin) / (2.0f * i+1) / 2.0f; float radius = (vwidth - vwidth * 2.0f * margin) / (2.0f * i+1) / 2.0f;
...@@ -95,37 +122,60 @@ void HSIDisplay::paintDisplay() ...@@ -95,37 +122,60 @@ void HSIDisplay::paintDisplay()
// Draw center indicator // Draw center indicator
drawCircle(vwidth/2.0f, vheight/2.0f, 1.0f, 0.1f, ringColor, &painter); drawCircle(vwidth/2.0f, vheight/2.0f, 1.0f, 0.1f, ringColor, &painter);
drawGPS(); // Draw orientation labels
paintText(tr("N"), ringColor, 3.5f, xCenterPos - 1.0f, yCenterPos - baseRadius - 5.5f, &painter);
paintText(tr("S"), ringColor, 3.5f, xCenterPos - 1.0f, yCenterPos + baseRadius + 1.5f, &painter);
paintText(tr("E"), ringColor, 3.5f, xCenterPos + baseRadius + 2.0f, yCenterPos - 1.75f, &painter);
paintText(tr("W"), ringColor, 3.5f, xCenterPos - baseRadius - 5.5f, yCenterPos - 1.75f, &painter);
// ----------------------
// Draw state indicator // Draw state indicator
// Draw position // Draw position
QColor positionColor(20, 20, 200);
drawPositionSetpoint(xCenterPos, yCenterPos, baseRadius, positionColor, &painter);
// Draw attitude
QColor attitudeColor(200, 20, 20);
drawPositionSetpoint(xCenterPos, yCenterPos, baseRadius, attitudeColor, &painter);
// Draw satellites
drawGPS();
if (localAvailable > 0)
{
QString str;
str.sprintf("%05.2f %05.2f %05.2f m", x, y, z);
paintText(str, ringColor, 4.5f, xCenterPos + baseRadius - 5.5f, yCenterPos + baseRadius - 20.75f, &painter);
}
//drawSystemIndicator(10.0f-gaugeWidth/2.0f, 20.0f, 10.0f, 40.0f, 15.0f, &painter); //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, 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); //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 // Left spacing from border / other gauges, measured from left edge to center
// float leftSpacing = gaugeWidth * spacing; // float leftSpacing = gaugeWidth * spacing;
// float xCoord = leftSpacing + gaugeWidth/2.0f; // float xCoord = leftSpacing + gaugeWidth/2.0f;
// //
// float topSpacing = leftSpacing; // float topSpacing = leftSpacing;
// float yCoord = topSpacing + gaugeWidth/2.0f; // float yCoord = topSpacing + gaugeWidth/2.0f;
// //
// for (int i = 0; i < acceptList->size(); ++i) // for (int i = 0; i < acceptList->size(); ++i)
// { // {
// QString value = acceptList->at(i); // QString value = acceptList->at(i);
// drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, -1.0f), 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); // drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, -1.0f), 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; // xCoord += gaugeWidth + leftSpacing;
// // Move one row down if necessary // // Move one row down if necessary
// if (xCoord + gaugeWidth > vwidth) // if (xCoord + gaugeWidth > vwidth)
// { // {
// yCoord += topSpacing + gaugeWidth; // yCoord += topSpacing + gaugeWidth;
// xCoord = leftSpacing + gaugeWidth/2.0f; // xCoord = leftSpacing + gaugeWidth/2.0f;
// } // }
// } // }
} }
/** /**
...@@ -134,7 +184,7 @@ void HSIDisplay::paintDisplay() ...@@ -134,7 +184,7 @@ void HSIDisplay::paintDisplay()
*/ */
void HSIDisplay::setActiveUAS(UASInterface* uas) void HSIDisplay::setActiveUAS(UASInterface* uas)
{ {
HDDisplay::setActiveUAS(uas); HDDisplay::setActiveUAS(uas);
//qDebug() << "ATTEMPTING TO SET UAS"; //qDebug() << "ATTEMPTING TO SET UAS";
if (this->uas != NULL && this->uas != uas) if (this->uas != NULL && this->uas != uas)
{ {
...@@ -143,7 +193,9 @@ void HSIDisplay::setActiveUAS(UASInterface* uas) ...@@ -143,7 +193,9 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
} }
connect(uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool))); connect(uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT()) connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeSetpoints(UASInterface*,double,double,double,double,quint64)));
// Now connect the new UAS // Now connect the new UAS
...@@ -155,24 +207,39 @@ void HSIDisplay::setActiveUAS(UASInterface* uas) ...@@ -155,24 +207,39 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
//} //}
} }
void HSIDisplay::updateAttitudeSetpoints(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec) void HSIDisplay::updateAttitudeSetpoints(UASInterface* uas, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec)
{ {
Q_UNUSED(uas);
Q_UNUSED(usec);
attXSet = pitchDesired;
attYSet = rollDesired;
attYawSet = yawDesired;
altitudeSet = thrustDesired;
} }
void HSIDisplay::updatePositionSetpoints(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec) void HSIDisplay::updatePositionSetpoints(int uasid, double xDesired, double yDesired, double zDesired, quint64 usec)
{ {
Q_UNUSED(usec);
Q_UNUSED(uasid);
posXSet = xDesired;
posYSet = yDesired;
posZSet = zDesired;
} }
void HSIDisplay::updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec) void HSIDisplay::updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec)
{ {
this->x = x;
this->y = y;
this->z = z;
localAvailable = usec;
} }
void HSIDisplay::updateGlobalPosition(UASInterface*, double lat, double lon, double alt, quint64 usec) void HSIDisplay::updateGlobalPosition(UASInterface*, double lat, double lon, double alt, quint64 usec)
{ {
this->lat = lat;
this->lon = lon;
this->alt = alt;
globalAvailable = usec;
} }
void HSIDisplay::updateSatellite(int uasid, int satid, float elevation, float azimuth, float snr, bool used) void HSIDisplay::updateSatellite(int uasid, int satid, float elevation, float azimuth, float snr, bool used)
...@@ -286,33 +353,45 @@ void HSIDisplay::drawGPS() ...@@ -286,33 +353,45 @@ void HSIDisplay::drawGPS()
void HSIDisplay::drawObjects() void HSIDisplay::drawObjects()
{ {
} }
void HSIDisplay::drawBaseLines(float xRef, float yRef, float radius, float yaw, const QColor& color, QPainter* painter, bool solid) void HSIDisplay::drawPositionSetpoint(float xRef, float yRef, float radius, const QColor& color, QPainter* painter)
{ {
// Draw the circle // Draw the needle
QPen circlePen(Qt::SolidLine); const float maxWidth = radius / 10.0f;
if (!solid) circlePen.setStyle(Qt::DotLine); const float minWidth = maxWidth * 0.3f;
circlePen.setWidth(refLineWidthToPen(0.5f));
circlePen.setColor(defaultColor);
painter->setBrush(Qt::NoBrush);
painter->setPen(circlePen);
drawCircle(xRef, yRef, radius, 200.0f, color, painter);
//drawCircle(xRef, yRef, radius, 200.0f, 170.0f, 1.0f, color, painter);
// // Draw the value float angle = asin(posXSet) + acos(posYSet);
// QString label;
// label.sprintf("%05.1f", value); QPolygonF p(6);
// paintText(label, color, 4.5f, xRef-7.5f, yRef-2.0f, painter);
p.replace(0, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.5f));
p.replace(1, QPointF(xRef-minWidth/2.0f, yRef-radius * 0.9f));
p.replace(2, QPointF(xRef+minWidth/2.0f, yRef-radius * 0.9f));
p.replace(3, QPointF(xRef+maxWidth/2.0f, yRef-radius * 0.5f));
p.replace(4, QPointF(xRef, yRef-radius * 0.46f));
p.replace(5, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.5f));
rotatePolygonClockWiseRad(p, angle, QPointF(xRef, yRef));
QBrush indexBrush;
indexBrush.setColor(color);
indexBrush.setStyle(Qt::SolidPattern);
painter->setPen(Qt::SolidLine);
painter->setPen(color);
painter->setBrush(indexBrush);
drawPolygon(p, painter);
}
void HSIDisplay::drawAttitudeSetpoint(float xRef, float yRef, float radius, const QColor& color, QPainter* painter)
{
// Draw the needle // Draw the needle
// Scale the rotation so that the gauge does one revolution
// per max. change
const float rangeScale = (2.0f * M_PI);
const float maxWidth = radius / 10.0f; const float maxWidth = radius / 10.0f;
const float minWidth = maxWidth * 0.3f; const float minWidth = maxWidth * 0.3f;
float angle = asin(attXSet) + acos(attYSet);
QPolygonF p(6); QPolygonF p(6);
p.replace(0, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.5f)); p.replace(0, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.5f));
...@@ -322,13 +401,32 @@ void HSIDisplay::drawBaseLines(float xRef, float yRef, float radius, float yaw, ...@@ -322,13 +401,32 @@ void HSIDisplay::drawBaseLines(float xRef, float yRef, float radius, float yaw,
p.replace(4, QPointF(xRef, yRef-radius * 0.46f)); p.replace(4, QPointF(xRef, yRef-radius * 0.46f));
p.replace(5, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.5f)); p.replace(5, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.5f));
rotatePolygonClockWiseRad(p, yaw*rangeScale, QPointF(xRef, yRef)); rotatePolygonClockWiseRad(p, angle, QPointF(xRef, yRef));
QBrush indexBrush; QBrush indexBrush;
indexBrush.setColor(defaultColor); indexBrush.setColor(color);
indexBrush.setStyle(Qt::SolidPattern); indexBrush.setStyle(Qt::SolidPattern);
painter->setPen(Qt::SolidLine); painter->setPen(Qt::SolidLine);
painter->setPen(defaultColor); painter->setPen(color);
painter->setBrush(indexBrush); painter->setBrush(indexBrush);
drawPolygon(p, painter); drawPolygon(p, painter);
// TODO Draw Yaw indicator
}
void HSIDisplay::drawAltitudeSetpoint(float xRef, float yRef, float radius, const QColor& color, QPainter* painter)
{
// Draw the circle
QPen circlePen(Qt::SolidLine);
circlePen.setWidth(refLineWidthToPen(0.5f));
circlePen.setColor(color);
painter->setBrush(Qt::NoBrush);
painter->setPen(circlePen);
drawCircle(xRef, yRef, radius, 200.0f, color, painter);
//drawCircle(xRef, yRef, radius, 200.0f, 170.0f, 1.0f, color, painter);
// // Draw the value
// QString label;
// label.sprintf("%05.1f", value);
// paintText(label, color, 4.5f, xRef-7.5f, yRef-2.0f, painter);
} }
src/ui/HSIDisplay.h
View file @ f929b6cb
...@@ -51,13 +51,19 @@ public: ...@@ -51,13 +51,19 @@ public:
public slots: public slots:
void setActiveUAS(UASInterface* uas); void setActiveUAS(UASInterface* uas);
void updateSatellite(int uasid, int satid, float azimuth, float direction, float snr, bool used); void updateSatellite(int uasid, int satid, float azimuth, float direction, float snr, bool used);
void updateAttitudeSetpoints(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
void updatePositionSetpoints(int uasid, double xDesired, double yDesired, double zDesired, quint64 usec);
void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
void updateGlobalPosition(UASInterface*, double lat, double lon, double alt, quint64 usec);
void paintEvent(QPaintEvent * event); void paintEvent(QPaintEvent * event);
protected slots: protected slots:
void paintDisplay(); void paintDisplay();
void drawGPS(); void drawGPS();
void drawObjects(); void drawObjects();
void drawBaseLines(float xRef, float yRef, float radius, float yaw, const QColor& color, QPainter* painter, bool solid); void drawPositionSetpoint(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
void drawAttitudeSetpoint(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
void drawAltitudeSetpoint(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
protected: protected:
...@@ -103,6 +109,35 @@ protected: ...@@ -103,6 +109,35 @@ protected:
QMap<int, GPSSatellite*> gpsSatellites; QMap<int, GPSSatellite*> gpsSatellites;
unsigned int satellitesUsed; unsigned int satellitesUsed;
// Current controller values
float attXSet;
float attYSet;
float attYawSet;
float altitudeSet;
float posXSet;
float posYSet;
float posZSet;
// Controller saturation values
float attXSaturation;
float attYSaturation;
float attYawSaturation;
float posXSaturation;
float posYSaturation;
float altitudeSaturation;
// Position
float lat;
float lon;
float alt;
quint64 globalAvailable; ///< Last global position update time
float x;
float y;
float z;
quint64 localAvailable; ///< Last local position update time
private: private:
}; };
......
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