Merge branch 'mergeRemote' into experimental

src/uas/SlugsMAV.cc

@@ -69,6 +69,10 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
 #ifdef MAVLINK_ENABLED_SLUGS
 
+      case MAVLINK_MSG_ID_RAW_IMU:
+        mavlink_msg_raw_imu_decode(&message, &mlRawImuData);
+      break;
+
       case MAVLINK_MSG_ID_BOOT:
         mavlink_msg_boot_decode(&message,&mlBoot);
         emit slugsBootMsg(uasId, mlBoot);
@@ -132,16 +136,14 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
       case MAVLINK_MSG_ID_CTRL_SRFC_PT:     //181
 
-            break;
+      break;
 
       case MAVLINK_MSG_ID_PID:              //182
           memset(&mlSinglePid,0,sizeof(mavlink_pid_t));
           mavlink_msg_pid_decode(&message, &mlSinglePid);
-          qDebug() << "\nSLUGS RECEIVED PID Message = "<<mlSinglePid.idx;
+        //  qDebug() << "\nSLUGS RECEIVED PID Message = "<<mlSinglePid.idx;
 
           emit slugsPidValues(uasId, mlSinglePid);
-
-
       break;
 
       case MAVLINK_MSG_ID_SLUGS_ACTION:     //183
@@ -174,10 +176,9 @@ void SlugsMAV::emitSignals (void){
 
     case 3:
       emit remoteControlChannelScaledChanged(0,(mlPilotConsoleData.de- 1000.0f)/1000.0f);
-       emit remoteControlChannelScaledChanged(1,(mlPilotConsoleData.dla- 1000.0f)/1000.0f);
-        emit remoteControlChannelScaledChanged(2,(mlPilotConsoleData.dr- 1000.0f)/1000.0f);
-         emit remoteControlChannelScaledChanged(3,(mlPilotConsoleData.dra- 1000.0f)/1000.0f);
-          emit remoteControlChannelScaledChanged(0,(mlPilotConsoleData.dt- 1000.0f)/1000.0f);
+      emit remoteControlChannelScaledChanged(1,(mlPilotConsoleData.dla- 1000.0f)/1000.0f);
+      emit remoteControlChannelScaledChanged(2,(mlPilotConsoleData.dr- 1000.0f)/1000.0f);
+      emit remoteControlChannelScaledChanged(3,(mlPilotConsoleData.dra- 1000.0f)/1000.0f);
 
       emit slugsPWM(uasId, mlPwmCommands);
     break;
@@ -220,7 +221,7 @@ void SlugsMAV::emitSignals (void){
 #ifdef MAVLINK_ENABLED_SLUGS
 void SlugsMAV::emitGpsSignals (void){
 
-    qDebug()<<"After Emit GPS Signal"<<mlGpsData.fix_type;
+   // qDebug()<<"After Emit GPS Signal"<<mlGpsData.fix_type;
 
 
     //ToDo Uncomment if. it was comment only to test
@@ -248,7 +249,7 @@ void SlugsMAV::emitGpsSignals (void){
 
 void SlugsMAV::emitPidSignal()
 {
-     qDebug() << "\nSLUGS RECEIVED PID Message";
+    // qDebug() << "\nSLUGS RECEIVED PID Message";
     emit slugsPidValues(uasId, mlSinglePid);
 
 }

src/uas/UASWaypointManager.cc

@@ -31,6 +31,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "UASWaypointManager.h"
 #include "UAS.h"
+#include "mavlink_types.h"
 
 #define PROTOCOL_TIMEOUT_MS 2000    ///< maximum time to wait for pending messages until timeout
 #define PROTOCOL_DELAY_MS 40        ///< minimum delay between sent messages
@@ -600,22 +601,26 @@ void UASWaypointManager::sendWaypointRequest(quint16 seq)
 void UASWaypointManager::sendWaypoint(quint16 seq)
 {
     mavlink_message_t message;
+    qDebug() <<" WP Buffer count: "<<waypoint_buffer.count();
 
     if (seq < waypoint_buffer.count())
     {
+
         mavlink_waypoint_t *wp;
 
+
         wp = waypoint_buffer.at(seq);
         wp->target_system = uas.getUASID();
         wp->target_component = MAV_COMP_ID_WAYPOINTPLANNER;
 
         emit updateStatusString(QString("sending waypoint ID %1 of %2 total").arg(wp->seq).arg(current_count));
 
+        qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system<<" WP Buffer count: "<<waypoint_buffer.count();
+
         mavlink_msg_waypoint_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, wp);
         uas.sendMessage(message);
         MG::SLEEP::usleep(PROTOCOL_DELAY_MS * 1000);
 
-        qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system;
     }
 }
 

src/ui/MainWindow.cc

@@ -215,7 +215,8 @@ void MainWindow::buildPxWidgets()
 void MainWindow::buildSlugsWidgets()
 {
     // Center widgets
-    linechartWidget   = new Linecharts(this);
+//    linechartWidget   = new Linecharts(this);
+//    addToCentralWidgetsMenu(linechartWidget, "Line Plots", SLOT(showCentralWidget()), CENTRAL_LINECHART);
 
     // Dock widgets
     headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
@@ -942,17 +943,12 @@ void MainWindow::UASCreated(UASInterface* uas)
             connectSlugsActions();
 
             // FIXME: This type checking might be redundant
-//            if (slugsDataWidget) {
-//              SlugsDataSensorView* dataWidget = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
-//              if (dataWidget) {
-//                SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
-//                if (mav2) {
+            if (slugsDataWidget) {
+              SlugsDataSensorView* dataWidget = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
+              if (dataWidget) {
                   (dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget()))->addUAS(uas);
-//                  //loadSlugsView();
-//                  loadGlobalOperatorView();
-//                }
-//              }
-//            }
+              }
+            }
           } break;
         }
 
@@ -1144,7 +1140,7 @@ void MainWindow::presentView() {
         if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HUD,currentView)).toBool()){
           tmpHud->start();
           addDockWidget(static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HUD, currentView)).toInt()),
-                        hsiDockWidget);
+                        headUpDockWidget);
           headUpDockWidget->show();
         } else {
           tmpHud->stop();
@@ -1546,7 +1542,7 @@ void MainWindow::load3DView()
  ========== ATTIC =================
  ==================================
 
-void MainWindow::buildCommonWidgets()
+void MainWindow::buildWidgets()
 {
     //FIXME: memory of acceptList will never be freed again
     QStringList* acceptList = new QStringList();
@@ -1689,7 +1685,7 @@ void MainWindow::connectWidgets()
 
 }
 
-void MainWindow::arrangeCommonCenterStack()
+void MainWindow::arrangeCenterStack()
 {
 
     QStackedWidget *centerStack = new QStackedWidget(this);

src/ui/SlugsDataSensorView.cc

@@ -104,7 +104,7 @@ void SlugsDataSensorView::slugsGlobalPositionChanged(UASInterface *uas,
  ui->m_GpsLongitude->setText(QString::number(lon));
  ui->m_GpsHeight->setText(QString::number(alt));
 
- qDebug()<<"GPS Position = "<<lat<<" - "<<lon<<" - "<<alt;
+ //qDebug()<<"GPS Position = "<<lat<<" - "<<lon<<" - "<<alt;
 }
 
 
@@ -154,7 +154,7 @@ void SlugsDataSensorView::slugAttitudeChanged(UASInterface* uas,
     ui->m_Pitch->setPlainText(QString::number(slugpitch));
     ui->m_Yaw->setPlainText(QString::number(slugyaw));
 
-     qDebug()<<"Attitude change = "<<slugroll<<" - "<<slugpitch<<" - "<<slugyaw;
+    // qDebug()<<"Attitude change = "<<slugroll<<" - "<<slugpitch<<" - "<<slugyaw;
 
 }
 

src/ui/SlugsPadCameraControl.cpp

@@ -27,15 +27,12 @@ SlugsPadCameraControl::~SlugsPadCameraControl()
 void SlugsPadCameraControl::mouseMoveEvent(QMouseEvent *event)
 {
     //emit mouseMoveCoord(event->x(),event->y());
+
     if(dragging)
     {
-        if(abs(x1-event->x())>20 || abs(y1-event->y())>20)
-        {
 
-            getDeltaPositionPad(event->x(), event->y());
-            x1 = event->x();
-            y1 = event->y();
-        }
+      // getDeltaPositionPad(event->x(), event->y());
+
     }
 
 
@@ -54,7 +51,7 @@ void SlugsPadCameraControl::mouseReleaseEvent(QMouseEvent *event)
 {
      dragging = false;
     //emit mouseReleaseCoord(event->x(),event->y());
-    //getDeltaPositionPad(event->x(), event->y());
+    getDeltaPositionPad(event->x(), event->y());
 
      xFin = event->x();
      yFin = event->y();
@@ -105,6 +102,10 @@ void SlugsPadCameraControl::getDeltaPositionPad(int x2, int y2)
     double bearing = localMeasures.x();
     double dist = getDistPixel(y1,x1,y2,x2);
 
+    // this only convert real bearing to frame widget bearing
+    bearing = bearing +90;
+    if(bearing>= 360) bearing = bearing - 360;
+
 
 
     if(((bearing > 330)&&(bearing < 360)) || ((bearing >= 0)&&(bearing <= 30)))
@@ -210,16 +211,9 @@ double SlugsPadCameraControl::getDistPixel(int x1, int y1, int x2, int y2)
       // distancia = (float) hipotenusa;
 }
 
-/**
-                * Esta función xxxxxxxxx
-                * @param double lat1 -->
-                * @param double lon1 -->
-                * @param double lat2 -->
-                * @param double lon2 -->
-                * @param ref double rumbo -->
-                * @param ref double distancia -->
-                */
-QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2)
+
+QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, double lat1,
+                                                              double lon2, double lat2)
 {
     double cateto_opuesto,cateto_adyacente, hipotenusa, distancia, marcacion;
 
@@ -256,9 +250,7 @@ QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, doubl
     else if((lat1 == lat2) && (lon1 == lon2)) //0
         marcacion = 0.0;
 
-    // this only convert real bearing to frame widget bearing
-    marcacion = marcacion +90;
-    if(marcacion>= 360) marcacion = marcacion - 360;
+
 
     return QPointF(marcacion,distancia);
 

src/ui/SlugsPadCameraControl.h

@@ -19,12 +19,16 @@ public:
 
 public slots:
     void getDeltaPositionPad(int x, int y);
+
+
+
     double getDistPixel(int x1, int y1, int x2, int y2);
     QPointF ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2);
     QPointF getPointBy_BearingDistance(double lat1, double lon1, double rumbo, double distancia);
 
 
 
+
 signals:
     void mouseMoveCoord(int x, int y);
     void mousePressCoord(int x, int y);

src/ui/SlugsVideoCamControl.ui

@@ -22,10 +22,10 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
-   <item row="0" column="0">
-    <layout class="QVBoxLayout" name="verticalLayout">
-     <item>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <layout class="QGridLayout" name="gridLayout">
+     <item row="0" column="0">
       <widget class="QLabel" name="label_x">
        <property name="mouseTracking">
         <bool>true</bool>
@@ -35,7 +35,7 @@
        </property>
       </widget>
      </item>
-     <item>
+     <item row="0" column="1">
       <widget class="QLabel" name="label_y">
        <property name="mouseTracking">
         <bool>true</bool>
@@ -45,21 +45,17 @@
        </property>
       </widget>
      </item>
-     <item>
-      <widget class="QLabel" name="label_dir">
+     <item row="1" column="1">
+      <widget class="QCheckBox" name="viewCamBordeatMap_checkBox">
        <property name="text">
-        <string>Camera Pos</string>
+        <string>Camera at Map</string>
        </property>
       </widget>
      </item>
-    </layout>
-   </item>
-   <item row="1" column="0">
-    <layout class="QHBoxLayout" name="horizontalLayout">
-     <item>
-      <widget class="QCheckBox" name="viewCamBordeatMap_checkBox">
+     <item row="1" column="0">
+      <widget class="QLabel" name="label_dir">
        <property name="text">
-        <string>Camera at Map</string>
+        <string>Camera Pos</string>
        </property>
       </widget>
      </item>