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Partial fix to ground time issue

QGC4.4
Lorenz Meier 14 years ago
parent
d2e92162b7
commit
645ab2c169
5 changed files with 75 additions and 38 deletions
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  1. 48
      src/uas/UAS.cc
  2. 6
      src/uas/UAS.h
  3. 23
      src/ui/MAVLinkDecoder.cc
  4. 32
      src/ui/linechart/LinechartPlot.cc
  5. 4
      src/ui/linechart/LinechartWidget.cc

48
src/uas/UAS.cc
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@ -175,23 +175,23 @@ bool UAS::getSelected() const @@ -175,23 +175,23 @@ bool UAS::getSelected() const
return (UASManager::instance()->getActiveUAS() == this);
}
void UAS::receiveMessageNamedValue(const mavlink_message_t& message)
{
if (message.msgid == MAVLINK_MSG_ID_NAMED_VALUE_FLOAT)
{
mavlink_named_value_float_t val;
mavlink_msg_named_value_float_decode(&message, &val);
QByteArray bytes(val.name, MAVLINK_MSG_NAMED_VALUE_FLOAT_FIELD_NAME_LEN);
emit valueChanged(this->getUASID(), QString(bytes), tr("raw"), val.value, getUnixTime());
}
else if (message.msgid == MAVLINK_MSG_ID_NAMED_VALUE_INT)
{
mavlink_named_value_int_t val;
mavlink_msg_named_value_int_decode(&message, &val);
QByteArray bytes(val.name, MAVLINK_MSG_NAMED_VALUE_INT_FIELD_NAME_LEN);
emit valueChanged(this->getUASID(), QString(bytes), tr("raw"), val.value, getUnixTime());
}
}
//void UAS::receiveMessageNamedValue(const mavlink_message_t& message)
//{
// if (message.msgid == MAVLINK_MSG_ID_NAMED_VALUE_FLOAT)
// {
// mavlink_named_value_float_t val;
// mavlink_msg_named_value_float_decode(&message, &val);
// QByteArray bytes(val.name, MAVLINK_MSG_NAMED_VALUE_FLOAT_FIELD_NAME_LEN);
// emit valueChanged(this->getUASID(), QString(bytes), tr("raw"), val.value, getUnixTime());
// }
// else if (message.msgid == MAVLINK_MSG_ID_NAMED_VALUE_INT)
// {
// mavlink_named_value_int_t val;
// mavlink_msg_named_value_int_decode(&message, &val);
// QByteArray bytes(val.name, MAVLINK_MSG_NAMED_VALUE_INT_FIELD_NAME_LEN);
// emit valueChanged(this->getUASID(), QString(bytes), tr("raw"), val.value, getUnixTime());
// }
//}
void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
@ -356,11 +356,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) @@ -356,11 +356,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
break;
case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
case MAVLINK_MSG_ID_NAMED_VALUE_INT:
// Receive named value message
receiveMessageNamedValue(message);
break;
// case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
// case MAVLINK_MSG_ID_NAMED_VALUE_INT:
// // Receive named value message
// receiveMessageNamedValue(message);
// break;
case MAVLINK_MSG_ID_SYS_STATUS:
{
if (multiComponentSourceDetected && message.compid != MAV_COMP_ID_IMU_2)
@ -938,10 +938,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) @@ -938,10 +938,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
case MAVLINK_MSG_ID_SCALED_PRESSURE:
case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
case MAVLINK_MSG_ID_OPTICAL_FLOW:
break;
case MAVLINK_MSG_ID_DEBUG_VECT:
break;
case MAVLINK_MSG_ID_DEBUG:
case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
case MAVLINK_MSG_ID_NAMED_VALUE_INT:
break;
default:
{

6
src/uas/UAS.h
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@ -577,9 +577,9 @@ protected slots: @@ -577,9 +577,9 @@ protected slots:
/** @brief Read settings from disk */
void readSettings();
// MESSAGE RECEPTION
/** @brief Receive a named value message */
void receiveMessageNamedValue(const mavlink_message_t& message);
// // MESSAGE RECEPTION
// /** @brief Receive a named value message */
// void receiveMessageNamedValue(const mavlink_message_t& message);
private:
// unsigned int mode; ///< The current mode of the MAV

23
src/ui/MAVLinkDecoder.cc
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@ -27,8 +27,6 @@ MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) : @@ -27,8 +27,6 @@ MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
messageFilter.insert(MAVLINK_MSG_ID_MISSION_ITEM, false);
messageFilter.insert(MAVLINK_MSG_ID_MISSION_COUNT, false);
messageFilter.insert(MAVLINK_MSG_ID_MISSION_ACK, false);
messageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, false);
messageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_INT, false);
textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG, false);
textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG_VECT, false);
@ -177,6 +175,27 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64 @@ -177,6 +175,27 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
name = name.arg(QString(debug.name), fieldName);
time = debug.time_usec / 1000;
}
else if (msgid == MAVLINK_MSG_ID_DEBUG)
{
mavlink_debug_t debug;
mavlink_msg_debug_decode(msg, &debug);
name = name.arg(QString("debug")).arg(debug.ind);
time = debug.time_boot_ms;
}
else if (msgid == MAVLINK_MSG_ID_NAMED_VALUE_FLOAT)
{
mavlink_named_value_float_t debug;
mavlink_msg_named_value_float_decode(msg, &debug);
name = name.arg(debug.name).arg(fieldName);
time = debug.time_boot_ms;
}
else if (msgid == MAVLINK_MSG_ID_NAMED_VALUE_INT)
{
mavlink_named_value_int_t debug;
mavlink_msg_named_value_int_decode(msg, &debug);
name = name.arg(debug.name).arg(fieldName);
time = debug.time_boot_ms;
}
else
{
name = name.arg(messageInfo[msgid].name, fieldName);

32
src/ui/linechart/LinechartPlot.cc
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@ -32,8 +32,10 @@ @@ -32,8 +32,10 @@
* @param interval The maximum interval for which data is stored (default: 30 minutes) in milliseconds
**/
LinechartPlot::LinechartPlot(QWidget *parent, int plotid, quint64 interval): QwtPlot(parent),
minTime(QUINT64_MAX),
maxTime(QUINT64_MIN),
minTime(0),
lastTime(0),
maxTime(100),
plotPosition(0),
maxInterval(MAX_STORAGE_INTERVAL),
timeScaleStep(DEFAULT_SCALE_INTERVAL), // 10 seconds
automaticScrollActive(false),
@ -84,8 +86,6 @@ LinechartPlot::LinechartPlot(QWidget *parent, int plotid, quint64 interval): Qwt @@ -84,8 +86,6 @@ LinechartPlot::LinechartPlot(QWidget *parent, int plotid, quint64 interval): Qwt
colors.append(QColor(87,231,246));
colors.append(QColor(230,126,23));
plotPosition = 0;
setAutoReplot(false);
// Set grid
@ -257,12 +257,16 @@ void LinechartPlot::appendData(QString dataname, quint64 ms, double value) @@ -257,12 +257,16 @@ void LinechartPlot::appendData(QString dataname, quint64 ms, double value)
/* Check if dataset identifier already exists */
if(!data.contains(dataname)) {
addCurve(dataname);
enforceGroundTime(m_groundTime);
qDebug() << "ADDING CURVE WITH" << dataname << ms << value;
qDebug() << "MINTIME:" << minTime << "MAXTIME:" << maxTime;
qDebug() << "LASTTIME:" << lastTime;
}
// Add new value
TimeSeriesData* dataset = data.value(dataname);
quint64 time = QGC::groundTimeMilliseconds();
quint64 time;
// Append data
if (!m_groundTime)
@ -270,6 +274,10 @@ void LinechartPlot::appendData(QString dataname, quint64 ms, double value) @@ -270,6 +274,10 @@ void LinechartPlot::appendData(QString dataname, quint64 ms, double value)
// Use timestamp from dataset
time = ms;
}
else
{
time = QGC::groundTimeMilliseconds();
}
dataset->append(time, value);
lastUpdate.insert(dataname, time);
@ -302,7 +310,19 @@ void LinechartPlot::enforceGroundTime(bool enforce) @@ -302,7 +310,19 @@ void LinechartPlot::enforceGroundTime(bool enforce)
{
m_groundTime = enforce;
lastTime = QGC::groundTimeUsecs()/1000;
if (enforce)
{
lastTime = QGC::groundTimeMilliseconds();
plotPosition = lastTime;
maxTime = lastTime;
}
else
{
lastTime = 0;
plotPosition = 0;
minTime = 0;
maxTime = 100;
}
}
/**

4
src/ui/linechart/LinechartWidget.cc
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@ -184,6 +184,7 @@ void LinechartWidget::readSettings() @@ -184,6 +184,7 @@ void LinechartWidget::readSettings()
if (activePlot) {
timeButton->setChecked(settings.value("ENFORCE_GROUNDTIME", timeButton->isChecked()).toBool());
activePlot->enforceGroundTime(settings.value("ENFORCE_GROUNDTIME", timeButton->isChecked()).toBool());
timeButton->setChecked(settings.value("ENFORCE_GROUNDTIME", timeButton->isChecked()).toBool());
}
if (unitsCheckBox) unitsCheckBox->setChecked(settings.value("SHOW_UNITS", unitsCheckBox->isChecked()).toBool());
if (ui.shortNameCheckBox) ui.shortNameCheckBox->setChecked(settings.value("SHORT_NAMES", ui.shortNameCheckBox->isChecked()).toBool());
@ -258,9 +259,6 @@ void LinechartWidget::createLayout() @@ -258,9 +259,6 @@ void LinechartWidget::createLayout()
timeButton->setText(tr("Ground Time"));
timeButton->setToolTip(tr("Overwrite timestamp of data from vehicle with ground receive time. Helps if the plots are not visible because of missing or invalid onboard time."));
timeButton->setWhatsThis(tr("Overwrite timestamp of data from vehicle with ground receive time. Helps if the plots are not visible because of missing or invalid onboard time."));
bool gTimeDefault = true;
if (activePlot) activePlot->enforceGroundTime(gTimeDefault);
timeButton->setChecked(gTimeDefault);
layout->addWidget(timeButton, 1, 4);
layout->setColumnStretch(4, 0);
connect(timeButton, SIGNAL(clicked(bool)), activePlot, SLOT(enforceGroundTime(bool)));

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