Merge branch 'master' of git@pixhawk.ethz.ch:groundcontrol

README

@@ -2,20 +2,55 @@ QGroundControl Open Source Micro Air Vehicle Ground Control Station
 
 http://pixhawk.ethz.ch
 
+Mac OS X
+========
+
+To build on Mac OS X (10.5 or later):
+
+Install SDL
+-----------
+1) Download SDL from:  <http://www.libsdl.org/release/SDL-1.2.14.dmg>
+
+2) From the SDL disk image, copy the `sdl.framework` bundle to `/Library/Frameworks` directory (if you are not an admin copy to `~/Library/Framewroks`)
+
+Install QT with Cocoa
+----------------------
+1) Download Qt 4.6.2 with Cocoa from `http://get.qt.nokia.com/qt/source/qt-mac-cocoa-opensource-4.6.2.dmg` 
+
+2) Double click the package installer
+
+Get the MAVLINK Library
+-----------------------
+1) Clone the MAVLINK repository : `git clone git@pixhawk.ethz.ch:mavlink.git` (You need to have emailed  your ssh key). **NOTE:** Make sure that the mavlink directory is in the same directory as groundcontrol. QGround control will look for mavlink library in ../mavlink
+
+Build QGroundControl
+--------------------
+1) From the terminal go to the `groundcontrol` directory
+
+2) Run `qmake`
+
+3) Run `xcodebuild -configuration Release` or open `qgroundcontrol.xcodeproj` in Xcode and build.
+
+
+Linux 
+=====
+
 **********************************************************************************************
 * PLEASE NOTE: YOU NEED TO DOWNLOAD THE MAVLINK LIBRARY IN ORDER TO COMPILE THIS APPLICATION *
 **********************************************************************************************
 
 
-To build on Mac OS X (10.5 or later):
-1) Install http://www.libsdl.org/release/SDL-1.2.14.dmg
-2) Install Qt 4.6.2 with Cocoa http://get.qt.nokia.com/qt/source/qt-mac-cocoa-opensource-4.6.2.dmg
-3) Run "qmake"
-4) Run "xcodebuild -configuration Release" or open "qgroundcontrol.xcodeproj" in Xcode and build.
-
 To build on Linux:
 <instructions to be written>
 
+Windows
+=======
+
+**********************************************************************************************
+* PLEASE NOTE: YOU NEED TO DOWNLOAD THE MAVLINK LIBRARY IN ORDER TO COMPILE THIS APPLICATION *
+**********************************************************************************************
+
+
 To build on Windows:
 <instructions to be written>
 

src/comm/MAVLinkSimulationLink.cc

@@ -365,6 +365,15 @@ void MAVLinkSimulationLink::mainloop()
         memcpy(stream+streampointer,buffer, bufferlength);
         streampointer += bufferlength;
 
+        // Pack debug text message
+        statustext_t text;
+        text.severity = 0;
+        strcpy((char*)(text.text), "DEBUG MESSAGE TEXT");
+        message_statustext_encode(systemId, componentId, &msg, &text);
+        bufferlength = message_to_send_buffer(buffer, &msg);
+        memcpy(stream+streampointer, buffer, bufferlength);
+        streampointer += bufferlength;
+
         /*
         // Pack message and get size of encoded byte string
         messageSize = message_boot_pack(systemId, componentId, &msg, version);
@@ -529,6 +538,14 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                     }
                 }
                 break;
+
+            case MAVLINK_MSG_ID_MANUAL_CONTROL:
+                {
+                    manual_control_t control;
+                    message_manual_control_decode(&msg, &control);
+                    qDebug() << "\n" << "ROLL:" << control.roll << "PITCH:" << control.pitch;
+                }
+                break;
             }
 
 

src/uas/UAS.cc

@@ -171,7 +171,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     emit modeChanged(this->getUASID(), mode, "");
                     modeAudio = " is now in " + mode;
                 }
-                currentVoltage = state.vbat;
+                currentVoltage = state.vbat/1000.0f;
                 lpVoltage = filterVoltage(currentVoltage);
                 if (startVoltage == 0) startVoltage = currentVoltage;
                 timeRemaining = calculateTimeRemaining();
@@ -353,8 +353,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 //b.append('\0');
                 QString text = QString(b);
                 int severity = message_statustext_get_severity(&message);
-                qDebug() << "RECEIVED STATUS:" << text;
+                //qDebug() << "RECEIVED STATUS:" << text;
                 //emit statusTextReceived(severity, text);
+                emit textMessageReceived(uasId, severity, text);
             }
             break;
         case MAVLINK_MSG_ID_PATTERN_DETECTED:

src/uas/UASInterface.h

@@ -209,6 +209,16 @@ signals:
      */
     void statusChanged(UASInterface* uas, QString status, QString description);
     /**
+     * @brief Received a plain text message from the robot
+     * This signal should NOT be used for standard communication, but rather for VERY IMPORTANT
+     * messages like critical errors.
+     *
+     * @param uasid ID of the sending system
+     * @param text the status text
+     * @param severity The severity of the message, 0 for plain debug messages, 10 for very critical messages
+     */
+    void textMessageReceived(int uasid, int severity, QString text);
+    /**
      * @brief Drop rate of communication link updated
      *
      * @param systemId id of the air system

src/ui/DebugConsole.cc

@@ -161,6 +161,11 @@ void DebugConsole::setAutoHold(bool hold)
     autoHold = hold;
 }
 
+void DebugConsole::receiveTextMessage(int id, int severity, QString text)
+{
+    m_ui->receiveText->appendHtml(QString("<b color=\"red\">(MAV" + QString::number(id) + QString(":") + QString::number(severity) + QString(") ") + text + QString("</b>")));
+}
+
 void DebugConsole::updateTrafficMeasurements()
 {
     lowpassDataRate = lowpassDataRate * 0.9f + (0.1f * ((float)snapShotBytes / (float)snapShotInterval) * 1000.0f);

src/ui/DebugConsole.h

@@ -68,6 +68,8 @@ public slots:
     void hold(bool hold);
     /** @brief Enable auto-freeze mode if traffic intensity is too high to display */
     void setAutoHold(bool hold);
+    /** @brief Receive plain text message to output to the user */
+    void receiveTextMessage(int id, int severity, QString text);
 
     protected slots:
     /** @brief Draw information overlay */

src/ui/MainWindow.cc

@@ -327,6 +327,9 @@ void MainWindow::UASCreated(UASInterface* uas)
         sysPresent = true;
     }
 
+    // FIXME Should be not inside the mainwindow
+    connect(uas, SIGNAL(textMessageReceived(int,int,QString)), debugConsole, SLOT(receiveTextMessage(int,int,QString)));
+
     // Health / System status indicator
     info->addUAS(uas);
 

src/ui/UASInfo.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>462</width>
+    <width>455</width>
-    <height>189</height>
+    <height>220</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -66,7 +66,7 @@
      </property>
     </widget>
    </item>
-   <item row="0" column="4">
+   <item row="0" column="4" colspan="4">
     <widget class="QProgressBar" name="batteryBar">
      <property name="sizePolicy">
       <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
@@ -109,7 +109,7 @@
      </property>
     </widget>
    </item>
-   <item row="0" column="5" rowspan="4">
+   <item row="0" column="8" rowspan="6">
     <spacer name="horizontalSpacer">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -171,7 +171,7 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="4">
+   <item row="1" column="4" colspan="4">
     <widget class="QProgressBar" name="receiveLossBar">
      <property name="sizePolicy">
       <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
@@ -257,7 +257,7 @@
      </property>
     </widget>
    </item>
-   <item row="2" column="4">
+   <item row="2" column="4" colspan="4">
     <widget class="QProgressBar" name="sendLossBar">
      <property name="sizePolicy">
       <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
@@ -343,7 +343,7 @@
      </property>
     </widget>
    </item>
-   <item row="3" column="4">
+   <item row="3" column="4" colspan="4">
     <widget class="QProgressBar" name="loadBar">
      <property name="sizePolicy">
       <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
@@ -380,7 +380,56 @@
      </property>
     </widget>
    </item>
-   <item row="4" column="0" colspan="6">
+   <item row="4" column="0" colspan="8">
+    <widget class="Line" name="line">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="0">
+    <widget class="QLabel" name="label_4">
+     <property name="text">
+      <string>I2C Errors</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="1" colspan="2">
+    <widget class="QLabel" name="i2cErrorLabel">
+     <property name="text">
+      <string>0</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="4">
+    <widget class="QLabel" name="label_5">
+     <property name="text">
+      <string>SPI Errors</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="5">
+    <widget class="QLabel" name="spiErrorLabel">
+     <property name="text">
+      <string>0</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="6">
+    <widget class="QLabel" name="label_10">
+     <property name="text">
+      <string>UART Errors</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="7">
+    <widget class="QLabel" name="uartErrorLabel">
+     <property name="text">
+      <string>0</string>
+     </property>
+    </widget>
+   </item>
+   <item row="6" column="0" colspan="9">
     <spacer name="verticalSpacer">
      <property name="orientation">
       <enum>Qt::Vertical</enum>