PFD changes

dongfang_notes.txt

@@ -54,10 +54,10 @@ navModeChanged
 // System Status
 loadChanged
 Do we already have these in some form? Can they be merged?
-batteryChanged
-voltageChanged
+batteryChanged  (DONE)
+voltageChanged  (DONE)
 gpsLocalizationChanged
-satelliteCountChanged
+satelliteCountChanged   (DONE)
 
 // Mission status
 currentWaypointChanged (on WaypointManager)

src/ui/MainWindow.cc

@@ -345,14 +345,7 @@ QString MainWindow::getWindowStateKey()
         return QString::number(currentView)+"_windowstate_" + UASManager::instance()->getActiveUAS()->getAutopilotTypeName();
     }
     else
-<<<<<<< HEAD
-    {
-        return QString::number(currentView)+"_windowstate";
-    }
-=======
-
         return QString::number(currentView)+"_windowstate";
->>>>>>> lorenz/master
 }
 
 QString MainWindow::getWindowGeometryKey()
@@ -901,22 +894,7 @@ void MainWindow::showHILConfigurationWidget(UASInterface* uas)
         //createDockWidget(centerStack->currentWidget(),tool,"Unnamed Tool " + QString::number(ui.menuTools->actions().size()),"UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size())+"DOCK",currentView,Qt::BottomDockWidgetArea);
 
         QGCHilConfiguration* hconf = new QGCHilConfiguration(mav, this);
-<<<<<<< HEAD
-
-        QString hilDockName = tr("HIL Config (%1)").arg(uas->getUASName());
-        createDockWidget(centerStack->currentWidget(),hconf,hilDockName,QString("HIL_CONFIG_%1").arg(uas->getUASID()),currentView,Qt::LeftDockWidgetArea);
-        //QDockWidget* hilDock = new QDockWidget(hilDockName, this);
-        //hilDock->setWidget(hconf);
-        //hilDock->setObjectName(QString("HIL_CONFIG_%1").arg(uas->getUASID()));
-        //addTool(hilDock, hilDockName, Qt::LeftDockWidgetArea);
-        //hilDocks.insert(mav->getUASID(), hilDock);
-
-        //if (currentView != VIEW_SIMULATION)
-        //    hilDock->hide();
-        //else
-        //    hilDock->show();
-=======
-        QString hilDockName = tr("HIL Config %1").arg(uas->getUASName());
+       QString hilDockName = tr("HIL Config %1").arg(uas->getUASName());
         QDockWidget* hilDock = createDockWidget(simView, hconf,hilDockName, hilDockName.toUpper().replace(" ", "_"),VIEW_SIMULATION,Qt::LeftDockWidgetArea);
         hilDocks.insert(mav->getUASID(), hilDock);
 
@@ -924,7 +902,6 @@ void MainWindow::showHILConfigurationWidget(UASInterface* uas)
         //            hilDock->hide();
         //        else
         //            hilDock->show();
->>>>>>> lorenz/master
     }
 }
 
@@ -1772,14 +1749,8 @@ void MainWindow::UASCreated(UASInterface* uas)
 
     connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int)));
 
-<<<<<<< HEAD
-        // HIL
-        //We only want to show it when it's explicitly requested. This is now handled by loadViewState()
-        //showHILConfigurationWidget(uas);
-=======
     // HIL
     showHILConfigurationWidget(uas);
->>>>>>> lorenz/master
 
     if (!linechartWidget)
     {

src/ui/PrimaryFlightDisplay.cpp

@@ -63,6 +63,9 @@ PrimaryFlightDisplay::PrimaryFlightDisplay(int width, int height, QWidget *paren
     batteryCurrent(UNKNOWN_BATTERY),
     batteryCharge(UNKNOWN_BATTERY),
 
+    GPSFixType(UNKNOWN_GPSFIXTYPE),
+    satelliteCount(UNKNOWN_COUNT),
+
     layout(FEATUREPANELS_IN_CORNERS),
     style(OPAGUE_TAPES),
 
@@ -180,6 +183,9 @@ void PrimaryFlightDisplay::setActiveUAS(UASInterface* uas)
         disconnect(this->uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
         disconnect(this->uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
         disconnect(this->uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
+        disconnect(this->uas, SIGNAL(armingChanged(bool)), this, SLOT(updateArmed(bool)));
+        disconnect(this->uas, SIGNAL(satelliteCountChanged(double, QString)), this, SLOT(updateSatelliteCount(double, QString)));
+        disconnect(this->uas, SIGNAL(localizationChanged(UASInterface* uas, int fix)), this, SLOT(updateGPSFixType(UASInterface*,int)));
 
         //disconnect(this->uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
         disconnect(this->uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
@@ -198,6 +204,7 @@ void PrimaryFlightDisplay::setActiveUAS(UASInterface* uas)
         connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
         connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
         connect(uas, SIGNAL(armingChanged(bool)), this, SLOT(updateArmed(bool)));
+        connect(uas, SIGNAL(satelliteCountChanged(double, QString)), this, SLOT(updateSatelliteCount(double, QString)));
 
         //connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
         connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
@@ -258,6 +265,16 @@ void PrimaryFlightDisplay::updateBattery(UASInterface* uas, double voltage, doub
     batteryCharge = percent;
 }
 
+void PrimaryFlightDisplay::updateGPSFixType(UASInterface* uas, int fixType) {
+    Q_UNUSED(uas);
+    this->GPSFixType = fixType;
+}
+
+void PrimaryFlightDisplay::updateSatelliteCount(double count, QString name) {
+    Q_UNUSED(uas)
+    this->satelliteCount = (int)count;
+}
+
 void PrimaryFlightDisplay::receiveHeartbeat(UASInterface*)
 {
 }
@@ -950,10 +967,10 @@ void PrimaryFlightDisplay::drawVelocityMeter(
     float effectiveHalfHeight = h*0.45;
     float tickmarkLeft = 0.6*w;
     float tickmarkRight = 0.7*w;
-    float numbersLeft = 0.42*w;
+    float numbersRight = 0.42*w;
     float markerHalfHeight = 0.06*h;
-    float rightEdge = w-instrumentEdgePen.widthF()*2;
-    float markerTip = (tickmarkLeft*2+tickmarkRight)/3;
+    float leftEdge = instrumentEdgePen.widthF()*2;
+    float markerTip = (tickmarkLeft+tickmarkRight*2)/3;
 
     float start = airspeed - AIRSPEED_LINEAR_SPAN/2;
     float end = airspeed + AIRSPEED_LINEAR_SPAN/2;
@@ -963,20 +980,22 @@ void PrimaryFlightDisplay::drawVelocityMeter(
         float y = (tickSpeed-airspeed)*effectiveHalfHeight/(AIRSPEED_LINEAR_SPAN/2);
         bool hasText = tickSpeed % AIRSPEED_LINEAR_MAJOR_RESOLUTION == 0;
         painter.resetTransform();
+
         painter.translate(area.left(), area.center().y() - y);
         painter.drawLine(tickmarkLeft, 0, tickmarkRight, 0);
+
         if (hasText) {
             QString s_speed;
             s_speed.sprintf("%d", tickSpeed);
-            drawTextLeftCenter(painter, s_speed, mediumTextSize, numbersLeft, 0);
+            drawTextRightCenter(painter, s_speed, mediumTextSize, numbersRight, 0);
         }
     }
 
     QPainterPath markerPath(QPoint(markerTip, 0));
-    markerPath.lineTo(markerTip+markerHalfHeight, markerHalfHeight);
-    markerPath.lineTo(rightEdge, markerHalfHeight);
-    markerPath.lineTo(rightEdge, -markerHalfHeight);
-    markerPath.lineTo(markerTip+markerHalfHeight, -markerHalfHeight);
+    markerPath.lineTo(markerTip-markerHalfHeight, markerHalfHeight);
+    markerPath.lineTo(leftEdge, markerHalfHeight);
+    markerPath.lineTo(leftEdge, -markerHalfHeight);
+    markerPath.lineTo(markerTip-markerHalfHeight, -markerHalfHeight);
     markerPath.closeSubpath();
 
     painter.resetTransform();
@@ -993,8 +1012,8 @@ void PrimaryFlightDisplay::drawVelocityMeter(
     pen.setColor(Qt::white);
     painter.setPen(pen);
     QString s_alt;
-    s_alt.sprintf("%3.0f", airspeed);
-    float xCenter = (markerTip+rightEdge)/2;
+    s_alt.sprintf("%3.1f", airspeed);
+    float xCenter = (markerTip+leftEdge)/2;
     drawTextCenter(painter, s_alt, /* TAPES_TEXT_SIZE*width()*/ mediumTextSize, xCenter, 0);
 }
 
@@ -1367,7 +1386,7 @@ void PrimaryFlightDisplay::doPaint() {
     // Y: 1 single margin below above gadget.
 
     drawAltimeter(painter, altimeterArea, aboveASLAltitude, 1000, 0);
-    drawAltimeter(painter, velocityMeterArea, aboveASLAltitude, 1000, 0);
+    drawVelocityMeter(painter, velocityMeterArea);
 
     drawSensorsStatsPanel(painter, sensorsStatsArea);
     drawLinkStatsPanel(painter, linkStatsArea);

src/ui/PrimaryFlightDisplay.h

@@ -88,6 +88,8 @@
 #define UNKNOWN_ATTITUDE 0
 #define UNKNOWN_ALTITUDE -1000
 #define UNKNOWN_SPEED -1
+#define UNKNOWN_COUNT -1
+#define UNKNOWN_GPSFIXTYPE -1
 
 class PrimaryFlightDisplay : public QWidget
 {
@@ -111,6 +113,8 @@ public slots:
     void updateState(UASInterface*,QString);
     void updateMode(int id,QString mode, QString description);
     void updateLoad(UASInterface*, double);
+    void updateGPSFixType(UASInterface*,int);
+    void updateSatelliteCount(double count,QString sth);
     void selectWaypoint(int uasId, int id);
 
 protected:
@@ -212,16 +216,12 @@ private:
     double batteryCurrent;
     double batteryCharge;
 
+    int GPSFixType;
+    int satelliteCount;
+
     Layout layout;      // The display layout.
     Style style;        // The AI style (tapes translusent or opague)
 
-    /* This idea did not work
-    QPen whitePen;
-    QPen redPen;
-    QPen amberPen;
-    QPen greenPen;
-    QPen blackPen;
-    */
 
     QColor redColor;
     QColor amberColor;