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Fixing Line chart

QGC4.4
LM 14 years ago
parent
86c7e1347b
commit
243d111462
2 changed files with 51 additions and 49 deletions
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  1. 87
      src/uas/PxQuadMAV.cc
  2. 13
      src/ui/MainWindow.cc

87
src/uas/PxQuadMAV.cc
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@ -131,51 +131,48 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message) @@ -131,51 +131,48 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, "vis. speed z", "m/s", speed.z, time);
}
break;
<<<<<<< HEAD
=======
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;
case MAVLINK_MSG_ID_VISUAL_ODOMETRY:
{
mavlink_visual_odometry_t pos;
mavlink_msg_visual_odometry_decode(&message, &pos);
quint64 time = getUnixTime(pos.frame1_time_us);
//emit valueChanged(uasId, "vis. time", pos.usec, time);
emit valueChanged(uasId, "vis-o. roll", "rad", pos.roll, time);
emit valueChanged(uasId, "vis-o. pitch", "rad", pos.pitch, time);
emit valueChanged(uasId, "vis-o. yaw", "rad", pos.yaw, time);
emit valueChanged(uasId, "vis-o. x", "m", pos.x, time);
emit valueChanged(uasId, "vis-o. y", "m", pos.y, time);
emit valueChanged(uasId, "vis-o. z", "m", 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;
>>>>>>> master
// 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;
// case MAVLINK_MSG_ID_VISUAL_ODOMETRY:
// {
// mavlink_visual_odometry_t pos;
// mavlink_msg_visual_odometry_decode(&message, &pos);
// quint64 time = getUnixTime(pos.frame1_time_us);
// //emit valueChanged(uasId, "vis. time", pos.usec, time);
// emit valueChanged(uasId, "vis-o. roll", "rad", pos.roll, time);
// emit valueChanged(uasId, "vis-o. pitch", "rad", pos.pitch, time);
// emit valueChanged(uasId, "vis-o. yaw", "rad", pos.yaw, time);
// emit valueChanged(uasId, "vis-o. x", "m", pos.x, time);
// emit valueChanged(uasId, "vis-o. y", "m", pos.y, time);
// emit valueChanged(uasId, "vis-o. z", "m", 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);

13
src/ui/MainWindow.cc
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@ -49,6 +49,7 @@ This file is part of the QGROUNDCONTROL project @@ -49,6 +49,7 @@ This file is part of the QGROUNDCONTROL project
#include "QGCMAVLinkLogPlayer.h"
#include "QGCSettingsWidget.h"
#include "QGCMapTool.h"
#include "MAVLinkDecoder.h"
#ifdef QGC_OSG_ENABLED
#include "Q3DWidgetFactory.h"
@ -165,9 +166,6 @@ MainWindow::MainWindow(QWidget *parent): @@ -165,9 +166,6 @@ MainWindow::MainWindow(QWidget *parent):
connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));
// Add generic MAVLink decoder
mavlinkDecoder = new MAVLinkDecoder(mavlink, this);
// Connect user interface devices
joystickWidget = 0;
joystick = new JoystickInput();
@ -299,6 +297,8 @@ void MainWindow::buildCommonWidgets() @@ -299,6 +297,8 @@ void MainWindow::buildCommonWidgets()
//TODO: move protocol outside UI
mavlink = new MAVLinkProtocol();
connect(mavlink, SIGNAL(protocolStatusMessage(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
// Add generic MAVLink decoder
mavlinkDecoder = new MAVLinkDecoder(mavlink, this);
// Dock widgets
if (!controlDockWidget)
@ -338,6 +338,10 @@ void MainWindow::buildCommonWidgets() @@ -338,6 +338,10 @@ void MainWindow::buildCommonWidgets()
debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
debugConsoleDockWidget->setWidget( new DebugConsole(this) );
debugConsoleDockWidget->setObjectName("COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET");
DebugConsole *debugConsole = dynamic_cast<DebugConsole*>(debugConsoleDockWidget->widget());
connect(mavlinkDecoder, SIGNAL(textMessageReceived(int, int, int, const QString)), debugConsole, SLOT(receiveTextMessage(int, int, int, const QString)));
addTool(debugConsoleDockWidget, tr("Communication Console"), Qt::BottomDockWidgetArea);
}
@ -1103,7 +1107,8 @@ void MainWindow::UASCreated(UASInterface* uas) @@ -1103,7 +1107,8 @@ void MainWindow::UASCreated(UASInterface* uas)
if (!linechartWidget)
{
// Center widgets
linechartWidget = new Linecharts(this);
linechartWidget = new Linecharts(this);
//linechartWidget FIXME
addCentralWidget(linechartWidget, tr("Realtime Plot"));
}

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