Onboard params work on console

src/GAudioOutput.cc

@@ -198,6 +198,18 @@ bool GAudioOutput::startEmergency()
 }
 
 /**
+ * The emergency sound will be played continously during the emergency.
+ * call stopEmergency() to disable it again. No speech synthesis or other
+ * audio output is available during the emergency.
+ *
+ * @return true if the emergency could be started, false else
+ */
+bool GAudioOutput::startEmergency(QString message)
+{
+    return startEmergency();
+}
+
+/**
  * Stops the continous emergency sound. Use startEmergency() to start
  * the emergency sound.
  *

src/GAudioOutput.h

@@ -77,6 +77,8 @@ public slots:
     bool alert(QString text);
     /** @brief Start emergency sound */
     bool startEmergency();
+    /** @brief Start emergency sound */
+    bool startEmergency(QString);
     /** @brief Stop emergency sound */
     bool stopEmergency();
     /** @brief Select female voice */

src/uas/UAS.cc

@@ -67,7 +67,8 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) :
         manualThrust(0),
         receiveDropRate(0),
         sendDropRate(0),
-        unknownPackets()
+        unknownPackets(),
+        lowBattAlarm(false)
 {
     setBattery(LIPOLY, 3);
     mavlink = protocol;
@@ -181,6 +182,17 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit batteryChanged(this, lpVoltage, getChargeLevel(), timeRemaining);
                 emit voltageChanged(message.sysid, state.vbat/1000.0f);
 
+                // LOW BATTERY ALARM
+                float chargeLevel = getChargeLevel();
+                if (chargeLevel <= 10.0f)
+                {
+                    startLowBattAlarm();
+                }
+                else
+                {
+                    stopLowBattAlarm();
+                }
+
                 // COMMUNICATIONS DROP RATE
                 emit dropRateChanged(this->getUASID(), this->receiveDropRate, this->sendDropRate);
 
@@ -806,11 +818,32 @@ int UAS::calculateTimeRemaining()
     return remaining;
 }
 
+/**
+ * @return charge level in percent - 0 - 100
+ */
 double UAS::getChargeLevel()
 {
     return 100.0f * ((lpVoltage - emptyVoltage)/(fullVoltage - emptyVoltage));
 }
 
+void UAS::startLowBattAlarm()
+{
+    if (!lowBattAlarm)
+    {
+        GAudioOutput::instance()->startEmergency("BATTERY");
+        lowBattAlarm = true;
+    }
+}
+
+void UAS::stopLowBattAlarm()
+{
+    if (lowBattAlarm)
+    {
+        GAudioOutput::instance()->stopEmergency();
+        lowBattAlarm = false;
+    }
+}
+
 void UAS::clearWaypointList()
 {
     mavlink_message_t message;

src/uas/UAS.h

@@ -121,6 +121,7 @@ protected:
     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
 
     /** @brief Set the current battery type */
     void setBattery(BatteryType type, int cells);
@@ -136,7 +137,9 @@ protected:
 public slots:
     /** @brief Launches the system **/
     void launch();
+    /** @brief Write this waypoint to the list of waypoints */
     void setWaypoint(Waypoint* wp);
+    /** @brief Set currently active waypoint */
     void setWaypointActive(int id);
     /** @brief Order the robot to return home / to land on the runway **/
     void home();
@@ -151,6 +154,9 @@ public slots:
     /** @brief Shut the system cleanly down. Will shut down any onboard computers **/
     void shutdown();
 
+    void startLowBattAlarm();
+    void stopLowBattAlarm();
+
     void requestWaypoints();
     void requestParameters();
     void clearWaypointList();

src/ui/ParameterInterface.cc

@@ -14,10 +14,6 @@ ParameterInterface::ParameterInterface(QWidget *parent) :
     m_ui->setupUi(this);
     connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
 
-    // FIXME Testing TODO
-
-    QString testData = "IMU\n ROLL_K_P\t0.527\n ROLL_K_I\t1.255\n PITCH_K_P\t0.621\n PITCH_K_I\t2.5545\n";
-
     tree = new ParamTreeModel();
 
     treeView = new QTreeView();
@@ -76,11 +72,10 @@ void ParameterInterface::addComponent(UASInterface* uas, int component, QString
 void ParameterInterface::receiveParameter(int uas, int component, QString parameterName, float value)
 {
     Q_UNUSED(uas);
-    qDebug() << "RECEIVED PARAMETER" << component << parameterName << value;
     // Insert parameter into map
     tree->appendParam(component, parameterName, value);
     // Refresh view
-    treeView->setModel(tree);
+    treeView->update();
 }
 
 /**

src/ui/param/ParamTreeModel.cc

@@ -40,7 +40,8 @@ ParamTreeModel::ParamTreeModel(QObject *parent)
     QList<QVariant> rootData;
     rootData << tr("Parameter") << tr("Value");
     rootItem = new ParamTreeItem(rootData);
-    //setupModelData(data.split(QString("\n")), rootItem);
+    QString data = "IMU\n ROLL_K_I\t1.255\n PITCH_K_P\t0.621\n PITCH_K_I\t2.5545\n";
+    setupModelData(data.split(QString("\n")), rootItem);
 }
 
 ParamTreeModel::ParamTreeModel(const QString &data, QObject *parent)
@@ -153,20 +154,29 @@ void ParamTreeModel::appendComponent(int componentId, QString name)
 {
     if (!components.contains(componentId))
     {
-        ParamTreeItem* item = new ParamTreeItem(name + QString("(") + QString::number(componentId) + QString(")"), 0, rootItem);
+        ParamTreeItem* item = new ParamTreeItem(name + QString("(#") + QString::number(componentId) + QString(")"), 0, rootItem);
+        components.insert(componentId, item);
+    }
+}
+
+void ParamTreeModel::appendComponent(int componentId)
+{
+    if (!components.contains(componentId))
+    {
+        ParamTreeItem* item = new ParamTreeItem(QString("Component #") + QString::number(componentId) + QString(""), 0, rootItem);
         components.insert(componentId, item);
     }
 }
 
 void ParamTreeModel::appendParam(int componentId, QString name, float value)
 {
-    ParamTreeItem* comp = components.value(componentId);
+
     // If component does not exist yet
-    if (comp == NULL)
+    if (!components.contains(componentId))
     {
-        appendComponent(componentId, name);
-        comp = components.value(componentId);
+        appendComponent(componentId);
     }
+    ParamTreeItem* comp = components.value(componentId);
     // FIXME Children may be double here
     comp->appendChild(new ParamTreeItem(name, value, comp));
     qDebug() << __FILE__ << __LINE__ << "Added param" << name << value << "for component" << comp->getParamName();

src/ui/param/ParamTreeModel.h

@@ -61,6 +61,8 @@ public slots:
     void appendParam(int componentId, QString name, float value);
     /** @brief Add a new component for this system */
     void appendComponent(int componentId, QString name);
+    /** @brief Add a new component for this system */
+    void appendComponent(int componentId);
 
 protected:
     ParamTreeItem* getNodeForComponentId(int id);