Merge branch 'master' of git@pixhawk.ethz.ch:qgroundcontrol

src/Waypoint.cc

@@ -32,15 +32,17 @@ This file is part of the PIXHAWK project
 
 #include "Waypoint.h"
 
-Waypoint::Waypoint(quint16 id, float x, float y, float z, float yaw, bool autocontinue, bool current)
+Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _autocontinue, bool _current, float _orbit, int _holdTime)
+: id(_id),
+  x(_x),
+  y(_y),
+  z(_z),
+  yaw(_yaw),
+  autocontinue(_autocontinue),
+  current(_current),
+  orbit(_orbit),
+  holdTime(_holdTime)
 {
-    this->id = id;
-    this->x = x;
-    this->y = y;
-    this->z = z;
-    this->yaw = yaw;
-    this->autocontinue = autocontinue;
-    this->current = current;
 }
 
 Waypoint::~Waypoint()
@@ -83,6 +85,16 @@ void Waypoint::setCurrent(bool current)
     this->current = current;
 }
 
+void Waypoint::setOrbit(float orbit)
+{
+    this->orbit = orbit;
+}
+
+void Waypoint::setHoldTime(int holdTime)
+{
+    this->holdTime = holdTime;
+}
+
 void Waypoint::setX(double x)
 {
     this->x = x;
@@ -102,3 +114,8 @@ void Waypoint::setYaw(double yaw)
 {
     this->yaw = yaw;
 }
+
+void Waypoint::setOrbit(double orbit)
+{
+    this->orbit = orbit;
+}

src/Waypoint.h

@@ -41,7 +41,7 @@ class Waypoint : public QObject
     Q_OBJECT
 
 public:
-    Waypoint(quint16 id = 0, float x = 0.0f, float y = 0.0f, float z = 0.0f, float yaw = 0.0f, bool autocontinue = false, bool current = false);
+    Waypoint(quint16 id = 0, float x = 0.0f, float y = 0.0f, float z = 0.0f, float yaw = 0.0f, bool autocontinue = false, bool current = false, float orbit = 0.1f, int holdTime = 2000);
     ~Waypoint();
 
     quint16 getId() const { return id; }
@@ -51,6 +51,8 @@ public:
     float getYaw() const { return yaw; }
     bool getAutoContinue() const { return autocontinue; }
     bool getCurrent() const { return current; }
+    float getOrbit() const { return orbit; }
+    float getHoldTime() const { return holdTime; }
 
 private:
     quint16 id;
@@ -60,6 +62,8 @@ private:
     float yaw;
     bool autocontinue;
     bool current;
+    float orbit;
+    int holdTime;
 
 public slots:
     void setId(quint16 id);
@@ -69,12 +73,15 @@ public slots:
     void setYaw(float yaw);
     void setAutocontinue(bool autoContinue);
     void setCurrent(bool current);
+    void setOrbit(float orbit);
+    void setHoldTime(int holdTime);
 
     //for QDoubleSpin
     void setX(double x);
     void setY(double y);
     void setZ(double z);
     void setYaw(double yaw);
+    void setOrbit(double orbit);
 };
 
 #endif // WAYPOINT_H

src/uas/UASWaypointManager.cc

@@ -94,7 +94,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
         if(wp->seq == current_wp_id)
         {
             //update the UI FIXME
-            emit waypointUpdated(uas.getUASID(), wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current);
+            emit waypointUpdated(uas.getUASID(), wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->orbit, wp->hold_time);
 
             //get next waypoint
             current_wp_id++;
@@ -237,7 +237,8 @@ void UASWaypointManager::sendWaypoints(const QVector<Waypoint*> &list)
 
                 cur_d->autocontinue = cur_s->getAutoContinue();
                 cur_d->current = cur_s->getCurrent();
-                cur_d->orbit = 0.1f;    //FIXME
+                cur_d->orbit = cur_s->getOrbit();
+                cur_d->hold_time = cur_s->getHoldTime();
                 cur_d->type = 1;        //FIXME
                 cur_d->seq = i;
                 cur_d->x = cur_s->getX();

src/uas/UASWaypointManager.h

@@ -71,7 +71,7 @@ public slots:
     void sendWaypoints(const QVector<Waypoint *> &list);
 
 signals:
-    void waypointUpdated(int,quint16,double,double,double,double,bool,bool);    ///< Adds a waypoint to the waypoint list widget
+    void waypointUpdated(int,quint16,double,double,double,double,bool,bool,double,int);    ///< Adds a waypoint to the waypoint list widget
     void currentWaypointChanged(quint16);                                       ///< emits the new current waypoint sequence number
     void updateStatusString(const QString &);                                   ///< emits the current status string
 

src/ui/HSIDisplay.cc

@@ -450,7 +450,7 @@ void HSIDisplay::updatePositionSetpoints(int uasid, float xDesired, float yDesir
     bodyYawSet = yawDesired;
     mavInitialized = true;
 
-    qDebug() << "Received setpoint at x: " << x << "metric y:" << y;
+//    qDebug() << "Received setpoint at x: " << x << "metric y:" << y;
 //    posXSet = xDesired;
 //    posYSet = yDesired;
 //    posZSet = zDesired;

src/ui/WaypointList.cc

@@ -96,7 +96,7 @@ void WaypointList::setUAS(UASInterface* uas)
         this->uas = uas;
 
         connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)),                                this, SLOT(updateStatusLabel(const QString &)));
-        connect(&uas->getWaypointManager(), SIGNAL(waypointUpdated(int,quint16,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,quint16,double,double,double,double,bool,bool)));
+        connect(&uas->getWaypointManager(), SIGNAL(waypointUpdated(int,quint16,double,double,double,double,bool,bool,double,int)), this, SLOT(setWaypoint(int,quint16,double,double,double,double,bool,bool,double,int)));
         connect(&uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)),                                    this, SLOT(currentWaypointChanged(quint16)));
 
         connect(this, SIGNAL(sendWaypoints(const QVector<Waypoint*> &)),    &uas->getWaypointManager(), SLOT(sendWaypoints(const QVector<Waypoint*> &)));
@@ -105,11 +105,11 @@ void WaypointList::setUAS(UASInterface* uas)
     }
 }
 
-void WaypointList::setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current)
+void WaypointList::setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current, double orbit, int holdTime)
 {
     if (uasId == this->uas->getUASID())
     {
-        Waypoint* wp = new Waypoint(id, x, y, z, yaw, autocontinue, current);
+        Waypoint* wp = new Waypoint(id, x, y, z, yaw, autocontinue, current, orbit, holdTime);
         addWaypoint(wp);
     }
 }
@@ -168,11 +168,11 @@ void WaypointList::add()
     {
         if (waypoints.size() > 0)
         {
-            addWaypoint(new Waypoint(waypoints.size(), 1.1, 1.1, -0.6, 0.0, true, false));
+            addWaypoint(new Waypoint(waypoints.size(), 1.1, 1.1, -0.6, 0.0, true, false, 0.1, 2000));
         }
         else
         {
-            addWaypoint(new Waypoint(waypoints.size(), 0.0, 0.0, -0.0, 0.0, true, true));
+            addWaypoint(new Waypoint(waypoints.size(), 1.1, 1.1, -0.6, 0.0, true, true, 0.1, 2000));
         }
     }
 }
@@ -302,7 +302,7 @@ void WaypointList::saveWaypoints()
     for (int i = 0; i < waypoints.size(); i++)
     {
         Waypoint* wp = waypoints[i];
-        in << "~" << wp->getId() << "~" << wp->getX() << "~" << wp->getY()  << "~" << wp->getZ()  << "~" << wp->getYaw()  << "~" << wp->getAutoContinue() << "~" << wp->getCurrent() << "\n";
+        in << "\t" << wp->getId() << "\t" << wp->getX() << "\t" << wp->getY()  << "\t" << wp->getZ()  << "\t" << wp->getYaw()  << "\t" << wp->getAutoContinue() << "\t" << wp->getCurrent() << wp->getOrbit() << "\t" << wp->getHoldTime() << "\n";
         in.flush();
     }
     file.close();
@@ -323,9 +323,9 @@ void WaypointList::loadWaypoints()
     QTextStream in(&file);
     while (!in.atEnd())
     {
-        QStringList wpParams = in.readLine().split("~");
+        QStringList wpParams = in.readLine().split("\t");
         if (wpParams.size() == 8)
-            addWaypoint(new Waypoint(wpParams[1].toInt(), wpParams[2].toDouble(), wpParams[3].toDouble(), wpParams[4].toDouble(), wpParams[5].toDouble(), (wpParams[6].toInt() == 1 ? true : false), (wpParams[7].toInt() == 1 ? true : false)));
+            addWaypoint(new Waypoint(wpParams[1].toInt(), wpParams[2].toDouble(), wpParams[3].toDouble(), wpParams[4].toDouble(), wpParams[5].toDouble(), (wpParams[6].toInt() == 1 ? true : false), (wpParams[7].toInt() == 1 ? true : false), wpParams[8].toDouble(), wpParams[9].toInt()));
     }
     file.close();
 }

src/ui/WaypointList.h

@@ -72,7 +72,7 @@ public slots:
     void currentWaypointChanged(quint16 seq);
 
     //To be moved to UASWaypointManager (?)
-    void setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current);
+    void setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current, double orbit, int holdTime);
     void addWaypoint(Waypoint* wp);
     void removeWaypoint(Waypoint* wp);
     void waypointReached(UASInterface* uas, quint16 waypointId);

src/ui/WaypointView.cc

@@ -54,7 +54,9 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
     m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
     m_ui->selectedBox->setChecked(wp->getCurrent());
     m_ui->autoContinue->setChecked(wp->getAutoContinue());
-    m_ui->idLabel->setText(QString("%1").arg(wp->getId()));
+    m_ui->idLabel->setText(QString("%1").arg(wp->getId()));\
+    m_ui->orbitSpinBox->setValue(wp->getOrbit());
+    m_ui->holdTimeSpinBox->setValue(wp->getHoldTime());
 
     connect(m_ui->xSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
     connect(m_ui->ySpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
@@ -70,6 +72,9 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
 
     connect(m_ui->autoContinue, SIGNAL(stateChanged(int)), this, SLOT(changedAutoContinue(int)));
     connect(m_ui->selectedBox, SIGNAL(stateChanged(int)), this, SLOT(changedCurrent(int)));
+
+    connect(m_ui->orbitSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setOrbit(double)));
+    connect(m_ui->holdTimeSpinBox, SIGNAL(valueChanged(int)), wp, SLOT(setHoldTime(int)));
 }
 
 void WaypointView::setYaw(int yawDegree)

src/ui/WaypointView.ui

@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>595</width>
+    <width>763</width>
     <height>40</height>
    </rect>
   </property>
@@ -155,7 +155,7 @@ QProgressBar::chunk#thrustBar {
      <property name="title">
       <string/>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,5,0,0,0,0,0,0,0,0">
+     <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,0,0,0,0,0,0,0,0,0,0,0">
       <property name="spacing">
        <number>2</number>
       </property>
@@ -216,13 +216,13 @@ QProgressBar::chunk#thrustBar {
          <string>Position X coordinate</string>
         </property>
         <property name="suffix">
-         <string>m</string>
+         <string> m</string>
         </property>
         <property name="minimum">
-         <double>-100000.000000000000000</double>
+         <double>-1000.000000000000000</double>
         </property>
         <property name="maximum">
-         <double>100000.000000000000000</double>
+         <double>1000.000000000000000</double>
         </property>
         <property name="singleStep">
          <double>0.050000000000000</double>
@@ -235,13 +235,13 @@ QProgressBar::chunk#thrustBar {
          <string>Position Y coordinate</string>
         </property>
         <property name="suffix">
-         <string>m</string>
+         <string> m</string>
         </property>
         <property name="minimum">
-         <double>-100000.000000000000000</double>
+         <double>-1000.000000000000000</double>
         </property>
         <property name="maximum">
-         <double>100000.000000000000000</double>
+         <double>1000.000000000000000</double>
         </property>
         <property name="singleStep">
          <double>0.050000000000000</double>
@@ -257,10 +257,10 @@ QProgressBar::chunk#thrustBar {
          <string>Position Z coordinate</string>
         </property>
         <property name="suffix">
-         <string>m</string>
+         <string> m</string>
         </property>
         <property name="minimum">
-         <double>-100000.000000000000000</double>
+         <double>-1000.000000000000000</double>
         </property>
         <property name="maximum">
          <double>0.000000000000000</double>
@@ -284,6 +284,47 @@ QProgressBar::chunk#thrustBar {
         <property name="maximum">
          <number>359</number>
         </property>
+        <property name="singleStep">
+         <number>10</number>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QDoubleSpinBox" name="orbitSpinBox">
+        <property name="toolTip">
+         <string>Orbit radius</string>
+        </property>
+        <property name="suffix">
+         <string> m</string>
+        </property>
+        <property name="minimum">
+         <double>0.050000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>1.000000000000000</double>
+        </property>
+        <property name="singleStep">
+         <double>0.050000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QSpinBox" name="holdTimeSpinBox">
+        <property name="statusTip">
+         <string>Time in milliseconds that the MAV has to stay inside the orbit before advancing</string>
+        </property>
+        <property name="suffix">
+         <string> ms</string>
+        </property>
+        <property name="maximum">
+         <number>60000</number>
+        </property>
+        <property name="singleStep">
+         <number>500</number>
+        </property>
+        <property name="value">
+         <number>0</number>
+        </property>
        </widget>
       </item>
       <item>