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Merge branch 'master' of github.com:mavlink/qgroundcontrol into thread_test

QGC4.4
Lorenz Meier 11 years ago
parent
e6824e207b 8371276cfd
commit
186d9c7d4f
2 changed files with 112 additions and 77 deletions
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  1. 160
      src/uas/UAS.cc
  2. 29
      src/ui/uas/UASView.cc

160
src/uas/UAS.cc
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@ -2554,76 +2554,110 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
parameters.insert(compId, new QMap<QString, QVariant>()); parameters.insert(compId, new QMap<QString, QVariant>());
} }
// Insert parameter into registry
if (parameters.value(compId)->contains(paramName)) {
parameters.value(compId)->remove(paramName);
}
QVariant param; QVariant param;
// Insert with correct type // Insert with correct type
// TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling. // TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
switch (rawValue.param_type) { switch (rawValue.param_type)
case MAV_PARAM_TYPE_REAL32: {
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { case MAV_PARAM_TYPE_REAL32:
param = QVariant(paramValue.param_float); {
} else { if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant(paramValue.param_float); param = QVariant(paramValue.param_float);
} }
break; else {
case MAV_PARAM_TYPE_UINT8: param = QVariant(paramValue.param_float);
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { }
param = QVariant(QChar((unsigned char)paramValue.param_float)); parameters.value(compId)->insert(paramName, param);
} else { // Emit change
param = QVariant(QChar((quint8)paramValue.param_float)); emit parameterChanged(uasId, compId, paramName, param);
} emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
break; // qDebug() << "RECEIVED PARAM:" << param;
case MAV_PARAM_TYPE_INT8: }
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { break;
param = QVariant(QChar((char)paramValue.param_float)); case MAV_PARAM_TYPE_UINT8:
} else { {
param = QVariant(QChar((qint8)paramValue.param_float)); if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
} param = QVariant(QChar((unsigned char)paramValue.param_float));
break; }
case MAV_PARAM_TYPE_INT16: else {
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { param = QVariant(QChar((unsigned char)paramValue.param_uint8));
param = QVariant((short)paramValue.param_float); }
} else { parameters.value(compId)->insert(paramName, param);
param = QVariant((qint16)paramValue.param_float); // Emit change
} emit parameterChanged(uasId, compId, paramName, param);
break; emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
case MAV_PARAM_TYPE_UINT16: //qDebug() << "RECEIVED PARAM:" << param;
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { }
param = QVariant((unsigned short)paramValue.param_float); break;
} else { case MAV_PARAM_TYPE_INT8:
param = QVariant((quint16)paramValue.param_float); {
} if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
break; param = QVariant(QChar((char)paramValue.param_float));
case MAV_PARAM_TYPE_UINT32: }
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { else {
param = QVariant((unsigned int)paramValue.param_float); param = QVariant(QChar((char)paramValue.param_int8));
} else { }
param = QVariant((quint32)paramValue.param_float); parameters.value(compId)->insert(paramName, param);
} // Emit change
break; emit parameterChanged(uasId, compId, paramName, param);
case MAV_PARAM_TYPE_INT32: emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) { //qDebug() << "RECEIVED PARAM:" << param;
param = QVariant((int)paramValue.param_float); }
} else { break;
param = QVariant((qint32)paramValue.param_float); case MAV_PARAM_TYPE_INT16:
} {
break; if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
default: param = QVariant((short)paramValue.param_float);
qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type; }
return; else {
param = QVariant(paramValue.param_int16);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
//qDebug() << "RECEIVED PARAM:" << param;
}
break;
case MAV_PARAM_TYPE_UINT32:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((unsigned int)paramValue.param_float);
}
else {
param = QVariant(paramValue.param_uint32);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
}
break;
case MAV_PARAM_TYPE_INT32:
{
if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
param = QVariant((int)paramValue.param_float);
}
else {
param = QVariant(paramValue.param_int32);
}
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
// qDebug() << "RECEIVED PARAM:" << param;
}
break;
default:
qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
} //switch (value.param_type) } //switch (value.param_type)
// We did not return a critical error, now insert parameter into registry
if (parameters.value(compId)->contains(paramName)) {
parameters.value(compId)->remove(paramName);
}
// add new values
parameters.value(compId)->insert(paramName, param);
// Emit change
emit parameterChanged(uasId, compId, paramName, param);
emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
} }
/** /**

29
src/ui/uas/UASView.cc
Unescape View File

@ -634,16 +634,26 @@ void UASView::refresh()
// Thrust // Thrust
m_ui->thrustBar->setValue(thrust * 100); m_ui->thrustBar->setValue(thrust * 100);
// Time Elapsed
//QDateTime time = MG::TIME::msecToQDateTime(uas->getUptime());
quint64 filterTime = uas->getUptime() / 1000;
int hours = static_cast<int>(filterTime / 3600);
int min = static_cast<int>((filterTime - 3600 * hours) / 60);
int sec = static_cast<int>(filterTime - 60 * min - 3600 * hours);
QString timeText;
timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
m_ui->timeElapsedLabel->setText(timeText);
if(this->timeRemaining > 1 && this->timeRemaining < QGC::MAX_FLIGHT_TIME) if(this->timeRemaining > 1 && this->timeRemaining < QGC::MAX_FLIGHT_TIME)
{ {
// Filter output to get a higher stability // Filter output to get a higher stability
filterTime = static_cast<int>(this->timeRemaining); filterTime = static_cast<int>(this->timeRemaining);
filterTime = 0.8 * filterTime + 0.2 * static_cast<int>(this->timeRemaining); // filterTime = 0.8 * filterTime + 0.2 * static_cast<int>(this->timeRemaining);
int sec = static_cast<int>(filterTime - static_cast<int>(filterTime / 60.0f) * 60); hours = static_cast<int>(filterTime / 3600);
int min = static_cast<int>(filterTime / 60); min = static_cast<int>((filterTime - 3600 * hours) / 60);
int hours = static_cast<int>(filterTime - min * 60 - sec); sec = static_cast<int>(filterTime - 60 * min - 3600 * hours);
QString timeText;
timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec); timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
m_ui->timeRemainingLabel->setText(timeText); m_ui->timeRemainingLabel->setText(timeText);
} }
@ -652,16 +662,7 @@ void UASView::refresh()
m_ui->timeRemainingLabel->setText(tr("Calc..")); m_ui->timeRemainingLabel->setText(tr("Calc.."));
} }
// Time Elapsed
//QDateTime time = MG::TIME::msecToQDateTime(uas->getUptime());
quint64 filterTime = uas->getUptime() / 1000;
int sec = static_cast<int>(filterTime - static_cast<int>(filterTime / 60) * 60);
int min = static_cast<int>(filterTime / 60);
int hours = static_cast<int>(filterTime - min * 60 - sec);
QString timeText;
timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
m_ui->timeElapsedLabel->setText(timeText);
} }
generalUpdateCount++; generalUpdateCount++;

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