diff --git a/src/uas/PxQuadMAV.cc b/src/uas/PxQuadMAV.cc
index f85bdb2..a4eba53 100644
--- a/src/uas/PxQuadMAV.cc
+++ b/src/uas/PxQuadMAV.cc
@@ -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);
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index 2166f1e..8cfb5a6 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -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):
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()
//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()
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)
if (!linechartWidget)
{
// Center widgets
- linechartWidget = new Linecharts(this);
+ linechartWidget = new Linecharts(this);
+ //linechartWidget FIXME
addCentralWidget(linechartWidget, tr("Realtime Plot"));
}