diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 2330c42..9b8ede2 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -39,16 +39,37 @@
*/
UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
uasId(id),
- startTime(QGC::groundTimeMilliseconds()),
- commStatus(COMM_DISCONNECTED),
- name(""),
- autopilot(-1),
links(new QList<LinkInterface*>()),
unknownPackets(),
mavlink(protocol),
- waypointManager(this),
+ commStatus(COMM_DISCONNECTED),
+ receiveDropRate(0),
+ sendDropRate(0),
+ statusTimeout(new QTimer(this)),
+
+ name(""),
+ type(MAV_TYPE_GENERIC),
+ airframe(QGC_AIRFRAME_GENERIC),
+ autopilot(-1),
+ systemIsArmed(false),
+ mode(-1),
+ // custom_mode not initialized
+ navMode(-1),
+ status(-1),
+ // shortModeText not initialized
+ // shortStateText not initialized
+
+ // actuatorValues not initialized
+ // actuatorNames not initialized
+ // motorValues not initialized
+ // motorNames mnot initialized
thrustSum(0),
thrustMax(10),
+
+ // batteryType not initialized
+ // cells not initialized
+ // fullVoltage not initialized
+ // emptyVoltage not initialized
startVoltage(-1.0f),
tickVoltage(10.5f),
lastTickVoltageValue(13.0f),
@@ -59,10 +80,13 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
lpVoltage(12.0f),
currentCurrent(0.4f),
batteryRemainingEstimateEnabled(true),
- mode(-1),
- status(-1),
- navMode(-1),
+ // chargeLevel not initialized
+ // timeRemaining not initialized
+ lowBattAlarm(false),
+
+ startTime(QGC::groundTimeMilliseconds()),
onboardTimeOffset(0),
+
controlRollManual(true),
controlPitchManual(true),
controlYawManual(true),
@@ -71,10 +95,11 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
manualPitchAngle(0),
manualYawAngle(0),
manualThrust(0),
- receiveDropRate(0),
- sendDropRate(0),
- lowBattAlarm(false),
+
positionLock(false),
+ isLocalPositionKnown(false),
+ isGlobalPositionKnown(false),
+
localX(0.0),
localY(0.0),
localZ(0.0),
@@ -82,7 +107,12 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
latitude_gps(0.0),
longitude_gps(0.0),
altitude_gps(0.0),
- statusTimeout(new QTimer(this)),
+ nedPosGlobalOffset(0,0,0),
+ nedAttGlobalOffset(0,0,0),
+
+
+ waypointManager(this),
+
#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
receivedOverlayTimestamp(0.0),
receivedObstacleListTimestamp(0.0),
@@ -90,18 +120,17 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
receivedPointCloudTimestamp(0.0),
receivedRGBDImageTimestamp(0.0),
#endif
- paramsOnceRequested(false),
- airframe(QGC_AIRFRAME_GENERIC),
+
attitudeKnown(false),
- paramManager(NULL),
attitudeStamped(false),
lastAttitude(0),
+
+ paramsOnceRequested(false),
+ paramManager(NULL),
+
simulation(0),
- isLocalPositionKnown(false),
- isGlobalPositionKnown(false),
- systemIsArmed(false),
- nedPosGlobalOffset(0,0,0),
- nedAttGlobalOffset(0,0,0),
+
+ // The protected members.
connectionLost(false),
lastVoltageWarning(0),
lastNonNullTime(0),
@@ -110,7 +139,6 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
sensorHil(false),
lastSendTimeGPS(0),
lastSendTimeSensors(0)
-
{
for (unsigned int i = 0; i<255;++i)
{
@@ -124,7 +152,6 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
statusTimeout->start(500);
readSettings();
- type = MAV_TYPE_GENERIC;
// Initial signals
emit disarmed();
emit armingChanged(false);
@@ -646,7 +673,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
attitudeKnown = true;
emit attitudeChanged(this, getRoll(), getPitch(), getYaw(), time);
- emit attitudeSpeedChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
+ emit attitudeRotationRatesChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
}
}
break;
@@ -685,15 +712,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
// dongfang: For APM, this altitude is the mix altitude[m]
- emit altitudeChanged(uasId, hud.alt);
- // dongfang: For APM, airspeed is airspeed or AHRS estimated airspeed
- // dongfang: For APM, climb rate is barometric
- // dongfang: The signal has no parameter for groundspeed.
- // dongfang: The signal is emitted also from other places,
- // such as GPS xyz speeds. This will cause a mix of signals
- // from different sensors, which will probably not be so good.
- float weAlsoWantGroundSpeedPlease = hud.groundspeed;
- emit speedChanged(this, hud.airspeed, 0.0f, hud.climb, time);
+ emit altitudeChanged(this, PRIMARY_ALTITUDE, hud.alt, time);
+
+ // This makes the lateral velocity zero when it might really not be, problematic.
+ // emit speedChanged(this, PRIMARY_SPEED, hud.airspeed, 0.0f, hud.climb, time);
+ emit speedChanged(this, PRIMARY_SPEED, hud.airspeed, time);
+ emit speedChanged(this, GROUNDSPEED_BY_UAV, hud.groundspeed, time);
+ emit climbRateChanged(this, BAROMETRIC_ALTITUDE, hud.groundspeed, time);
}
break;
case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
@@ -707,7 +732,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
// Emit position always with component ID
emit localPositionChanged(this, message.compid, pos.x, pos.y, pos.z, time);
-
if (!wrongComponent)
{
localX = pos.x;
@@ -717,7 +741,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
// Emit
emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
- emit speedChanged(this, pos.vx, pos.vy, pos.vz, time);
+ emit velocityChanged(this, MAV_FRAME_LOCAL_NED, pos.vx, pos.vy, pos.vz, time);
// Set internal state
if (!positionLock) {
@@ -745,18 +769,29 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
mavlink_global_position_int_t pos;
mavlink_msg_global_position_int_decode(&message, &pos);
quint64 time = getUnixTime();
- //latitude = pos.lat/(double)1E7;
setLatitude(pos.lat/(double)1E7);
- //longitude = pos.lon/(double)1E7;
setLongitude(pos.lon/(double)1E7);
- //altitude = pos.alt/1000.0;
+
+ // dongfang: Beware. There are 2 altitudes in this message; neither is the primary.
+ // pos.alt is GPS altitude and pos.relative_alt is above-home altitude.
+ // It would be nice if APM could be modified to present the primary (mix) alt. instead
+ // of the GPS alt. in this message.
setAltitude(pos.alt/1000.0);
+
globalEstimatorActive = true;
+
speedX = pos.vx/100.0;
speedY = pos.vy/100.0;
speedZ = pos.vz/100.0;
+
emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitude(), time);
- emit speedChanged(this, speedX, speedY, speedZ, time);
+ // dongfang: The altitude is GPS altitude. Bugger. It needs to be changed to primary.
+ emit altitudeChanged(this, GPS_ALTITUDE, getAltitude(), time);
+ // We had some frame mess here, global and local axes were mixed.
+ emit velocityChanged(this, MAV_FRAME_GLOBAL, speedX, speedY, speedZ, time);
+
+ double groundspeed = qSqrt(speedX*speedX+speedY*speedY);
+ emit speedChanged(this, GROUNDSPEED_BY_GPS, groundspeed, time);
// Set internal state
if (!positionLock)
@@ -797,14 +832,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
longitude_gps = pos.lon/(double)1E7;
altitude_gps = pos.alt/1000.0;
+ // If no GLOBAL_POSITION_INT messages ever received, use these raw GPS values instead.
if (!globalEstimatorActive) {
- //latitude = latitude_gps;
setLatitude(latitude_gps);
- //longitude = longitude_gps;
setLongitude(longitude_gps);
- //altitude = altitude_gps;
setAltitude(altitude_gps);
emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitude(), time);
+ emit altitudeChanged(this, GPS_ALTITUDE, getAltitude(), time);
}
positionLock = true;
@@ -814,10 +848,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
float vel = pos.vel/100.0f;
+ // If no GLOBAL_POSITION_INT messages ever received, use these raw GPS values instead.
if (!globalEstimatorActive) {
if ((vel < 1000000) && !isnan(vel) && !isinf(vel))
{
- emit speedChanged(this, vel, 0.0, 0.0, time);
+ // TODO: Other sources also? Actually this condition does not quite belong here.
+ emit speedChanged(this, GROUNDSPEED_BY_GPS, vel, time);
}
else
{
@@ -1360,6 +1396,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
mavlink_nav_controller_output_t p;
mavlink_msg_nav_controller_output_decode(&message,&p);
setDistToWaypoint(p.wp_dist);
+ setBearingToWaypoint(p.nav_bearing);
+ //setAltitudeError(p.alt_error);
+ //setSpeedError(p.aspd_error);
+ //setCrosstrackingError(p.xtrack_error);
+ emit navigationControllerErrorsChanged(this, p.alt_error, p.aspd_error, p.xtrack_error);
}
break;
case MAVLINK_MSG_ID_RAW_PRESSURE:
@@ -1491,7 +1532,7 @@ void UAS::receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<googl
/**
* Set the home position of the UAS.
* @param lat The latitude fo the home position
-* @param lon The longitute of the home position
+* @param lon The longitude of the home position
* @param alt The altitude of the home position
*/
void UAS::setHomePosition(double lat, double lon, double alt)
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index 8af5082..bab3b65 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -56,16 +56,6 @@ public:
UAS(MAVLinkProtocol* protocol, int id = 0);
~UAS();
- enum BatteryType
- {
- NICD = 0,
- NIMH = 1,
- LIION = 2,
- LIPOLY = 3,
- LIFE = 4,
- AGZN = 5
- }; ///< The type of battery used
-
static const int lipoFull = 4.2f; ///< 100% charged voltage
static const int lipoEmpty = 3.5f; ///< Discharged voltage
@@ -105,7 +95,6 @@ public:
Q_PROPERTY(double localZ READ getLocalZ WRITE setLocalZ NOTIFY localZChanged)
Q_PROPERTY(double latitude READ getLatitude WRITE setLatitude NOTIFY latitudeChanged)
Q_PROPERTY(double longitude READ getLongitude WRITE setLongitude NOTIFY longitudeChanged)
- Q_PROPERTY(double altitude READ getAltitude WRITE setAltitude NOTIFY altitudeChanged)
Q_PROPERTY(double satelliteCount READ getSatelliteCount WRITE setSatelliteCount NOTIFY satelliteCountChanged)
Q_PROPERTY(bool isLocalPositionKnown READ localPositionKnown)
Q_PROPERTY(bool isGlobalPositionKnown READ globalPositionKnown)
@@ -113,6 +102,11 @@ public:
Q_PROPERTY(double pitch READ getPitch WRITE setPitch NOTIFY pitchChanged)
Q_PROPERTY(double yaw READ getYaw WRITE setYaw NOTIFY yawChanged)
Q_PROPERTY(double distToWaypoint READ getDistToWaypoint WRITE setDistToWaypoint NOTIFY distToWaypointChanged)
+ Q_PROPERTY(double bearingToWaypoint READ getBearingToWaypoint WRITE setBearingToWaypoint NOTIFY bearingToWaypointChanged)
+
+ // dongfang: There is not only one altitude; there are at least (APM) GPS altitude, mix altitude and mix-altitude relative to home.
+ // I have made this property refer to the mix-altitude ASL as this is the one actually used in navigation by APM.
+ Q_PROPERTY(double altitude READ getAltitude WRITE setAltitude NOTIFY altitudeChanged)
void setLocalX(double val)
{
@@ -120,6 +114,7 @@ public:
emit localXChanged(val,"localX");
emit valueChanged(this->uasId,"localX","M",QVariant(val),getUnixTime());
}
+
double getLocalX() const
{
return localX;
@@ -153,6 +148,7 @@ public:
emit latitudeChanged(val,"latitude");
emit valueChanged(this->uasId,"latitude","deg",QVariant(val),getUnixTime());
}
+
double getLatitude() const
{
return latitude;
@@ -164,6 +160,7 @@ public:
emit longitudeChanged(val,"longitude");
emit valueChanged(this->uasId,"longitude","deg",QVariant(val),getUnixTime());
}
+
double getLongitude() const
{
return longitude;
@@ -172,7 +169,7 @@ public:
void setAltitude(double val)
{
altitude = val;
- emit altitudeChanged(val,"altitude");
+ emit altitudeChanged(val, "altitude");
emit valueChanged(this->uasId,"altitude","M",QVariant(val),getUnixTime());
}
@@ -197,6 +194,7 @@ public:
{
return isLocalPositionKnown;
}
+
virtual bool globalPositionKnown() const
{
return isGlobalPositionKnown;
@@ -214,6 +212,19 @@ public:
return distToWaypoint;
}
+ void setBearingToWaypoint(double val)
+ {
+ bearingToWaypoint = val;
+ emit bearingToWaypointChanged(val,"bearingToWaypoint");
+ emit valueChanged(this->uasId,"bearingToWaypoint","M",QVariant(val),getUnixTime());
+ }
+
+ double getBearingToWaypoint() const
+ {
+ return bearingToWaypoint;
+ }
+
+
void setRoll(double val)
{
roll = val;
@@ -246,6 +257,7 @@ public:
{
return yaw;
}
+
bool getSelected() const;
QVector3D getNedPosGlobalOffset() const
{
@@ -319,31 +331,43 @@ public:
friend class UASWaypointManager;
protected: //COMMENTS FOR TEST UNIT
+ /// LINK ID AND STATUS
int uasId; ///< Unique system ID
- unsigned char type; ///< UAS type (from type enum)
- quint64 startTime; ///< The time the UAS was switched on
- CommStatus commStatus; ///< Communication status
- QString name; ///< Human-friendly name of the vehicle, e.g. bravo
- int autopilot; ///< Type of the Autopilot: -1: None, 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+ QMap<int, QString> components;///< IDs and names of all detected onboard components
QList<LinkInterface*>* links; ///< List of links this UAS can be reached by
QList<int> unknownPackets; ///< Packet IDs which are unknown and have been received
MAVLinkProtocol* mavlink; ///< Reference to the MAVLink instance
- BatteryType batteryType; ///< The battery type
- int cells; ///< Number of cells
-
- UASWaypointManager waypointManager;
+ CommStatus commStatus; ///< Communication status
+ float receiveDropRate; ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
+ float sendDropRate; ///< Percentage of packets that were not received from the MAV by the GCS
+ quint64 lastHeartbeat; ///< Time of the last heartbeat message
+ QTimer* statusTimeout; ///< Timer for various status timeouts
+ /// BASIC UAS TYPE, NAME AND STATE
+ QString name; ///< Human-friendly name of the vehicle, e.g. bravo
+ unsigned char type; ///< UAS type (from type enum)
+ int airframe; ///< The airframe type
+ int autopilot; ///< Type of the Autopilot: -1: None, 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+ bool systemIsArmed; ///< If the system is armed
+ uint8_t mode; ///< The current mode of the MAV
+ uint32_t custom_mode; ///< The current mode of the MAV
+ uint32_t navMode; ///< The current navigation mode of the MAV
+ int status; ///< The current status of the MAV
+ QString shortModeText; ///< Short textual mode description
+ QString shortStateText; ///< Short textual state description
+
+ /// OUTPUT
QList<double> actuatorValues;
QList<QString> actuatorNames;
-
QList<double> motorValues;
QList<QString> motorNames;
- QMap<int, QString> components; ///< IDs and names of all detected onboard components
-
double thrustSum; ///< Sum of forward/up thrust of all thrust actuators, in Newtons
double thrustMax; ///< Maximum forward/up thrust of this vehicle, in Newtons
- // Battery stats
+ // dongfang: This looks like a candidate for being moved off to a separate class.
+ /// BATTERY / ENERGY
+ BatteryType batteryType; ///< The battery type
+ int cells; ///< Number of cells
float fullVoltage; ///< Voltage of the fully charged battery (100%)
float emptyVoltage; ///< Voltage of the empty battery (0%)
float startVoltage; ///< Voltage at system start
@@ -358,12 +382,14 @@ protected: //COMMENTS FOR TEST UNIT
bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
float chargeLevel; ///< Charge level of battery, in percent
int timeRemaining; ///< Remaining time calculated based on previous and current
- uint8_t mode; ///< The current mode of the MAV
- uint32_t custom_mode; ///< The current mode of the MAV
- int status; ///< The current status of the MAV
- uint32_t navMode; ///< The current navigation mode of the MAV
+ bool lowBattAlarm; ///< Switch if battery is low
+
+
+ /// TIMEKEEPING
+ quint64 startTime; ///< The time the UAS was switched on
quint64 onboardTimeOffset;
+ /// MANUAL CONTROL
bool controlRollManual; ///< status flag, true if roll is controlled manually
bool controlPitchManual; ///< status flag, true if pitch is controlled manually
bool controlYawManual; ///< status flag, true if yaw is controlled manually
@@ -373,16 +399,20 @@ protected: //COMMENTS FOR TEST UNIT
double manualPitchAngle; ///< Pitch angle set by human pilot (radians)
double manualYawAngle; ///< Yaw angle set by human pilot (radians)
double manualThrust; ///< Thrust set by human pilot (radians)
- float receiveDropRate; ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
- float sendDropRate; ///< Percentage of packets that were not received from the MAV by the GCS
- bool lowBattAlarm; ///< Switch if battery is low
+
+ /// POSITION
bool positionLock; ///< Status if position information is available or not
+ bool isLocalPositionKnown; ///< If the local position has been received for this MAV
+ bool isGlobalPositionKnown; ///< If the global position has been received for this MAV
+
double localX;
double localY;
double localZ;
+
double latitude; ///< Global latitude as estimated by position estimator
double longitude; ///< Global longitude as estimated by position estimator
double altitude; ///< Global altitude as estimated by position estimator
+
double satelliteCount; ///< Number of satellites visible to raw GPS
bool globalEstimatorActive; ///< Global position estimator present, do not fall back to GPS raw for position
double latitude_gps; ///< Global latitude as estimated by raw GPS
@@ -391,13 +421,25 @@ protected: //COMMENTS FOR TEST UNIT
double speedX; ///< True speed in X axis
double speedY; ///< True speed in Y axis
double speedZ; ///< True speed in Z axis
+
+ QVector3D nedPosGlobalOffset; ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
+ QVector3D nedAttGlobalOffset; ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
+
+ /// WAYPOINT NAVIGATION
double distToWaypoint; ///< Distance to next waypoint
+ double bearingToWaypoint; ///< Bearing to next waypoint
+ UASWaypointManager waypointManager;
+
+ /// ATTITUDE
+ bool attitudeKnown; ///< True if attitude was received, false else
+ bool attitudeStamped; ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
+ quint64 lastAttitude; ///< Timestamp of last attitude measurement
double roll;
double pitch;
double yaw;
- quint64 lastHeartbeat; ///< Time of the last heartbeat message
- QTimer* statusTimeout; ///< Timer for various status timeouts
+ // dongfang: This looks like a candidate for being moved off to a separate class.
+ /// IMAGING
int imageSize; ///< Image size being transmitted (bytes)
int imagePackets; ///< Number of data packets being sent for this image
int imagePacketsArrived; ///< Number of data packets recieved
@@ -432,21 +474,13 @@ protected: //COMMENTS FOR TEST UNIT
qreal receivedRGBDImageTimestamp;
#endif
+ /// PARAMETERS
QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
bool paramsOnceRequested; ///< If the parameter list has been read at least once
- int airframe; ///< The airframe type
- bool attitudeKnown; ///< True if attitude was received, false else
QGCUASParamManager* paramManager; ///< Parameter manager class
- QString shortStateText; ///< Short textual state description
- QString shortModeText; ///< Short textual mode description
- bool attitudeStamped; ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
- quint64 lastAttitude; ///< Timestamp of last attitude measurement
+
+ /// SIMULATION
QGCHilLink* simulation; ///< Hardware in the loop simulation link
- bool isLocalPositionKnown; ///< If the local position has been received for this MAV
- bool isGlobalPositionKnown; ///< If the global position has been received for this MAV
- bool systemIsArmed; ///< If the system is armed
- QVector3D nedPosGlobalOffset; ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
- QVector3D nedAttGlobalOffset; ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
public:
/** @brief Set the current battery type */
@@ -647,12 +681,12 @@ public slots:
void enableHilXPlane(bool enable);
/** @brief Send the full HIL state to the MAV */
- void sendHilState(quint64 time_us, float roll, float pitch, float yaw, float rollspeed,
- float pitchspeed, float yawspeed, double lat, double lon, double alt,
+ void sendHilState(quint64 time_us, float roll, float pitch, float yaw, float rollRotationRate,
+ float pitchRotationRate, float yawRotationRate, double lat, double lon, double alt,
float vx, float vy, float vz, float xacc, float yacc, float zacc);
/** @brief RAW sensors for sensor HIL */
- void sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, float rollspeed, float pitchspeed, float yawspeed,
+ void sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, float rollRotationRate, float pitchRotationRate, float yawRotationRate,
float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, quint16 fields_changed);
/**
@@ -811,15 +845,17 @@ signals:
void longitudeChanged(double val,QString name);
void latitudeChanged(double val,QString name);
void altitudeChanged(double val,QString name);
- void altitudeChanged(int uasid, double altitude);
void rollChanged(double val,QString name);
void pitchChanged(double val,QString name);
void yawChanged(double val,QString name);
void satelliteCountChanged(double val,QString name);
void distToWaypointChanged(double val,QString name);
+ void bearingToWaypointChanged(double val,QString name);
-
-
+ void altitudeChanged(UASInterface*, AltitudeMeasurementSource source, double altitude, quint64 usec);
+ //void speedChanged(UASInterface*, SpeedMeasurementSource source, double speed, quint64 usec);
+ //void climbRateChanged(UASInterface*, AltitudeMeasurementSource source, double speed, quint64 usec);
+ void velocityChanged(UASInterface*, MAV_FRAME, double vx, double vy, double vz, quint64 usec);
protected:
/** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
quint64 getUnixTime(quint64 time=0);
@@ -827,6 +863,7 @@ protected:
quint64 getUnixTimeFromMs(quint64 time);
/** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
quint64 getUnixReferenceTime(quint64 time);
+
int componentID[256];
bool componentMulti[256];
bool connectionLost; ///< Flag indicates a timed out connection
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index d7d5460..f80c308 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -51,6 +51,40 @@ This file is part of the QGROUNDCONTROL project
#endif
#endif
+enum BatteryType
+{
+ NICD = 0,
+ NIMH = 1,
+ LIION = 2,
+ LIPOLY = 3,
+ LIFE = 4,
+ AGZN = 5
+}; ///< The type of battery used
+
+enum SpeedMeasurementSource
+{
+ PRIMARY_SPEED = 0, // ArduPlane: Measured airspeed or estimated airspeed. ArduCopter: Ground (XY) speed.
+ GROUNDSPEED_BY_UAV = 1, // Ground speed as reported by UAS
+ GROUNDSPEED_BY_GPS = 2, // Ground speed as calculated from received GPS velocity data
+ LOCAL_SPEED = 3
+}; ///< For velocity data, the data source
+
+enum AltitudeMeasurementSource
+{
+ PRIMARY_ALTITUDE = 0, // ArduPlane: air and ground speed mix. This is the altitude used for navigastion.
+ BAROMETRIC_ALTITUDE = 1, // Altitude is pressure altitude. Ardupilot reports no altitude purely by barometer,
+ // however when ALT_MIX==1, mix-altitude is purely barometric.
+ GPS_ALTITUDE = 2 // GPS ASL altitude
+}; ///< For altitude data, the data source
+
+// TODO!!! The different frames are probably represented elsewhere. There should really only
+// be one set of frames. We also need to keep track of the home alt. somehow.
+enum AltitudeMeasurementFrame
+{
+ ABSOLUTE = 0, // Altitude is pressure altitude
+ ABOVE_HOME_POSITION = 1
+}; ///< For altitude data, a reference frame
+
/**
* @brief Interface for all robots.
*
@@ -477,7 +511,7 @@ signals:
void heartbeat(UASInterface* uas);
void attitudeChanged(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
void attitudeChanged(UASInterface*, int component, double roll, double pitch, double yaw, quint64 usec);
- void attitudeSpeedChanged(int uas, double rollspeed, double pitchspeed, double yawspeed, quint64 usec);
+ void attitudeRotationRatesChanged(int uas, double rollrate, double pitchrate, double yawrate, quint64 usec);
void attitudeThrustSetPointChanged(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
/** @brief The MAV set a new setpoint in the local (not body) NED X, Y, Z frame */
void positionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec);
@@ -486,10 +520,19 @@ signals:
void localPositionChanged(UASInterface*, double x, double y, double z, quint64 usec);
void localPositionChanged(UASInterface*, int component, double x, double y, double z, quint64 usec);
void globalPositionChanged(UASInterface*, double lat, double lon, double alt, quint64 usec);
- void altitudeChanged(int uasid, double altitude);
+ void altitudeChanged(UASInterface*, AltitudeMeasurementSource source, double altitude, quint64 usec);
/** @brief Update the status of one satellite used for localization */
void gpsSatelliteStatusChanged(int uasid, int satid, float azimuth, float direction, float snr, bool used);
- void speedChanged(UASInterface*, double x, double y, double z, quint64 usec);
+
+ // The horizontal speed (a scalar)
+ void speedChanged(UASInterface*, SpeedMeasurementSource source, double speed, quint64 usec);
+ // The vertical speed (a scalar)
+ void climbRateChanged(UASInterface*, AltitudeMeasurementSource source, double speed, quint64 usec);
+ // Consider adding a MAV_FRAME parameter to this; could help specifying what the 3 scalars are.
+ void velocityChanged(UASInterface*, MAV_FRAME frame, double vx, double vy, double vz, quint64 usec);
+
+ void navigationControllerErrorsChanged(UASInterface*, double altitudeError, double speedError, double xtrackError);
+
void imageStarted(int imgid, int width, int height, int depth, int channels);
void imageDataReceived(int imgid, const unsigned char* imageData, int length, int startIndex);
/** @brief Emit the new system type */
diff --git a/src/uas/senseSoarMAV.cpp b/src/uas/senseSoarMAV.cpp
index 031eeb3..fc1ad32 100644
--- a/src/uas/senseSoarMAV.cpp
+++ b/src/uas/senseSoarMAV.cpp
@@ -41,7 +41,7 @@ void senseSoarMAV::receiveMessage(LinkInterface *link, mavlink_message_t message
emit valueChanged(uasId, "rollspeed", "rad/s", this->m_rotVel[0], time);
emit valueChanged(uasId, "pitchspeed", "rad/s", this->m_rotVel[1], time);
emit valueChanged(uasId, "yawspeed", "rad/s", this->m_rotVel[2], time);
- emit attitudeSpeedChanged(uasId, this->m_rotVel[0], this->m_rotVel[1], this->m_rotVel[2], time);
+ emit attitudeRotationRatesChanged(uasId, this->m_rotVel[0], this->m_rotVel[1], this->m_rotVel[2], time);
break;
}
case MAVLINK_MSG_ID_LLC_OUT: // low level controller output
@@ -62,7 +62,7 @@ void senseSoarMAV::receiveMessage(LinkInterface *link, mavlink_message_t message
mavlink_obs_air_temp_t airTMsg;
mavlink_msg_obs_air_temp_decode(&message,&airTMsg);
quint64 time = getUnixTime();
- emit valueChanged(uasId, "Air Temp", "�", airTMsg.airT, time);
+ emit valueChanged(uasId, "Air Temp", "°", airTMsg.airT, time);
break;
}
case MAVLINK_MSG_ID_OBS_AIR_VELOCITY:
@@ -211,4 +211,4 @@ void senseSoarMAV::quat2euler(const double *quat, double &roll, double &pitch, d
pitch = std::asin(qMax(-1.0,qMin(1.0,2*(quat[0]*quat[2] - quat[1]*quat[3]))));
yaw = std::atan2(2*(quat[1]*quat[2] + quat[0]*quat[3]),quat[0]*quat[0] + quat[1]*quat[1] - quat[2]*quat[2] - quat[3]*quat[3]);
return;
-}
\ No newline at end of file
+}
diff --git a/src/ui/PrimaryFlightDisplay.cpp b/src/ui/PrimaryFlightDisplay.cpp
index efd0640..eb3d6d8 100644
--- a/src/ui/PrimaryFlightDisplay.cpp
+++ b/src/ui/PrimaryFlightDisplay.cpp
@@ -40,16 +40,20 @@ PrimaryFlightDisplay::PrimaryFlightDisplay(int width, int height, QWidget *paren
uas(NULL),
+ altimeterMode(GPS_MAIN),
+ altimeterFrame(ASL),
+ speedMode(GROUND_MAIN),
+
roll(UNKNOWN_ATTITUDE),
pitch(UNKNOWN_ATTITUDE),
// heading(NAN),
heading(UNKNOWN_ATTITUDE),
- aboveASLAltitude(UNKNOWN_ALTITUDE),
+ primaryAltitude(UNKNOWN_ALTITUDE),
GPSAltitude(UNKNOWN_ALTITUDE),
aboveHomeAltitude(UNKNOWN_ALTITUDE),
+ primarySpeed(UNKNOWN_SPEED),
groundspeed(UNKNOWN_SPEED),
- airspeed(UNKNOWN_SPEED),
- verticalVelocity(UNKNOWN_SPEED),
+ verticalVelocity(UNKNOWN_ALTITUDE),
font("Bitstream Vera Sans"),
refreshTimer(new QTimer(this)),
@@ -169,18 +173,20 @@ void PrimaryFlightDisplay::setActiveUAS(UASInterface* uas)
disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,int,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,int,double, double, double, quint64)));
- disconnect(this->uas, SIGNAL(batteryChanged(UASInterface*, double, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, double, int)));
- disconnect(this->uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
- disconnect(this->uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
- disconnect(this->uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
- disconnect(this->uas, SIGNAL(armingChanged(bool)), this, SLOT(updateArmed(bool)));
- disconnect(this->uas, SIGNAL(satelliteCountChanged(double, QString)), this, SLOT(updateSatelliteCount(double, QString)));
+ //disconnect(this->uas, SIGNAL(batteryChanged(UASInterface*, double, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, double, int)));
+ //disconnect(this->uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
+ //disconnect(this->uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
+ //disconnect(this->uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
+ //disconnect(this->uas, SIGNAL(armingChanged(bool)), this, SLOT(updateArmed(bool)));
+ //disconnect(this->uas, SIGNAL(satelliteCountChanged(double, QString)), this, SLOT(updateSatelliteCount(double, QString)));
disconnect(this->uas, SIGNAL(localizationChanged(UASInterface* uas, int fix)), this, SLOT(updateGPSFixType(UASInterface*,int)));
//disconnect(this->uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
- disconnect(this->uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
- disconnect(this->uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
+ //disconnect(this->uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
disconnect(this->uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
+ disconnect(this->uas, SIGNAL(speedChanged(UASInterface*, SpeedMeasurementSource, double, quint64)), this, SLOT(updateSpeed(UASInterface*,SpeedMeasurementSource,double,quint64)));
+ disconnect(this->uas, SIGNAL(climbRateChanged(UASInterface*, AltitudeMeasurementSource, double, quint64)), this, SLOT(updateClimbRate(UASInterface*, AltitudeMeasurementSource, double, quint64)));
+ disconnect(this->uas, SIGNAL(altitudeChanged(UASInterface*, AltitudeMeasurementSource, double)), this, SLOT(updateAltitude(UASInterface*, AltitudeMeasurementSource, double, quint64)));
}
if (uas) {
@@ -189,17 +195,19 @@ void PrimaryFlightDisplay::setActiveUAS(UASInterface* uas)
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,int,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,int,double, double, double, quint64)));
- connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, double, int)));
- connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
- connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
- connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
- connect(uas, SIGNAL(armingChanged(bool)), this, SLOT(updateArmed(bool)));
- connect(uas, SIGNAL(satelliteCountChanged(double, QString)), this, SLOT(updateSatelliteCount(double, QString)));
+ //connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, double, int)));
+ //connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
+ //connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
+ //connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
+ //connect(uas, SIGNAL(armingChanged(bool)), this, SLOT(updateArmed(bool)));
+ //connect(uas, SIGNAL(satelliteCountChanged(double, QString)), this, SLOT(updateSatelliteCount(double, QString)));
//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(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(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(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
+ connect(uas, SIGNAL(speedChanged(UASInterface*, SpeedMeasurementSource, double, quint64)), this, SLOT(updateSpeed(UASInterface*,SpeedMeasurementSource,double,quint64)));
+ connect(uas, SIGNAL(climbRateChanged(UASInterface*, AltitudeMeasurementSource, double, quint64)), this, SLOT(updateClimbRate(UASInterface*, AltitudeMeasurementSource, double, quint64)));
+ connect(uas, SIGNAL(altitudeChanged(UASInterface*, AltitudeMeasurementSource, double, quint64)), this, SLOT(updateAltitude(UASInterface*, AltitudeMeasurementSource, double, quint64)));
// Set new UAS
this->uas = uas;
@@ -249,29 +257,59 @@ void PrimaryFlightDisplay::updateAttitude(UASInterface* uas, int component, doub
* TODO! Examine what data comes with this call, should we consider it airspeed, ground speed or
* should we not consider it at all?
*/
-void PrimaryFlightDisplay::updateSpeed(UASInterface* uas,double x,double y,double z,quint64 timestamp)
+void PrimaryFlightDisplay::updateSpeed(UASInterface* uas, SpeedMeasurementSource source, double speed, quint64 timestamp)
{
Q_UNUSED(uas);
Q_UNUSED(timestamp);
- Q_UNUSED(z);
- /*
- this->xSpeed = x;
- this->ySpeed = y;
- this->zSpeed = z;
- */
- double newTotalSpeed = qSqrt(x*x + y*y/*+ zSpeed*zSpeed */);
- // totalAcc = (newTotalSpeed - totalSpeed) / ((double)(lastSpeedUpdate - timestamp)/1000.0);
+ if (source == PRIMARY_SPEED) {
+ primarySpeed = speed;
+ didReceivePrimarySpeed = true;
+ } else if (source == GROUNDSPEED_BY_GPS || source == GROUNDSPEED_BY_UAV) {
+ groundspeed = speed;
+ if (!didReceivePrimarySpeed)
+ primarySpeed = speed;
+ }
+}
- // TODO: Change to real data.
- groundspeed = newTotalSpeed;
- airspeed = x;
- verticalVelocity = z;
+void PrimaryFlightDisplay::updateClimbRate(UASInterface* uas, AltitudeMeasurementSource source, double climbRate, quint64 timestamp) {
+ Q_UNUSED(uas);
+ Q_UNUSED(timestamp);
+ verticalVelocity = climbRate;
+}
+
+void PrimaryFlightDisplay::updateAltitude(UASInterface* uas, AltitudeMeasurementSource source, double altitude, quint64 timestamp) {
+ Q_UNUSED(uas);
+ Q_UNUSED(timestamp);
+ if (source == PRIMARY_ALTITUDE) {
+ primaryAltitude = altitude;
+ didReceivePrimaryAltitude = true;
+ } else if (source == GPS_ALTITUDE) {
+ GPSAltitude = altitude;
+ if (!didReceivePrimaryAltitude)
+ primaryAltitude = altitude;
+ }
}
/*
* Private and such
*/
+
+// TODO: Move to UAS. Real working implementation.
+bool PrimaryFlightDisplay::isAirplane() {
+ if (!this->uas)
+ return false;
+ switch(this->uas->getSystemType()) {
+ case MAV_TYPE_GENERIC:
+ case MAV_TYPE_FIXED_WING:
+ case MAV_TYPE_AIRSHIP:
+ case MAV_TYPE_FLAPPING_WING:
+ return true;
+ default:
+ return false;
+ }
+}
+
void PrimaryFlightDisplay::drawTextCenter (
QPainter& painter,
QString text,
@@ -832,12 +870,10 @@ void PrimaryFlightDisplay::drawAltimeter(
QPainter& painter,
QRectF area, // the area where to draw the tape.
float primaryAltitude,
- float maxAltitude,
+ float secondaryAltitude,
float vv
) {
- Q_UNUSED(maxAltitude)
-
painter.resetTransform();
fillInstrumentBackground(painter, area);
@@ -849,8 +885,14 @@ void PrimaryFlightDisplay::drawAltimeter(
float h = area.height();
float w = area.width();
+ float secondaryAltitudeBoxHeight = mediumTextSize * 2;
// The height where we being with new tickmarks.
float effectiveHalfHeight = h*0.45;
+
+ // not yet implemented: Display of secondary altitude.
+ // if (isAirplane())
+ // effectiveHalfHeight-= secondaryAltitudeBoxHeight;
+
float markerHalfHeight = mediumTextSize*0.8;
float leftEdge = instrumentEdgePen.widthF()*2;
float rightEdge = w-leftEdge;
@@ -929,26 +971,34 @@ void PrimaryFlightDisplay::drawAltimeter(
drawTextCenter(painter, s_alt, /* TAPES_TEXT_SIZE*width()*/ mediumTextSize, xCenter, 0);
if (vv == UNKNOWN_ALTITUDE) return;
- float vvPixHeight = vv/ALTIMETER_VVI_SPAN * effectiveHalfHeight;
- if (abs (vvPixHeight)<markerHalfHeight) return;
+ float vvPixHeight = -vv/ALTIMETER_VVI_SPAN * effectiveHalfHeight;
+ if (abs (vvPixHeight)<markerHalfHeight) return; // hidden behind marker.
- float vvSign = vvPixHeight>0 ? -1 : 1;
+ float vvSign = vvPixHeight>0 ? 1 : -1; // reverse y sign
// QRectF vvRect(rightEdge - w*ALTIMETER_VVI_WIDTH, markerHalfHeight*vvSign, w*ALTIMETER_VVI_WIDTH, abs(vvPixHeight)*vvSign);
QPointF vvArrowBegin(rightEdge - w*ALTIMETER_VVI_WIDTH/2, markerHalfHeight*vvSign);
- QPointF vvArrowEnd(rightEdge - w*ALTIMETER_VVI_WIDTH/2, -vvPixHeight);
+ QPointF vvArrowEnd(rightEdge - w*ALTIMETER_VVI_WIDTH/2, vvPixHeight);
painter.drawLine(vvArrowBegin, vvArrowEnd);
- QPointF vvArrowHead(rightEdge, -vvPixHeight+w*ALTIMETER_VVI_WIDTH);
+ // Yeah this is a repitition of above code but we are goigd to trash it all anyway, so no fix.
+ float vvArowHeadSize = abs(vvPixHeight - markerHalfHeight*vvSign);
+ if (vvArowHeadSize > w*ALTIMETER_VVI_WIDTH/3) vvArowHeadSize = w*ALTIMETER_VVI_WIDTH/3;
+
+ float xcenter = rightEdge-w*ALTIMETER_VVI_WIDTH/2;
+
+ QPointF vvArrowHead(xcenter+vvArowHeadSize, vvPixHeight - vvSign *vvArowHeadSize);
painter.drawLine(vvArrowHead, vvArrowEnd);
- vvArrowHead = QPointF(rightEdge-ALTIMETER_VVI_WIDTH, -vvPixHeight+w*ALTIMETER_VVI_WIDTH);
+ vvArrowHead = QPointF(xcenter-vvArowHeadSize, vvPixHeight - vvSign * vvArowHeadSize);
painter.drawLine(vvArrowHead, vvArrowEnd);
}
void PrimaryFlightDisplay::drawVelocityMeter(
QPainter& painter,
- QRectF area
+ QRectF area,
+ float speed,
+ float secondarySpeed
) {
painter.resetTransform();
@@ -969,10 +1019,9 @@ void PrimaryFlightDisplay::drawVelocityMeter(
float markerTip = (tickmarkLeftMajor+tickmarkRight*2)/3;
// Select between air and ground speed:
- float primarySpeed = airspeed;
float centerScaleSpeed =
- primarySpeed == UNKNOWN_SPEED ? 0 : primarySpeed;
+ speed == UNKNOWN_SPEED ? 0 : speed;
float start = centerScaleSpeed - AIRSPEED_LINEAR_SPAN/2;
float end = centerScaleSpeed + AIRSPEED_LINEAR_SPAN/2;
@@ -1020,10 +1069,10 @@ void PrimaryFlightDisplay::drawVelocityMeter(
pen.setColor(Qt::white);
painter.setPen(pen);
QString s_alt;
- if (primarySpeed == UNKNOWN_SPEED)
+ if (speed == UNKNOWN_SPEED)
s_alt.sprintf("---");
else
- s_alt.sprintf("%3.1f", primarySpeed);
+ s_alt.sprintf("%3.1f", speed);
float xCenter = (markerTip+leftEdge)/2;
drawTextCenter(painter, s_alt, /* TAPES_TEXT_SIZE*width()*/ mediumTextSize, xCenter, 0);
}
@@ -1360,11 +1409,9 @@ void PrimaryFlightDisplay::doPaint() {
painter.setClipping(hadClip);
- // X: To the right of AI and with single margin again. That is, 3 single margins plus width of AI.
- // Y: 1 single margin below above gadget.
+ drawAltimeter(painter, altimeterArea, primaryAltitude, GPSAltitude, verticalVelocity);
- drawAltimeter(painter, altimeterArea, aboveASLAltitude, 1000, 3);
- drawVelocityMeter(painter, velocityMeterArea);
+ drawVelocityMeter(painter, velocityMeterArea, primarySpeed, groundspeed);
/*
drawSensorsStatsPanel(painter, sensorsStatsArea);
diff --git a/src/ui/PrimaryFlightDisplay.h b/src/ui/PrimaryFlightDisplay.h
index 02d4c9c..7fcde0d 100644
--- a/src/ui/PrimaryFlightDisplay.h
+++ b/src/ui/PrimaryFlightDisplay.h
@@ -106,8 +106,12 @@ public slots:
void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp);
/** @brief Attitude from one specific component / redundant autopilot */
void updateAttitude(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp);
-// void updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
- void updateSpeed(UASInterface*,double,double,double,quint64);
+
+ void updateSpeed(UASInterface* uas, SpeedMeasurementSource source, double speed, quint64 timstamp);
+ void updateClimbRate(UASInterface* uas, AltitudeMeasurementSource source, double altitude, quint64 timestamp);
+ void updateAltitude(UASInterface* uas, AltitudeMeasurementSource source, double altitude, quint64 timestamp);
+ /** @brief Set the currently monitored UAS */
+ virtual void setActiveUAS(UASInterface* uas);
protected:
enum Layout {
@@ -136,23 +140,34 @@ protected:
// dongfang: We have no context menu. Viewonly.
// void contextMenuEvent (QContextMenuEvent* event);
-protected:
// dongfang: What is that?
// dongfang: OK it's for UI interaction. Presently, there is none.
void createActions();
-public slots:
- /** @brief Set the currently monitored UAS */
- virtual void setActiveUAS(UASInterface* uas);
-
-protected slots:
-
signals:
void visibilityChanged(bool visible);
private:
- //void prepareTransform(QPainter& painter, qreal width, qreal height);
- //void transformToGlobalSystem(QPainter& painter, qreal width, qreal height, float roll, float pitch);
+ enum AltimeterMode {
+ PRIMARY_MAIN_GPS_SUB, // Show the primary alt. on tape and GPS as extra info
+ GPS_MAIN // Show GPS on tape and no extra info
+ };
+
+ enum AltimeterFrame {
+ ASL, // Show ASL altitudes (plane pilots' normal preference)
+ RELATIVE_TO_HOME // Show relative-to-home altitude (copter pilots)
+ };
+
+ enum SpeedMode {
+ PRIMARY_MAIN_GROUND_SUB,// Show primary speed (often airspeed) on tape and groundspeed as extra
+ GROUND_MAIN // Show groundspeed on tape and no extra info
+ };
+
+ /*
+ * There are at least these differences between airplane and copter PDF view:
+ * - Airplane show absolute altutude in altimeter, copter shows relative to home
+ */
+ bool isAirplane();
void drawTextCenter(QPainter& painter, QString text, float fontSize, float x, float y);
void drawTextLeftCenter(QPainter& painter, QString text, float fontSize, float x, float y);
@@ -167,8 +182,8 @@ private:
void drawAICompassDisk(QPainter& painter, QRectF area, float halfspan);
void drawSeparateCompassDisk(QPainter& painter, QRectF area);
- void drawAltimeter(QPainter& painter, QRectF area, float altitude, float maxAltitude, float vv);
- void drawVelocityMeter(QPainter& painter, QRectF area);
+ void drawAltimeter(QPainter& painter, QRectF area, float altitude, float secondaryAltitude, float vv);
+ void drawVelocityMeter(QPainter& painter, QRectF area, float speed, float secondarySpeed);
void fillInstrumentBackground(QPainter& painter, QRectF edge);
void fillInstrumentOpagueBackground(QPainter& painter, QRectF edge);
void drawInstrumentBackground(QPainter& painter, QRectF edge);
@@ -184,21 +199,27 @@ private:
UASInterface* uas; ///< The uas currently monitored
+ AltimeterMode altimeterMode;
+ AltimeterFrame altimeterFrame;
+ SpeedMode speedMode;
+
+ bool didReceivePrimaryAltitude;
+ bool didReceivePrimarySpeed;
+
float roll;
float pitch;
float heading;
- // APM: GPS and baro mix. From the GLOBAL_POSITION_INT or VFR_HUD messages.
- float aboveASLAltitude;
+ float primaryAltitude;
float GPSAltitude;
// APM: GPS and baro mix above home (GPS) altitude. This value comes from the GLOBAL_POSITION_INT message.
// Do !!!NOT!!! ever do altitude calculations at the ground station. There are enough pitfalls already.
- // The MP "set home altitude" button will not be repeated here if it did that.
+ // If the MP "set home altitude" button is migrated to here, it must set the UAS home altitude, not a GS-local one.
float aboveHomeAltitude;
+ float primarySpeed;
float groundspeed;
- float airspeed;
float verticalVelocity;
Layout layout; // The display layout.
diff --git a/src/ui/uas/UASQuickView.cc b/src/ui/uas/UASQuickView.cc
index 5edd0aa..911133a 100644
--- a/src/ui/uas/UASQuickView.cc
+++ b/src/ui/uas/UASQuickView.cc
@@ -73,6 +73,18 @@ UASQuickView::UASQuickView(QWidget *parent) : QWidget(parent)
uasPropertyToLabelMap["distToWaypoint"] = item;
}
+ {
+ QAction *action = new QAction("bearingToWaypoint",this);
+ action->setCheckable(true);
+ action->setChecked(true);
+ connect(action,SIGNAL(toggled(bool)),this,SLOT(actionTriggered(bool)));
+ this->addAction(action);
+ UASQuickViewItem *item = new UASQuickViewItem(this);
+ item->setTitle("bearingToWaypoint");
+ ui.verticalLayout->addWidget(item);
+ uasPropertyToLabelMap["bearingToWaypoint"] = item;
+ }
+
updateTimer = new QTimer(this);
connect(updateTimer,SIGNAL(timeout()),this,SLOT(updateTimerTick()));
updateTimer->start(1000);