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Commit fe5ec399 authored by pixhawk's avatar pixhawk
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Added angle conversion testing, added battery settings option, added option to... 

Added angle conversion testing, added battery settings option, added option to set MAVLink ID of groundstation
parent eb2a01d9
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Showing with 455 additions and 194 deletions
qgcunittest/UASUnitTest.cc
View file @ fe5ec399
......@@ -6,14 +6,15 @@ UASUnitTest::UASUnitTest()
void UASUnitTest::initTestCase()
{
mav= new MAVLinkProtocol();
uas=new UAS(mav,UASID);
mav= new MAVLinkProtocol();
link = new SerialLink();
uas=new UAS(mav,UASID);
}
void UASUnitTest::cleanupTestCase()
{
delete uas;
delete mav;
delete uas;
delete mav;
}
......@@ -34,123 +35,244 @@ void UASUnitTest::getUASID_test()
void UASUnitTest::getUASName_test()
{
// Test that the name is build as MAV + ID
QCOMPARE(uas->getUASName(), "MAV 0" + QString::number(UASID));
// Test that the name is build as MAV + ID
QCOMPARE(uas->getUASName(), "MAV 0" + QString::number(UASID));
}
void UASUnitTest::getUpTime_test()
{
UAS* uas2 = new UAS(mav);
// Test that the uptime starts at zero to a
// precision of seconds
QCOMPARE(floor(uas2->getUptime()/1000.0), 0.0);
UAS* uas2 = new UAS(mav);
// Test that the uptime starts at zero to a
// precision of seconds
QCOMPARE(floor(uas2->getUptime()/1000.0), 0.0);
// Sleep for three seconds
QTest::qSleep(3000);
// Sleep for three seconds
QTest::qSleep(3000);
// Test that the up time is computed correctly to a
// precision of seconds
QCOMPARE(floor(uas2->getUptime()/1000.0), 3.0);
// Test that the up time is computed correctly to a
// precision of seconds
QCOMPARE(floor(uas2->getUptime()/1000.0), 3.0);
delete uas2;
delete uas2;
}
void UASUnitTest::getCommunicationStatus_test()
{
// Verify that upon construction the Comm status is disconnected
QCOMPARE(uas->getCommunicationStatus(), static_cast<int>(UASInterface::COMM_DISCONNECTED));
// Verify that upon construction the Comm status is disconnected
QCOMPARE(uas->getCommunicationStatus(), static_cast<int>(UASInterface::COMM_DISCONNECTED));
}
void UASUnitTest::filterVoltage_test()
{
float verificar=uas->filterVoltage(0.4f);
// Verify that upon construction the Comm status is disconnected
QCOMPARE(verificar, 8.52f);
// Verify that upon construction the Comm status is disconnected
QCOMPARE(verificar, 8.52f);
}
void UASUnitTest:: getAutopilotType_test()
{
int verificar=uas->getAutopilotType();
// Verify that upon construction the autopilot is set to -1
QCOMPARE(verificar, -1);
int type = uas->getAutopilotType();
// Verify that upon construction the autopilot is set to -1
QCOMPARE(type, -1);
}
void UASUnitTest::setAutopilotType_test()
{
uas->setAutopilotType(2);
// Verify that the autopilot is set
QCOMPARE(uas->getAutopilotType(), 2);
uas->setAutopilotType(2);
// Verify that the autopilot is set
QCOMPARE(uas->getAutopilotType(), 2);
}
void UASUnitTest::getStatusForCode_test()
{
QString state, desc;
state = "";
desc = "";
QString state, desc;
state = "";
desc = "";
uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
QVERIFY(state == "UNINIT");
uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
QVERIFY(state == "UNINIT");
uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
QVERIFY(state == "UNINIT");
uas->getStatusForCode(MAV_STATE_UNINIT, state, desc);
QVERIFY(state == "UNINIT");
uas->getStatusForCode(MAV_STATE_BOOT, state, desc);
QVERIFY(state == "BOOT");
uas->getStatusForCode(MAV_STATE_BOOT, state, desc);
QVERIFY(state == "BOOT");
uas->getStatusForCode(MAV_STATE_CALIBRATING, state, desc);
QVERIFY(state == "CALIBRATING");
uas->getStatusForCode(MAV_STATE_CALIBRATING, state, desc);
QVERIFY(state == "CALIBRATING");
uas->getStatusForCode(MAV_STATE_ACTIVE, state, desc);
QVERIFY(state == "ACTIVE");
uas->getStatusForCode(MAV_STATE_ACTIVE, state, desc);
QVERIFY(state == "ACTIVE");
uas->getStatusForCode(MAV_STATE_STANDBY, state, desc);
QVERIFY(state == "STANDBY");
uas->getStatusForCode(MAV_STATE_STANDBY, state, desc);
QVERIFY(state == "STANDBY");
uas->getStatusForCode(MAV_STATE_CRITICAL, state, desc);
QVERIFY(state == "CRITICAL");
uas->getStatusForCode(MAV_STATE_CRITICAL, state, desc);
QVERIFY(state == "CRITICAL");
uas->getStatusForCode(MAV_STATE_EMERGENCY, state, desc);
QVERIFY(state == "EMERGENCY");
uas->getStatusForCode(MAV_STATE_EMERGENCY, state, desc);
QVERIFY(state == "EMERGENCY");
uas->getStatusForCode(MAV_STATE_POWEROFF, state, desc);
QVERIFY(state == "SHUTDOWN");
uas->getStatusForCode(MAV_STATE_POWEROFF, state, desc);
QVERIFY(state == "SHUTDOWN");
uas->getStatusForCode(5325, state, desc);
QVERIFY(state == "UNKNOWN");
uas->getStatusForCode(5325, state, desc);
QVERIFY(state == "UNKNOWN");
}
void UASUnitTest::getLocalX_test()
{
QCOMPARE(uas->getLocalX(), 0.0);
QCOMPARE(uas->getLocalX(), 0.0);
}
void UASUnitTest::getLocalY_test()
{
QCOMPARE(uas->getLocalY(), 0.0);
QCOMPARE(uas->getLocalY(), 0.0);
}
void UASUnitTest::getLocalZ_test()
{
QCOMPARE(uas->getLocalZ(), 0.0);
QCOMPARE(uas->getLocalZ(), 0.0);
}
void UASUnitTest::getLatitude_test()
{ QCOMPARE(uas->getLatitude(), 0.0);
}
void UASUnitTest::getLongitude_test()
{
QCOMPARE(uas->getLongitude(), 0.0);
QCOMPARE(uas->getLongitude(), 0.0);
}
void UASUnitTest::getAltitude_test()
{
QCOMPARE(uas->getAltitude(), 0.0);
QCOMPARE(uas->getAltitude(), 0.0);
}
void UASUnitTest::getRoll_test()
{
QCOMPARE(uas->getRoll(), 0.0);
QCOMPARE(uas->getRoll(), 0.0);
}
void UASUnitTest::getPitch_test()
{
QCOMPARE(uas->getPitch(), 0.0);
QCOMPARE(uas->getPitch(), 0.0);
}
void UASUnitTest::getYaw_test()
{
QCOMPARE(uas->getYaw(), 0.0);
QCOMPARE(uas->getYaw(), 0.0);
}
void UASUnitTest::attitudeLimitsZero_test()
{
mavlink_message_t msg;
mavlink_attitude_t att;
// Set zero values and encode them
att.roll = 0.0f;
att.pitch = 0.0f;
att.yaw = 0.0f;
mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
// Let UAS decode message
uas->receiveMessage(link, msg);
// Check result
QCOMPARE(uas->getRoll(), 0.0);
QCOMPARE(uas->getPitch(), 0.0);
QCOMPARE(uas->getYaw(), 0.0);
}
void UASUnitTest::attitudeLimitsPi_test()
{
mavlink_message_t msg;
mavlink_attitude_t att;
// Set PI values and encode them
att.roll = M_PI;
att.pitch = M_PI;
att.yaw = M_PI;
mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
// Let UAS decode message
uas->receiveMessage(link, msg);
// Check result
QVERIFY((uas->getRoll() < M_PI+0.000001) && (uas->getRoll() > M_PI+-0.000001));
QVERIFY((uas->getPitch() < M_PI+0.000001) && (uas->getPitch() > M_PI+-0.000001));
QVERIFY((uas->getYaw() < M_PI+0.000001) && (uas->getYaw() > M_PI+-0.000001));
}
void UASUnitTest::attitudeLimitsMinusPi_test()
{
mavlink_message_t msg;
mavlink_attitude_t att;
// Set -PI values and encode them
att.roll = -M_PI;
att.pitch = -M_PI;
att.yaw = -M_PI;
mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
// Let UAS decode message
uas->receiveMessage(link, msg);
// Check result
QVERIFY((uas->getRoll() > -M_PI-0.000001) && (uas->getRoll() < -M_PI+0.000001));
QVERIFY((uas->getPitch() > -M_PI-0.000001) && (uas->getPitch() < -M_PI+0.000001));
QVERIFY((uas->getYaw() > -M_PI-0.000001) && (uas->getYaw() < -M_PI+0.000001));
}
void UASUnitTest::attitudeLimitsTwoPi_test()
{
mavlink_message_t msg;
mavlink_attitude_t att;
// Set off-limit values and check
// correct wrapping
// Set 2PI values and encode them
att.roll = 2*M_PI;
att.pitch = 2*M_PI;
att.yaw = 2*M_PI;
mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
// Let UAS decode message
uas->receiveMessage(link, msg);
// Check result
QVERIFY((uas->getRoll() < 0.000001) && (uas->getRoll() > -0.000001));
QVERIFY((uas->getPitch() < 0.000001) && (uas->getPitch() > -0.000001));
QVERIFY((uas->getYaw() < 0.000001) && (uas->getYaw() > -0.000001));
}
void UASUnitTest::attitudeLimitsMinusTwoPi_test()
{
mavlink_message_t msg;
mavlink_attitude_t att;
// Set -2PI values and encode them
att.roll = -2*M_PI;
att.pitch = -2*M_PI;
att.yaw = -2*M_PI;
mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
// Let UAS decode message
uas->receiveMessage(link, msg);
// Check result
QVERIFY((uas->getRoll() < 0.000001) && (uas->getRoll() > -0.000001));
QVERIFY((uas->getPitch() < 0.000001) && (uas->getPitch() > -0.000001));
QVERIFY((uas->getYaw() < 0.000001) && (uas->getYaw() > -0.000001));
}
void UASUnitTest::attitudeLimitsTwoPiOne_test()
{
mavlink_message_t msg;
mavlink_attitude_t att;
// Set over 2 PI values and encode them
att.roll = 2*M_PI+1.0f;
att.pitch = 2*M_PI+1.0f;
att.yaw = 2*M_PI+1.0f;
mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
// Let UAS decode message
uas->receiveMessage(link, msg);
// Check result
QVERIFY((uas->getRoll() < 1.000001) && (uas->getRoll() > 0.999999));
QVERIFY((uas->getPitch() < 1.000001) && (uas->getPitch() > 0.999999));
QVERIFY((uas->getYaw() < 1.000001) && (uas->getYaw() > 0.999999));
}
void UASUnitTest::attitudeLimitsMinusTwoPiOne_test()
{
mavlink_message_t msg;
mavlink_attitude_t att;
// Set 3PI values and encode them
att.roll = -2*M_PI-1.0f;
att.pitch = -2*M_PI-1.0f;
att.yaw = -2*M_PI-1.0f;
mavlink_msg_attitude_encode(uas->getUASID(), MAV_COMP_ID_IMU, &msg, &att);
// Let UAS decode message
uas->receiveMessage(link, msg);
// Check result
QVERIFY((uas->getRoll() > -1.000001) && (uas->getRoll() < -0.999999));
QVERIFY((uas->getPitch() > -1.000001) && (uas->getPitch() < -0.999999));
QVERIFY((uas->getYaw() > -1.000001) && (uas->getYaw() < -0.999999));
}
qgcunittest/UASUnitTest.h
View file @ fe5ec399
......@@ -6,6 +6,7 @@
#include <QtTest/QtTest>
#include "UAS.h"
#include "MAVLinkProtocol.h"
#include "SerialLink.h"
#include "UASInterface.h"
#include "AutoTest.h"
......@@ -13,36 +14,44 @@ class UASUnitTest : public QObject
{
Q_OBJECT
public:
#define UASID 50
MAVLinkProtocol* mav;
UAS* uas;
UASUnitTest();
#define UASID 50
MAVLinkProtocol* mav;
UAS* uas;
SerialLink* link;
UASUnitTest();
signals:
private slots:
void initTestCase();
void cleanupTestCase();
void getUASID_test();
void getUASName_test();
void getUpTime_test();
void getCommunicationStatus_test();
void filterVoltage_test();
void getAutopilotType_test();
void setAutopilotType_test();
void getStatusForCode_test();
void getLocalX_test();
void getLocalY_test();
void getLocalZ_test();
void getLatitude_test();
void getLongitude_test();
void getAltitude_test();
void getRoll_test();
void getPitch_test();
void getYaw_test();
void initTestCase();
void cleanupTestCase();
void getUASID_test();
void getUASName_test();
void getUpTime_test();
void getCommunicationStatus_test();
void filterVoltage_test();
void getAutopilotType_test();
void setAutopilotType_test();
void getStatusForCode_test();
void getLocalX_test();
void getLocalY_test();
void getLocalZ_test();
void getLatitude_test();
void getLongitude_test();
void getAltitude_test();
void getRoll_test();
void getPitch_test();
void getYaw_test();
void attitudeLimitsZero_test();
void attitudeLimitsPi_test();
void attitudeLimitsMinusPi_test();
void attitudeLimitsTwoPi_test();
void attitudeLimitsMinusTwoPi_test();
void attitudeLimitsTwoPiOne_test();
void attitudeLimitsMinusTwoPiOne_test();
protected:
UAS *prueba;
UAS *prueba;
};
......
qgroundcontrol-plugins.pro deleted 100644 → 0
View file @ eb2a01d9
# -------------------------------------------------
# QGroundControl - Micro Air Vehicle Groundstation
# Please see our website at <http://qgroundcontrol.org>
# Author:
# Lorenz Meier <mavteam@student.ethz.ch>
# (c) 2009-2010 PIXHAWK Team
# This file is part of the mav groundstation project
# QGroundControl is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
# QGroundControl is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
# You should have received a copy of the GNU General Public License
# along with QGroundControl. If not, see <http://www.gnu.org/licenses/>.
# -------------------------------------------------
# Include QMapControl map library
# prefer version from external directory /
# from http://github.com/pixhawk/qmapcontrol/
# over bundled version in lib directory
# Version from GIT repository is preferred
# include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
# Include bundled version if necessary
CONFIG += designer plugin
TARGET = $$qtLibraryTarget($$TARGET)
TEMPLATE = lib
QTDIR_build:DESTDIR = $$QT_BUILD_TREE/plugins/designer
FORMS = src/ui/designer/QGCParamSlider.ui
HEADERS = src/ui/designer/QGCParamSlider.h \
src/ui/designer/QGCParamSliderPlugin.h
SOURCES = src/ui/designer/QGCParamSlider.cc \
src/ui/designer/QGCParamSliderPlugin.cc
# install
target.path = $$[QT_INSTALL_PLUGINS]/designer
sources.files = $$SOURCES $$HEADERS *.pro
sources.path = $$[QT_INSTALL_EXAMPLES]/designer/worldtimeclockplugin
INSTALLS += target
symbian: include($$QT_SOURCE_TREE/examples/symbianpkgrules.pri)
src/QGC.cc
View file @ fe5ec399
......@@ -24,6 +24,7 @@ This file is part of the QGROUNDCONTROL project
#include "QGC.h"
#include <qmath.h>
#include <float.h>
namespace QGC {
......@@ -36,7 +37,22 @@ quint64 groundTimeUsecs()
return static_cast<quint64>(microseconds + (time.time().msec()*1000));
}
double limitAngleToPMPI(double angle)
float limitAngleToPMPIf(float angle)
{
while (angle > (M_PI+FLT_EPSILON))
{
angle -= 2 * M_PI;
}
while (angle <= -(M_PI+FLT_EPSILON))
{
angle += 2 * M_PI;
}
return angle;
}
double limitAngleToPMPId(double angle)
{
if (angle < -M_PI)
{
......
src/QGC.h
View file @ fe5ec399
......@@ -9,6 +9,9 @@
namespace QGC
{
const static int defaultSystemId = 255;
const static int defaultComponentId = 0;
const QColor colorCyan(55, 154, 195);
const QColor colorRed(154, 20, 20);
const QColor colorGreen(20, 200, 20);
......@@ -19,7 +22,9 @@ namespace QGC
/** @brief Get the current ground time in microseconds */
quint64 groundTimeUsecs();
/** @brief Returns the angle limited to -pi - pi */
double limitAngleToPMPI(double angle);
float limitAngleToPMPIf(float angle);
/** @brief Returns the angle limited to -pi - pi */
double limitAngleToPMPId(double angle);
int applicationVersion();
const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21;
......
src/comm/MAVLinkProtocol.cc
View file @ fe5ec399
......@@ -14,8 +14,10 @@
#include <QTime>
#include <QApplication>
#include <QMessageBox>
#include <QSettings>
#include <QDesktopServices>
#include "MG.h"
//#include "MG.h"
#include "MAVLinkProtocol.h"
#include "UASInterface.h"
#include "UASManager.h"
......@@ -40,11 +42,13 @@ MAVLinkProtocol::MAVLinkProtocol() :
heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE),
m_heartbeatsEnabled(false),
m_loggingEnabled(false),
m_logfile(new QFile(QCoreApplication::applicationDirPath()+"/mavlink_packetlog.mavlink")),
m_logfile(NULL),
m_enable_version_check(true),
versionMismatchIgnore(false)
versionMismatchIgnore(false),
systemId(QGC::defaultSystemId)
{
start(QThread::LowPriority);
loadSettings();
//start(QThread::LowPriority);
// Start heartbeat timer, emitting a heartbeat at the configured rate
connect(heartbeatTimer, SIGNAL(timeout()), this, SLOT(sendHeartbeat()));
heartbeatTimer->start(1000/heartbeatRate);
......@@ -63,8 +67,53 @@ MAVLinkProtocol::MAVLinkProtocol() :
emit versionCheckChanged(m_enable_version_check);
}
void MAVLinkProtocol::loadSettings()
{
// Load defaults from settings
QSettings settings;
settings.sync();
settings.beginGroup("QGC_MAVLINK_PROTOCOL");
m_heartbeatsEnabled = settings.value("HEARTBEATS_ENABLED", m_heartbeatsEnabled).toBool();
m_loggingEnabled = settings.value("LOGGING_ENABLED", m_loggingEnabled).toBool();
m_enable_version_check = settings.value("VERION_CHECK_ENABLED", m_enable_version_check).toBool();
// Only set logfile if there is a name present in settings
if (settings.contains("LOGFILE_NAME") && m_logfile == NULL)
{
m_logfile = new QFile(settings.value("LOGFILE_NAME").toString());
}
// Only set system id if it was valid
int temp = settings.value("GCS_SYSTEM_ID", systemId).toInt();
if (temp > 0 && temp < 256)
{
systemId = temp;
}
settings.endGroup();
}
void MAVLinkProtocol::storeSettings()
{
// Store settings
QSettings settings;
settings.beginGroup("QGC_MAVLINK_PROTOCOL");
settings.setValue("HEARTBEATS_ENABLED", m_heartbeatsEnabled);
settings.setValue("LOGGING_ENABLED", m_loggingEnabled);
settings.setValue("VERION_CHECK_ENABLED", m_enable_version_check);
settings.setValue("GCS_SYSTEM_ID", systemId);
if (m_logfile)
{
// Logfile exists, store the name
settings.setValue("LOGFILE_NAME", m_logfile->fileName());
}
settings.endGroup();
settings.sync();
//qDebug() << "Storing settings!";
}
MAVLinkProtocol::~MAVLinkProtocol()
{
storeSettings();
if (m_logfile)
{
m_logfile->flush();
......@@ -82,7 +131,14 @@ void MAVLinkProtocol::run()
QString MAVLinkProtocol::getLogfileName()
{
return m_logfile->fileName();
if (m_logfile)
{
return m_logfile->fileName();
}
else
{
return QDesktopServices::storageLocation(QDesktopServices::HomeLocation) + "qgrouncontrol_packetlog.mavlink";
}
}
/**
......@@ -254,13 +310,18 @@ QString MAVLinkProtocol::getName()
/** @return System id of this application */
int MAVLinkProtocol::getSystemId()
{
return MG::SYSTEM::ID;
return systemId;
}
void MAVLinkProtocol::setSystemId(int id)
{
systemId = id;
}
/** @return Component id of this application */
int MAVLinkProtocol::getComponentId()
{
return MG::SYSTEM::COMPID;
return QGC::defaultComponentId;
}
/**
......@@ -329,21 +390,29 @@ void MAVLinkProtocol::enableLogging(bool enabled)
if (enabled)
{
if (m_logfile->isOpen())
if (m_logfile && m_logfile->isOpen())
{
m_logfile->flush();
m_logfile->close();
}
if (!m_logfile->open(QIODevice::WriteOnly | QIODevice::Append))
if (m_logfile)
{
emit protocolStatusMessage(tr("Opening MAVLink logfile for writing failed"), tr("MAVLink cannot log to the file %1, please choose a different file.").arg(m_logfile->fileName()));
qDebug() << "OPENING LOGFILE FAILED!";
if (!m_logfile->open(QIODevice::WriteOnly | QIODevice::Append))
{
emit protocolStatusMessage(tr("Opening MAVLink logfile for writing failed"), tr("MAVLink cannot log to the file %1, please choose a different file.").arg(m_logfile->fileName()));
qDebug() << "OPENING LOGFILE FAILED!";
}
}
}
else if (!enabled)
{
m_logfile->flush();
m_logfile->close();
if (m_logfile)
{
m_logfile->flush();
m_logfile->close();
delete m_logfile;
m_logfile = NULL;
}
}
m_loggingEnabled = enabled;
if (changed) emit loggingChanged(enabled);
......@@ -351,8 +420,15 @@ void MAVLinkProtocol::enableLogging(bool enabled)
void MAVLinkProtocol::setLogfileName(const QString& filename)
{
m_logfile->flush();
m_logfile->close();
if (!m_logfile)
{
m_logfile = new QFile(filename);
}
else
{
m_logfile->flush();
m_logfile->close();
}
m_logfile->setFileName(filename);
enableLogging(m_loggingEnabled);
}
......
src/comm/MAVLinkProtocol.h
View file @ fe5ec399
......@@ -40,6 +40,7 @@ This file is part of the QGROUNDCONTROL project
#include "ProtocolInterface.h"
#include "LinkInterface.h"
#include "QGCMAVLink.h"
#include "QGC.h"
/**
* @brief MAVLink micro air vehicle protocol reference implementation.
......@@ -84,6 +85,8 @@ public slots:
void sendMessage(LinkInterface* link, mavlink_message_t message);
/** @brief Set the rate at which heartbeats are emitted */
void setHeartbeatRate(int rate);
/** @brief Set the system id of this application */
void setSystemId(int id);
/** @brief Enable / disable the heartbeat emission */
void enableHeartbeats(bool enabled);
......@@ -100,6 +103,11 @@ public slots:
/** @brief Send an extra heartbeat to all connected units */
void sendHeartbeat();
/** @brief Load protocol settings */
void loadSettings();
/** @brief Store protocol settings */
void storeSettings();
protected:
QTimer* heartbeatTimer; ///< Timer to emit heartbeats
int heartbeatRate; ///< Heartbeat rate, controls the timer interval
......@@ -114,6 +122,7 @@ protected:
int currReceiveCounter;
int currLossCounter;
bool versionMismatchIgnore;
int systemId;
signals:
/** @brief Message received and directly copied via signal */
......
src/uas/UAS.cc
View file @ fe5ec399
......@@ -106,6 +106,7 @@ void UAS::writeSettings()
settings.setValue("NAME", this->name);
settings.setValue("AIRFRAME", this->airframe);
settings.setValue("AP_TYPE", this->autopilot);
settings.setValue("BATTERY_SPECS", getBatterySpecs());
settings.endGroup();
settings.sync();
}
......@@ -117,6 +118,10 @@ void UAS::readSettings()
this->name = settings.value("NAME", this->name).toString();
this->airframe = settings.value("AIRFRAME", this->airframe).toInt();
this->autopilot = settings.value("AP_TYPE", this->autopilot).toInt();
if (settings.contains("BATTERY_SPECS"))
{
setBatterySpecs(settings.value("BATTERY_SPECS").toString());
}
settings.endGroup();
}
......@@ -382,50 +387,28 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
mavlink_attitude_t attitude;
mavlink_msg_attitude_decode(&message, &attitude);
quint64 time = getUnixTime(attitude.usec);
roll = attitude.roll;
pitch = attitude.pitch;
yaw = attitude.yaw;
roll = QGC::limitAngleToPMPI(roll);
pitch = QGC::limitAngleToPMPI(pitch);
yaw = QGC::limitAngleToPMPI(yaw);
// emit valueChanged(uasId, "roll IMU", mavlink_msg_attitude_get_roll(&message), time);
// emit valueChanged(uasId, "pitch IMU", mavlink_msg_attitude_get_pitch(&message), time);
// emit valueChanged(uasId, "yaw IMU", mavlink_msg_attitude_get_yaw(&message), time);
emit valueChanged(uasId, "roll", "rad", mavlink_msg_attitude_get_roll(&message), time);
emit valueChanged(uasId, "pitch", "rad", mavlink_msg_attitude_get_pitch(&message), time);
emit valueChanged(uasId, "yaw", "rad", mavlink_msg_attitude_get_yaw(&message), time);
roll = QGC::limitAngleToPMPIf(attitude.roll);
pitch = QGC::limitAngleToPMPIf(attitude.pitch);
yaw = QGC::limitAngleToPMPIf(attitude.yaw);
emit valueChanged(uasId, "roll", "rad", roll, time);
emit valueChanged(uasId, "pitch", "rad", pitch, time);
emit valueChanged(uasId, "yaw", "rad", yaw, time);
emit valueChanged(uasId, "rollspeed", "rad/s", attitude.rollspeed, time);
emit valueChanged(uasId, "pitchspeed", "rad/s", attitude.pitchspeed, time);
emit valueChanged(uasId, "yawspeed", "rad/s", attitude.yawspeed, time);
// Emit in angles
emit valueChanged(uasId, "roll", "deg", (attitude.roll/M_PI)*180.0, time);
emit valueChanged(uasId, "pitch", "deg", (attitude.pitch/M_PI)*180.0, time);
emit valueChanged(uasId, "roll", "deg", (roll/M_PI)*180.0, time);
emit valueChanged(uasId, "pitch", "deg", (pitch/M_PI)*180.0, time);
emit valueChanged(uasId, "yaw", "deg", (yaw/M_PI)*180.0, time);
emit valueChanged(uasId, "rollspeed", "deg/s", (attitude.rollspeed/M_PI)*180.0, time);
emit valueChanged(uasId, "pitchspeed", "deg/s", (attitude.pitchspeed/M_PI)*180.0, time);
// Force yaw to 180 deg range
double yaw = ((attitude.yaw/M_PI)*180.0);
double sign = 1.0;
if (yaw < 0)
{
sign = -1.0;
yaw = -yaw;
}
while (yaw > 180.0)
{
yaw -= 180.0;
}
yaw *= sign;
emit valueChanged(uasId, "yaw", "deg", yaw, time);
emit valueChanged(uasId, "yawspeed", "deg/s", (attitude.yawspeed/M_PI)*180.0, time);
emit attitudeChanged(this, attitude.roll, attitude.pitch, attitude.yaw, time);
emit attitudeChanged(this, roll, pitch, yaw, time);
emit attitudeSpeedChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
}
break;
case MAVLINK_MSG_ID_LOCAL_POSITION:
......@@ -1774,6 +1757,33 @@ void UAS::setBattery(BatteryType type, int cells)
}
}
void UAS::setBatterySpecs(const QString& specs)
{
QString stringList = specs;
stringList = stringList.remove("V");
stringList = stringList.remove("v");
QStringList parts = stringList.split(",");
if (parts.length() == 3)
{
float temp;
bool ok;
// Get the empty voltage
temp = parts.at(0).toFloat(&ok);
if (ok) emptyVoltage = temp;
// Get the warning voltage
temp = parts.at(1).toFloat(&ok);
if (ok) warnVoltage = temp;
// Get the full voltage
temp = parts.at(2).toFloat(&ok);
if (ok) fullVoltage = temp;
}
}
QString UAS::getBatterySpecs()
{
return QString("%1V,%2V,%3V").arg(emptyVoltage).arg(warnVoltage).arg(fullVoltage);
}
int UAS::calculateTimeRemaining()
{
quint64 dt = MG::TIME::getGroundTimeNow() - startTime;
......
src/uas/UAS.h
View file @ fe5ec399
......@@ -120,9 +120,10 @@ protected: //COMMENTS FOR TEST UNIT
double thrustMax; ///< Maximum forward/up thrust of this vehicle, in Newtons
// Battery stats
double fullVoltage; ///< Voltage of the fully charged battery (100%)
double emptyVoltage; ///< Voltage of the empty battery (0%)
double startVoltage; ///< Voltage at system start
float fullVoltage; ///< Voltage of the fully charged battery (100%)
float emptyVoltage; ///< Voltage of the empty battery (0%)
float warnVoltage; ///< Voltage where QGC will start to warn about low battery
float startVoltage; ///< Voltage at system start
double currentVoltage; ///< Voltage currently measured
float lpVoltage; ///< Low-pass filtered voltage
int timeRemaining; ///< Remaining time calculated based on previous and current
......@@ -172,7 +173,6 @@ public:
/** @brief Check if vehicle is in autonomous mode */
bool isAuto();
public:
UASWaypointManager* getWaypointManager() { return &waypointManager; }
int getSystemType();
int getAutopilotType() {return autopilot;}
......@@ -188,6 +188,10 @@ public slots:
void setUASName(const QString& name);
/** @brief Executes an action **/
void setAction(MAV_ACTION action);
/** @brief Set the current battery type and voltages */
void setBatterySpecs(const QString& specs);
/** @brief Get the current battery type and specs */
QString getBatterySpecs();
/** @brief Launches the system **/
void launch();
......
src/uas/UASInterface.h
View file @ fe5ec399
......@@ -269,7 +269,10 @@ public slots:
virtual void startGyroscopeCalibration() = 0;
virtual void startPressureCalibration() = 0;
/** @brief Set the current battery type and voltages */
virtual void setBatterySpecs(const QString& specs) = 0;
/** @brief Get the current battery type and specs */
virtual QString getBatterySpecs() = 0;
protected:
QColor color;
......@@ -382,6 +385,7 @@ signals:
void thrustChanged(UASInterface*, double thrust);
void heartbeat(UASInterface* uas);
void attitudeChanged(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
void attitudeSpeedChanged(int uas, double rollspeed, double pitchspeed, double yawspeed, quint64 usec);
void attitudeThrustSetPointChanged(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
void positionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec);
void localPositionChanged(UASInterface*, double x, double y, double z, quint64 usec);
......
src/ui/MAVLinkSettingsWidget.cc
View file @ fe5ec399
......@@ -48,6 +48,7 @@ MAVLinkSettingsWidget::MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget
m_ui->heartbeatCheckBox->setChecked(protocol->heartbeatsEnabled());
m_ui->loggingCheckBox->setChecked(protocol->loggingEnabled());
m_ui->versionCheckBox->setChecked(protocol->versionCheckEnabled());
m_ui->systemIdSpinBox->setValue(protocol->getSystemId());
// Connect actions
connect(protocol, SIGNAL(heartbeatChanged(bool)), m_ui->heartbeatCheckBox, SLOT(setChecked(bool)));
......@@ -57,6 +58,7 @@ MAVLinkSettingsWidget::MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget
connect(protocol, SIGNAL(versionCheckChanged(bool)), m_ui->versionCheckBox, SLOT(setChecked(bool)));
connect(m_ui->versionCheckBox, SIGNAL(toggled(bool)), protocol, SLOT(enableVersionCheck(bool)));
connect(m_ui->logFileButton, SIGNAL(clicked()), this, SLOT(chooseLogfileName()));
connect(m_ui->systemIdSpinBox, SIGNAL(valueChanged(int)), protocol, SLOT(setSystemId(int)));
// Update values
m_ui->versionLabel->setText(tr("MAVLINK_VERSION: %1").arg(protocol->getVersion()));
......
src/ui/MAVLinkSettingsWidget.ui
View file @ fe5ec399
......@@ -6,29 +6,29 @@
<rect>
<x>0</x>
<y>0</y>
<width>361</width>
<height>145</height>
<width>431</width>
<height>243</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="1,100,1">
<item row="0" column="0" colspan="3">
<item row="1" column="0" colspan="3">
<widget class="QCheckBox" name="heartbeatCheckBox">
<property name="text">
<string>Emit heartbeat</string>
</property>
</widget>
</item>
<item row="1" column="0" colspan="3">
<item row="2" column="0" colspan="3">
<widget class="QCheckBox" name="loggingCheckBox">
<property name="text">
<string>Log all MAVLink packets</string>
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<spacer name="logFileSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
......@@ -44,14 +44,14 @@
</property>
</spacer>
</item>
<item row="4" column="0" colspan="3">
<item row="5" column="0" colspan="3">
<widget class="QCheckBox" name="versionCheckBox">
<property name="text">
<string>Only accept MAVs with same protocol version</string>
</property>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<spacer name="versionSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
......@@ -64,27 +64,56 @@
</property>
</spacer>
</item>
<item row="5" column="1" colspan="2">
<item row="6" column="1" colspan="2">
<widget class="QLabel" name="versionLabel">
<property name="text">
<string>MAVLINK_VERSION: </string>
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QLabel" name="logFileLabel">
<property name="text">
<string>Logfile name</string>
</property>
</widget>
</item>
<item row="3" column="2">
<item row="4" column="2">
<widget class="QPushButton" name="logFileButton">
<property name="text">
<string>Select..</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QSpinBox" name="systemIdSpinBox">
<property name="toolTip">
<string>Set the groundstation number</string>
</property>
<property name="statusTip">
<string>Set the groundstation number</string>
</property>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>255</number>
</property>
</widget>
</item>
<item row="0" column="0" colspan="2">
<widget class="QLabel" name="systemIdLabel">
<property name="toolTip">
<string>The system ID is the number the MAV associates with this computer</string>
</property>
<property name="statusTip">
<string>The system ID is the number the MAV associates with this computer</string>
</property>
<property name="text">
<string>Groundstation MAVLink System ID</string>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
......
src/ui/MainWindow.cc
View file @ fe5ec399
......@@ -159,7 +159,7 @@ MainWindow::MainWindow(QWidget *parent):
MainWindow::~MainWindow()
{
delete mavlink;
}
/**
......@@ -896,6 +896,7 @@ void MainWindow::closeEvent(QCloseEvent *event)
settings.setValue(getWindowGeometryKey(), saveGeometry());
//settings.setValue("windowState", saveState());
aboutToCloseFlag = true;
mavlink->storeSettings();
// Save the last current view in any case
settings.setValue("CURRENT_VIEW", currentView);
// Save the current window state, but only if a system is connected (else no real number of widgets would be present)
......
src/ui/uas/UASView.cc
View file @ fe5ec399
......@@ -68,6 +68,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
renameAction(new QAction("Rename..", this)),
selectAction(new QAction("Control this system", this )),
selectAirframeAction(new QAction("Choose Airframe", this)),
setBatterySpecsAction(new QAction("Set Battery Options", this)),
m_ui(new Ui::UASView)
{
m_ui->setupUi(this);
......@@ -106,6 +107,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
connect(renameAction, SIGNAL(triggered()), this, SLOT(rename()));
connect(selectAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
connect(selectAirframeAction, SIGNAL(triggered()), this, SLOT(selectAirframe()));
connect(setBatterySpecsAction, SIGNAL(triggered()), this, SLOT(setBatterySpecs()));
connect(uas, SIGNAL(systemRemoved()), this, SLOT(deleteLater()));
// Name changes
......@@ -423,9 +425,23 @@ void UASView::contextMenuEvent (QContextMenuEvent* event)
menu.addAction(removeAction);
}
menu.addAction(selectAirframeAction);
menu.addAction(setBatterySpecsAction);
menu.exec(event->globalPos());
}
void UASView::setBatterySpecs()
{
if (uas)
{
bool ok;
QString newName = QInputDialog::getText(this, tr("Set Battery Specifications for %1").arg(uas->getUASName()),
tr("Specs: (empty,warn,full), e.g. (9V,9.5V,12.6V)"), QLineEdit::Normal,
uas->getBatterySpecs(), &ok);
if (ok && !newName.isEmpty()) uas->setBatterySpecs(newName);
}
}
void UASView::rename()
{
if (uas)
......
src/ui/uas/UASView.h
View file @ fe5ec399
......@@ -84,6 +84,8 @@ public slots:
void rename();
/** @brief Select airframe for this vehicle */
void selectAirframe();
/** @brief Select the battery type */
void setBatterySpecs();
protected:
void changeEvent(QEvent *e);
......@@ -114,6 +116,7 @@ protected:
QAction* renameAction;
QAction* selectAction;
QAction* selectAirframeAction;
QAction* setBatterySpecsAction;
static const int updateInterval = 300;
......
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