add slugs messages

qgroundcontrol.pri

@@ -120,12 +120,15 @@ win32 {
     
     # Special settings for debug
     #CONFIG += CONSOLE
-    LIBS += -L$$BASEDIR\lib\sdl\win32 \
-        -lmingw32 -lSDLmain -lSDL -mwindows
-    
-    INCLUDEPATH += $$BASEDIR/lib/sdl/include #\
+
+    INCLUDEPATH += $$BASEDIR\lib\sdl\include #\
                    #"C:\Program Files\Microsoft SDKs\Windows\v7.0\Include"
 
+    LIBS += -L$$BASEDIR\lib\sdl\win32 \
+             -lmingw32 -lSDLmain -lSDL -mwindows
+
+
+
     debug {
         DESTDIR = $$BASEDIR/bin
     }

qgroundcontrol.pro

@@ -42,9 +42,14 @@ DEPENDPATH += . \
     plugins
 INCLUDEPATH += . \
     lib/QMapControl \
-    ../mavlink/include \
-    MAVLink/include \
-    mavlink/include
+    ../mavlink/contrib/slugs/include \
+   MAVLink/contrib/slugs/include \
+    mavlink/contrib/slugs/include
+
+
+   # ../mavlink/include \
+    #MAVLink/include \
+    #mavlink/include
 
 # Input
 FORMS += src/ui/MainWindow.ui \

src/main.cc

@@ -33,10 +33,11 @@ This file is part of the PIXHAWK project
 #include "MainWindow.h"
 #include "configuration.h"
 
+
 /* SDL does ugly things to main() */
-#ifdef main
-#	undef main
-#endif
+//#ifdef main
+//#	undef main
+//#endif
 
 /**
  * @brief Starts the application

src/uas/SlugsMAV.cc

@@ -21,7 +21,8 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
     // Let UAS handle the default message set
     UAS::receiveMessage(link, message);
 
-    // Handle your special messages
+
+    // Handle your special messages mavlink_message_t* msg = &message;
     switch (message.msgid)
     {
     case MAVLINK_MSG_ID_HEARTBEAT:
@@ -29,6 +30,95 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             qDebug() << "SLUGS RECEIVED HEARTBEAT";
             break;
         }
+    case MAVLINK_MSG_ID_CPU_LOAD:
+        {
+            mavlink_cpu_load_t cpu_load;
+            quint64 time = getUnixTime(0);
+            mavlink_msg_cpu_load_decode(&message,&cpu_load);
+
+                emit valueChanged(uasId, "CPU Load", cpu_load.target, time);
+                emit valueChanged(uasId, "SensorDSC Load", cpu_load.sensLoad, time);
+                emit valueChanged(uasId, "ControlDSC Load", cpu_load.ctrlLoad, time);
+                emit valueChanged(uasId, "Battery Volt", cpu_load.batVolt, time);
+
+            break;
+        }
+    case MAVLINK_MSG_ID_AIR_DATA:
+        {
+            mavlink_air_data_t air_data;
+            quint64 time = getUnixTime(0);
+            mavlink_msg_air_data_decode(&message,&air_data);
+                emit valueChanged(uasId, "Air Data",air_data.target,time);
+                emit valueChanged(uasId, "Presion Dinamica", air_data.dynamicPressure,time);
+                emit valueChanged(uasId, "Presion Estatica",air_data.staticPressure, time);
+                emit valueChanged(uasId, "Temperatura",air_data.temperature,time);
+
+            break;
+        }
+    case MAVLINK_MSG_ID_SENSOR_BIAS:
+        {
+            mavlink_sensor_bias_t sensor_bias;
+            quint64 time = getUnixTime(0);
+            mavlink_msg_sensor_bias_decode(&message,&sensor_bias);
+                emit valueChanged(uasId,"Sensor Bias",sensor_bias.target, time);
+                emit valueChanged(uasId,"Acelerometro X",sensor_bias.axBias, time);
+                emit valueChanged(uasId,"Acelerometro y",sensor_bias.ayBias,time);
+                emit valueChanged(uasId,"Acelerometro Z",sensor_bias.azBias,time);
+                emit valueChanged(uasId,"Gyro X",sensor_bias.gxBias,time);
+                emit valueChanged(uasId,"Gyro Y",sensor_bias.gyBias,time);
+                emit valueChanged(uasId,"Gyro Z",sensor_bias.gzBias,time);
+
+            break;
+        }
+    case MAVLINK_MSG_ID_DIAGNOSTIC:
+        {
+            mavlink_diagnostic_t diagnostic;
+            quint64 time = getUnixTime(0);
+            mavlink_msg_diagnostic_decode(&message,&diagnostic);
+                emit valueChanged(uasId,"Diagnostico",diagnostic.target,time);
+                emit valueChanged(uasId,"Diagnostico F1",diagnostic.diagFl1,time);
+                emit valueChanged(uasId,"Diagnostico F2",diagnostic.diagFl2,time);
+                emit valueChanged(uasId,"Diagnostico F3",diagnostic.diagFl3,time);
+                emit valueChanged(uasId,"Diagnostico S1",diagnostic.diagSh1,time);
+                emit valueChanged(uasId,"Diagnostico S2",diagnostic.diagSh2,time);
+                emit valueChanged(uasId,"Diagnostico S3",diagnostic.diagSh3,time);
+
+            break;
+        }
+    case MAVLINK_MSG_ID_PILOT_CONSOLE:
+        {
+            mavlink_pilot_console_t pilot;
+            quint64 time = getUnixTime(0);
+            mavlink_msg_pilot_console_decode(&message,&pilot);
+                emit valueChanged(uasId,"Mensajes PWM",pilot.target,time);
+                emit valueChanged(uasId,"Aceleracion Consola",pilot.dt,time);
+                emit valueChanged(uasId,"Aleron Izq Consola",pilot.dla,time);
+                emit valueChanged(uasId,"Aleron Der Consola",pilot.dra,time);
+                emit valueChanged(uasId,"Timon Consola",pilot.dr,time);
+                emit valueChanged(uasId,"Elevador Consola",pilot.de,time);
+
+            break;
+        }
+    case MAVLINK_MSG_ID_PWM_COMMANDS:
+        {
+            mavlink_pwm_commands_t pwm;
+            quint64 time = getUnixTime(0);
+            mavlink_msg_pwm_commands_decode(&message,&pwm);
+                emit valueChanged(uasId,"Superficies de Control",pwm.target,time);
+                emit valueChanged(uasId,"Comando Aceleracion PA",pwm.dt_c,time);
+                emit valueChanged(uasId,"Comando Aleron Izq PA",pwm.dla_c,time);
+                emit valueChanged(uasId,"Comando Aleron Der PA",pwm.dra_c,time);
+                emit valueChanged(uasId,"Comando Timon PA",pwm.dr_c,time);
+                emit valueChanged(uasId,"Comando elevador Izq PA",pwm.dle_c,time);
+                emit valueChanged(uasId,"Comando Elevador Der PA",pwm.dre_c,time);
+                emit valueChanged(uasId,"Comando Flap Izq PA",pwm.dlf_c,time);
+                emit valueChanged(uasId,"Comando Flap Der PA",pwm.drf_c,time);
+                emit valueChanged(uasId,"Comando Aux1 PA",pwm.aux1,time);
+                emit valueChanged(uasId,"Comando Aux2 PA",pwm.aux2,time);
+
+
+            break;
+        }
     default:
         qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
         break;

src/uas/SlugsMAV.h

@@ -6,6 +6,7 @@
 class SlugsMAV : public UAS
 {
     Q_OBJECT
+    Q_INTERFACES(UASInterface)
 public:
     SlugsMAV(MAVLinkProtocol* mavlink, int id = 0);
 

src/uas/UAS.cc

@@ -666,6 +666,7 @@ void UAS::writeParametersToStorage()
     mavlink_message_t msg;
     // TODO Replace MG System ID with static function call and allow to change ID in GUI
     mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_STORAGE_WRITE);
+    //mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(uint8_t)MAV_ACTION_STORAGE_WRITE);
     sendMessage(msg);
 }