Merge branch 'dev' of git://github.com/pixhawk/qgroundcontrol into dev

.gitignore

@@ -27,3 +27,7 @@ deploy/linux
 controller_log*
 user_config.pri
 *.app
+
+*.ncb
+*.vcproj
+*.sln

data/kinect.cal

@@ -1,35 +1,37 @@
 [rgb]
-principal_point\x=313.67245
-principal_point\y=264.06175
-focal_length\x=527.44654
-focal_length\y=527.40652
-distortion\k1=0.20780
-distortion\k2=-0.34320
-distortion\k3=0.00139
-distortion\k4=0.00061
-distortion\k5=0.00000
+principal_point\x=314.70228964
+principal_point\y=264.30478827
+focal_length\x=527.91246131
+focal_length\y=527.91246131
+distortion\k1=0.20496745
+distortion\k2=-0.36341243
+distortion\k3=0.00000000
+distortion\k4=0.00000000
+distortion\k5=0.00000000
 
 [depth]
-principal_point\x=313.23400
-principal_point\y=246.13447
-focal_length\x=587.62150
-focal_length\y=587.51184
-distortion\k1=0.01063
-distortion\k2=-0.04479
-distortion\k3=-0.00073
-distortion\k4=0.00081
-distortion\k5=0.00000
+principal_point\x=311.88621344
+principal_point\y=247.63447078
+focal_length\x=593.89813561
+focal_length\y=593.89813561
+distortion\k1=0.00000000
+distortion\k2=0.00000000
+distortion\k3=0.00000000
+distortion\k4=0.00000000
+distortion\k5=0.00000000
 
 [transform]
-R11=0.99994
-R12=0.00098102
-R13=0.010900
-R21=-0.00097894
-R22=1.0
-R23=-0.00019534
-R33=-0.010900
-R32=0.00018466
-R33=0.99994
-Tx=-0.02581986
-Ty=-0.0130948
-Tz=-0.0047681
+R11=0.999982
+R12=0.000556
+R13=0.005927
+R21=-0.000563
+R22=0.999999
+R23=0.001235
+R33=-0.005926
+R32=-0.001239
+R33=0.999982
+Tx=-0.024287
+Ty=0.001018
+Tz=-0.015195
+baseline=0.06061
+disparity_offset=1092.3403

qgroundcontrol.pri

@@ -34,10 +34,10 @@ release {
 #    DEFINES += QT_NO_WARNING_OUTPUT
 }
 
-QMAKE_PRE_LINK += echo "Copying files"
+QMAKE_POST_LINK += echo "Copying files"
 
-#QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/.
-#QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
+#QMAKE_POST_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/.
+#QMAKE_POST_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
 
 # MAC OS X
 macx { 
@@ -77,11 +77,11 @@ macx {
     ICON = $$BASEDIR/images/icons/macx.icns
 
     # Copy audio files if needed
-    QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/.
+    QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/.
     # Copy google earth starter file
-    QMAKE_PRE_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/.
+    QMAKE_POST_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/.
     # Copy model files
-    #QMAKE_PRE_LINK += && cp -f $$BASEDIR/models/*.dae $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/.
+    #QMAKE_POST_LINK += && cp -f $$BASEDIR/models/*.dae $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/.
 
     exists(/Library/Frameworks/osg.framework):exists(/Library/Frameworks/OpenThreads.framework) {
     # No check for GLUT.framework since it's a MAC default
@@ -155,7 +155,7 @@ linux-g++ {
         #DESTDIR = $$BUILDDIR/release
     }
 
-    QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
+    QMAKE_POST_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
 
     INCLUDEPATH += /usr/include \
                    /usr/include/qt4/phonon
@@ -179,7 +179,8 @@ linux-g++ {
     message("Building support for OpenSceneGraph")
     DEPENDENCIES_PRESENT += osg
     # Include OpenSceneGraph libraries
-    LIBS += -losg
+    LIBS += -losg \
+            -losgViewer
     DEFINES += QGC_OSG_ENABLED
     }
 
@@ -187,8 +188,7 @@ linux-g++ {
     message("Building support for osgEarth")
     DEPENDENCIES_PRESENT += osgearth
     # Include osgEarth libraries
-    LIBS += -losgViewer \
-            -losgEarth \
+    LIBS += -losgEarth \
             -losgEarthUtil
     DEFINES += QGC_OSGEARTH_ENABLED
     }
@@ -202,10 +202,15 @@ linux-g++ {
     DEFINES += QGC_LIBFREENECT_ENABLED
     }
 
-    QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/.
-    QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
-    QMAKE_PRE_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/debug/.
-    QMAKE_PRE_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/release/.
+    debug {
+        QMAKE_POST_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/.
+        QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/debug/.
+    }
+
+    release {
+        QMAKE_POST_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
+        QMAKE_POST_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/release/.
+    }
 
     # osg/osgEarth dynamic casts might fail without this compiler option.
     # see http://osgearth.org/wiki/FAQ for details.
@@ -223,7 +228,7 @@ linux-g++-64 {
         #DESTDIR = $$BUILDDIR/release
     }
 
-    QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
+    QMAKE_POST_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
 
     INCLUDEPATH += /usr/include \
                    /usr/include/qt4/phonon
@@ -248,7 +253,8 @@ linux-g++-64 {
     message("Building support for OpenSceneGraph")
     DEPENDENCIES_PRESENT += osg
     # Include OpenSceneGraph libraries
-    LIBS += -losg
+    LIBS += -losg \
+            -losgViewer
     DEFINES += QGC_OSG_ENABLED
     }
 
@@ -256,8 +262,7 @@ linux-g++-64 {
     message("Building support for osgEarth")
     DEPENDENCIES_PRESENT += osgearth
     # Include osgEarth libraries
-    LIBS += -losgViewer \
-            -losgEarth \
+    LIBS += -losgEarth \
             -losgEarthUtil
     DEFINES += QGC_OSGEARTH_ENABLED
     }
@@ -325,16 +330,19 @@ exists($$BASEDIR/lib/osgEarth123) {
     BASEDIR_WIN = $$replace(BASEDIR,"/","\\")
     TARGETDIR_WIN = $$replace(TARGETDIR,"/","\\")
 
-    QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\debug\SDL.dll\"
-    QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\release\SDL.dll\"
-    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\debug\audio\" /S /E /Y
-    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\release\audio\" /S /E /Y
-    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\debug\models\" /S /E /Y
-    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\release\models\" /S /E /Y
+    debug {
+        QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\\lib\\sdl\\win32\\SDL.dll\" \"$$TARGETDIR_WIN\\debug\\SDL.dll\"
+        QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\debug\audio\" /S /E /Y
+        QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\debug\models\" /S /E /Y
+        QMAKE_POST_LINK += && copy /Y \"$$BASEDIR/images/earth.html $$TARGETDIR_WIN\debug\"
+    }
 
-    # Copy google earth starter file
-    QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR/images/earth.html $$TARGETDIR_WIN\release\"
-    QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR/images/earth.html $$TARGETDIR_WIN\debug\"
+    release {
+        QMAKE_POST_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\release\SDL.dll\"
+        QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\release\audio\" /S /E /Y
+        QMAKE_POST_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\release\models\" /S /E /Y
+        QMAKE_POST_LINK += && copy /Y \"$$BASEDIR/images/earth.html $$TARGETDIR_WIN\release\"
+    }
 
 }
 
@@ -366,15 +374,18 @@ win32-g++ {
     RC_FILE = $$BASEDIR/qgroundcontrol.rc
 
     # Copy dependencies
-    BASEDIR_WIN = $$replace(BASEDIR,"/","\\")
-    TARGETDIR_WIN = $$replace(TARGETDIR,"/","\\")
 
-    QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\debug\SDL.dll\"
-    QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\release\SDL.dll\"
-    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\debug\audio\" /S /E /Y
-    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\release\audio\" /S /E /Y
-    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\debug\models\" /S /E /Y
-    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\release\models\" /S /E /Y
+    debug {
+        QMAKE_POST_LINK += && cp $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/debug/SDL.dll
+        QMAKE_POST_LINK += && cp -r $$BASEDIR/audio $$TARGETDIR/debug/audio
+        QMAKE_POST_LINK += && cp -r $$BASEDIR/models $$TARGETDIR/debug/models
+    }
+
+    release {
+        QMAKE_POST_LINK += && cp $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/release/SDL.dll
+        QMAKE_POST_LINK += && cp -r $$BASEDIR/audio $$TARGETDIR/release/audio
+        QMAKE_POST_LINK += && cp -r $$BASEDIR/models $$TARGETDIR/release/models
+    }
 
     # osg/osgEarth dynamic casts might fail without this compiler option.
     # see http://osgearth.org/wiki/FAQ for details.

src/input/Freenect.cc

@@ -208,8 +208,9 @@ Freenect::get3DPointCloudData(void)
     {
         if (data[i] > 0 && data[i] <= 2048)
         {
-            // see www.ros.org/wiki/kinect_node for details
-            double range = 1.0f / (-0.00307f * static_cast<float>(data[i]) + 3.33f);
+            double range = baseline * depthCameraParameters.fx
+                           / (1.0 / 8.0 * (disparityOffset
+                                           - static_cast<double>(data[i])));
 
             if (range > 0.0f)
             {
@@ -341,6 +342,9 @@ Freenect::readConfigFile(void)
                                  settings.value("transform/Tz").toDouble(),
                                  0.0, 0.0, 0.0, 1.0);
     transformMatrix = transformMatrix.transposed();
+
+    baseline = settings.value("transform/baseline").toDouble();
+    disparityOffset = settings.value("transform/disparity_offset").toDouble();
 }
 
 void

src/input/Freenect.h

@@ -119,6 +119,8 @@ private:
     IntrinsicCameraParameters depthCameraParameters;
 
     QMatrix4x4 transformMatrix;
+    double baseline;
+    double disparityOffset;
 
     // tilt angle of Kinect camera
     int tiltAngle;

src/uas/UAS.cc

@@ -637,7 +637,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_THROTTLE_LEN; ++i)
                     throttle << radioMsg.throttle[i];
 
-                QPointer<RadioCalibrationData> radioData = new RadioCalibrationData(aileron,
+                QPointer<RadioCalibrationData> radioData = new RadioCalibrationData(aileron, elevator, rudder, gyro, pitch, throttle);
                 emit radioCalibrationReceived(radioData);
                 delete radioData;
             }

src/ui/MainWindow.h

@@ -70,7 +70,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "SlugsPIDControl.h"
 
-#include "slugshilsim.h"
+#include "SlugsHilSim.h"
 
 #include "SlugsVideoCamControl.h"
 

src/ui/SlugsHilSim.cc

@@ -28,8 +28,8 @@ This file is part of the QGROUNDCONTROL project
  */
 
 
-#include "slugshilsim.h"
-#include "ui_slugshilsim.h"
+#include "SlugsHilSim.h"
+#include "ui_SlugsHilSim.h"
 #include "LinkManager.h"
 
 SlugsHilSim::SlugsHilSim(QWidget *parent) :
@@ -143,6 +143,8 @@ void SlugsHilSim::processHilDatagram(const QByteArray* datagram){
 
   // GPS
   mavlink_gps_raw_t tmpGpsRaw;
+
+#ifdef MAVLINK_ENABLED_SLUGS
   mavlink_gps_date_time_t tmpGpsTime;
 
   tmpGpsTime.year  = datagram->at(i++);
@@ -165,6 +167,7 @@ void SlugsHilSim::processHilDatagram(const QByteArray* datagram){
 
   mavlink_msg_gps_date_time_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &tmpGpsTime);
   activeUas->sendMessage(hilLink, msg);
+#endif
 
   memset(&msg, 0, sizeof(mavlink_message_t));
 

src/ui/SlugsPIDControl.cpp

@@ -46,9 +46,9 @@ SlugsPIDControl::SlugsPIDControl(QWidget *parent) :
  */
 void SlugsPIDControl::activeUasSet(UASInterface* uas)
 {
+    #ifdef MAVLINK_ENABLED_SLUGS
     SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(uas);
 
-#ifdef MAVLINK_ENABLED_SLUGS
     if (slugsMav != NULL)
     {
         connect(slugsMav,SIGNAL(slugsActionAck(int,const mavlink_action_ack_t&)),this,SLOT(recibeMensaje(int,mavlink_action_ack_t)));
@@ -187,6 +187,7 @@ void SlugsPIDControl::changeColor_GREEN_AirSpeed_groupBox()
   {
 
     //create the packet
+#ifdef MAVLINK_ENABLED_SLUGS
     pidMessage.target = activeUAS->getUASID();
     pidMessage.idx = 0;
     pidMessage.pVal = ui->dT_P_set->text().toFloat();
@@ -197,6 +198,7 @@ void SlugsPIDControl::changeColor_GREEN_AirSpeed_groupBox()
 
     mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
     slugsMav->sendMessage(msg);
+#endif
 
     ui->AirSpeedHold_groupBox->setStyleSheet(GREENcolorStyle);
   }
@@ -232,6 +234,7 @@ void SlugsPIDControl::changeColor_GREEN_PitchFollowei_groupBox()
 
     if (slugsMav != NULL)
     {
+        #ifdef MAVLINK_ENABLED_SLUGS
       //create the packet
       pidMessage.target = activeUAS->getUASID();
       pidMessage.idx = 2;
@@ -243,6 +246,7 @@ void SlugsPIDControl::changeColor_GREEN_PitchFollowei_groupBox()
 
       mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
       slugsMav->sendMessage(msg);
+#endif
 
       ui->PitchFlowei_groupBox->setStyleSheet(GREENcolorStyle);
   }
@@ -280,6 +284,7 @@ void SlugsPIDControl::changeColor_GREEN_RollControl_groupBox()
 
     if (slugsMav != NULL)
     {
+        #ifdef MAVLINK_ENABLED_SLUGS
           //create the packet
           pidMessage.target = activeUAS->getUASID();
           pidMessage.idx = 4;
@@ -291,6 +296,7 @@ void SlugsPIDControl::changeColor_GREEN_RollControl_groupBox()
 
           mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
           slugsMav->sendMessage(msg);
+#endif
 
         ui->RollControl_groupBox->setStyleSheet(GREENcolorStyle);
     }
@@ -340,6 +346,7 @@ void SlugsPIDControl::changeColor_GREEN_HeigthError_groupBox()
 
     if (slugsMav != NULL)
     {
+        #ifdef MAVLINK_ENABLED_SLUGS
           //create the packet
           pidMessage.target = activeUAS->getUASID();
           pidMessage.idx = 1;
@@ -351,6 +358,7 @@ void SlugsPIDControl::changeColor_GREEN_HeigthError_groupBox()
 
           mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
           slugsMav->sendMessage(msg);
+#endif
 
         ui->HeightErrorLoPitch_groupBox->setStyleSheet(GREENcolorStyle);
     }
@@ -399,6 +407,7 @@ void SlugsPIDControl::changeColor_GREEN_YawDamper_groupBox()
 
     if (slugsMav != NULL)
     {
+        #ifdef MAVLINK_ENABLED_SLUGS
           //create the packet
           pidMessage.target = activeUAS->getUASID();
           pidMessage.idx = 3;
@@ -410,6 +419,7 @@ void SlugsPIDControl::changeColor_GREEN_YawDamper_groupBox()
 
           mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
           slugsMav->sendMessage(msg);
+#endif
 
         ui->YawDamper_groupBox->setStyleSheet(GREENcolorStyle);
     }
@@ -460,6 +470,7 @@ void SlugsPIDControl::changeColor_GREEN_Pitch2dT_groupBox()
 
     if (slugsMav != NULL)
     {
+#ifdef MAVLINK_ENABLED_SLUGS
           //create the packet
           pidMessage.target = activeUAS->getUASID();
           pidMessage.idx = 8;
@@ -471,6 +482,7 @@ void SlugsPIDControl::changeColor_GREEN_Pitch2dT_groupBox()
 
           mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
           slugsMav->sendMessage(msg);
+#endif
         ui->Pitch2dTFFterm_groupBox->setStyleSheet(GREENcolorStyle);
     }
 }
@@ -541,10 +553,12 @@ void SlugsPIDControl::receivePidValues(int systemId, const mavlink_pid_t &pidVal
 
     }
 }
+#endif // MAVLINK_ENABLED_SLUG
 
 
 void SlugsPIDControl::sendMessagePIDStatus(int PIDtype)
 {
+#ifdef MAVLINK_ENABLED_SLUGS
     //ToDo remplace actionId values
 
 
@@ -626,6 +640,7 @@ void SlugsPIDControl::sendMessagePIDStatus(int PIDtype)
 
         }
     }
+    #endif // MAVLINK_ENABLED_SLUG
 }
 
 void SlugsPIDControl::slugsGetGeneral()
@@ -695,6 +710,8 @@ void SlugsPIDControl::slugsSetGeneral()
     counterRefreshSet++;
     valuesMutex.unlock();
 }
+
+
 void SlugsPIDControl::slugsTimerStartSet()
 {
     counterRefreshSet = 1;
@@ -714,4 +731,3 @@ void SlugsPIDControl::slugsTimerStop()
 //     counterRefresh = 1;
 
 }
-#endif // MAVLINK_ENABLED_SLUGS

src/ui/SlugsPIDControl.h

@@ -277,8 +277,10 @@ private:
     QString ORIGINcolorStyle;
 
     //SlugsMav Message
+    #ifdef MAVLINK_ENABLED_SLUGS
     mavlink_pid_t pidMessage;
     mavlink_slugs_action_t actionSlugs;
+#endif
 
     QTimer* refreshTimerSet;      ///< The main timer, controls the update view
     QTimer* refreshTimerGet;      ///< The main timer, controls the update view