Fixed a few v10 porting issues with PIXHAWK messages, improved GPS display

src/comm/LinkInterface.cpp

@@ -1,6 +1,6 @@
-#include "LinkInterface.h"
+//#include "LinkInterface.h"
 
-LinkInterface::~LinkInterface()
-{
-	emit this->deleteLink(this);
-}
+//LinkInterface::~LinkInterface()
+//{
+
+//}

src/comm/LinkInterface.h

@@ -44,7 +44,7 @@ class LinkInterface : public QThread
     Q_OBJECT
 public:
     LinkInterface(QObject* parent = 0) : QThread(parent) {}
-    virtual ~LinkInterface() {}
+    virtual ~LinkInterface() { emit this->deleteLink(this); }
 
     /* Connection management */
 

src/comm/MAVLinkSimulationLink.cc

@@ -560,20 +560,6 @@ void MAVLinkSimulationLink::mainloop()
 
         // Send controller states
 
-
-#ifdef MAVLINK_ENABLED_PIXHAWK
-        uint8_t attControl = 1;
-        uint8_t posXYControl = 1;
-        uint8_t posZControl = 0;
-        uint8_t posYawControl = 1;
-
-        uint8_t gpsLock = 2;
-        uint8_t visLock = 3;
-        uint8_t ahrsHealth = 200;
-        uint8_t posLock = qMax(gpsLock, visLock);
-        messageSize = mavlink_msg_control_status_pack(systemId, componentId, &msg, posLock, visLock, gpsLock, ahrsHealth, attControl, posXYControl, posZControl, posYawControl);
-#endif
-
         bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
         memcpy(stream+streampointer, buffer, bufferlength);
         streampointer += bufferlength;

src/comm/MAVLinkSimulationMAV.cc

@@ -206,21 +206,6 @@ void MAVLinkSimulationMAV::mainloop()
         // The message container to be used for sending
         mavlink_message_t ret;
 
-#ifdef MAVLINK_ENABLED_PIXHAWK
-        // Send which controllers are active
-        mavlink_control_status_t control_status;
-        control_status.control_att = 1;
-        control_status.control_pos_xy = 1;
-        control_status.control_pos_yaw = 1;
-        control_status.control_pos_z = 1;
-        control_status.gps_fix = 2;        // 2D GPS fix
-        control_status.position_fix = 3;   // 3D fix from GPS + barometric pressure
-        control_status.vision_fix = 0;     // no fix from vision system
-        control_status.ahrs_health = 230;
-        mavlink_msg_control_status_encode(systemid, MAV_COMP_ID_IMU, &ret, &control_status);
-        link->sendMAVLinkMessage(&ret);
-#endif //MAVLINK_ENABLED_PIXHAWK
-
         // Send actual controller outputs
         // This message just shows the direction
         // and magnitude of the control output

src/comm/QGCFlightGearLink.cc

@@ -346,7 +346,7 @@ QString aircraft("Rascal110-JSBSim");
 #ifdef Q_OS_MACX
 processFgfs = "/Applications/FlightGear.app/Contents/Resources/fgfs";
 fgRoot = "--fg-root=/Applications/FlightGear.app/Contents/Resources/data";
-fgScenery = "--fg-scenery=\"/Applications/FlightGear.app/Contents/Resources/data/Scenery\"";
+fgScenery = "--fg-scenery=/Applications/FlightGear.app/Contents/Resources/data/Scenery";
 #endif
 
 #ifdef Q_OS_WIN32
@@ -359,8 +359,8 @@ processFgfs = "fgfs";
 fgRoot = "--fg-root=/usr/share/flightgear/data";
 #endif
 
-//processCall << fgRoot;
-//processCall << fgScenery;
+processCall << fgRoot;
+processCall << fgScenery;
 processCall << "--generic=socket,out,50,127.0.0.1,49005,udp,ardupilot";
 processCall << "--generic=socket,in,50,127.0.0.1,49000,udp,ardupilot";
 processCall << "--in-air";

src/uas/PxQuadMAV.cc

@@ -123,18 +123,6 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
         }
         break;
-        case MAVLINK_MSG_ID_AUX_STATUS: {
-            mavlink_aux_status_t status;
-            mavlink_msg_aux_status_decode(&message, &status);
-            emit loadChanged(this, status.load/10.0f);
-            emit errCountChanged(uasId, "IMU", "I2C0", status.i2c0_err_count);
-            emit errCountChanged(uasId, "IMU", "I2C1", status.i2c1_err_count);
-            emit errCountChanged(uasId, "IMU", "SPI0", status.spi0_err_count);
-            emit errCountChanged(uasId, "IMU", "SPI1", status.spi1_err_count);
-            emit errCountChanged(uasId, "IMU", "UART", status.uart_total_err_count);
-            emit valueChanged(uasId, "Load", "%", ((float)status.load)/10.0f, getUnixTime());
-        }
-        break;
         default:
             // Let UAS handle the default message set
             UAS::receiveMessage(link, message);

src/uas/UAS.cc

@@ -294,7 +294,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             else if (modechanged || statechanged)
             {
                 GAudioOutput::instance()->stopEmergency();
-                GAudioOutput::instance()->say(audiostring);
+                GAudioOutput::instance()->say(audiostring.toLower());
             }
 
             if (state.system_status == MAV_STATE_POWEROFF)
@@ -345,24 +345,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             }
             break;
 
-#ifdef MAVLINK_ENABLED_PIXHAWK
-        case MAVLINK_MSG_ID_CONTROL_STATUS:
-            {
-                mavlink_control_status_t status;
-                mavlink_msg_control_status_decode(&message, &status);
-                // Emit control status vector
-                emit attitudeControlEnabled(static_cast<bool>(status.control_att));
-                emit positionXYControlEnabled(static_cast<bool>(status.control_pos_xy));
-                emit positionZControlEnabled(static_cast<bool>(status.control_pos_z));
-                emit positionYawControlEnabled(static_cast<bool>(status.control_pos_yaw));
-
-                // Emit localization status vector
-                emit localizationChanged(this, status.position_fix);
-                emit visionLocalizationChanged(this, status.vision_fix);
-                emit gpsLocalizationChanged(this, status.gps_fix);
-            }
-            break;
-#endif // PIXHAWK
         case MAVLINK_MSG_ID_RAW_IMU:
             {
                 mavlink_raw_imu_t raw;
@@ -625,14 +607,16 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 // quint64 time = getUnixTime(pos.usec);
                 quint64 time = getUnixTime(pos.usec);
 
-                emit valueChanged(uasId, "latitude", "deg", pos.lat/(double)1E7, time);
-                emit valueChanged(uasId, "longitude", "deg", pos.lon/(double)1E7, time);
-                emit valueChanged(uasId, "eph", "m", pos.eph/(double)1E2, time);
-                emit valueChanged(uasId, "epv", "m", pos.eph/(double)1E2, time);
+                emit valueChanged(uasId, "gps latitude", "deg", pos.lat/(double)1E7, time);
+                emit valueChanged(uasId, "gps longitude", "deg", pos.lon/(double)1E7, time);
+                emit valueChanged(uasId, "gps speed", "m/s", pos.vel, time);
+                emit valueChanged(uasId, "gps eph", "m", pos.eph/(double)1E2, time);
+                emit valueChanged(uasId, "gps epv", "m", pos.eph/(double)1E2, time);
+                emit valueChanged(uasId, "gps fix", "raw", pos.fix_type, time);
+                emit valueChanged(uasId, "gps heading", "raw", pos.hdg, time);
 
                 if (pos.fix_type > 2) {
                     emit globalPositionChanged(this, pos.lat/(double)1E7, pos.lon/(double)1E7, pos.alt/1000.0, time);
-                    emit valueChanged(uasId, "gps speed", "m/s", pos.vel, time);
                     latitude = pos.lat/(double)1E7;
                     longitude = pos.lon/(double)1E7;
                     altitude = pos.alt/1000.0;
@@ -2550,7 +2534,7 @@ void UAS::startLowBattAlarm()
 {
     if (!lowBattAlarm)
     {
-        GAudioOutput::instance()->alert(tr("SYSTEM %1 HAS LOW BATTERY").arg(getUASName()));
+        GAudioOutput::instance()->alert(tr("system %1 has low battery").arg(getUASName()));
         QTimer::singleShot(2500, GAudioOutput::instance(), SLOT(startEmergency()));
         lowBattAlarm = true;
     }