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

parameters_alpha.txt

@@ -23,18 +23,20 @@
 42	200	GYRO_OFFSET_X	29760
 42	200	GYRO_OFFSET_Y	29860
 42	200	GYRO_OFFSET_Z	29877
-42	200	MIX_OFFSET	1
+42	200	MIX_OFFSET	0
 42	200	MIX_POSITION	0
 42	200	MIX_POS_YAW	0
-42	200	MIX_REMOTE	1
+42	200	MIX_REMOTE	0
 42	200	MIX_Z_POSITION	0
 42	200	PID_ATT_AWU	0.3
 42	200	PID_ATT_D	30
 42	200	PID_ATT_I	60
+42	200	PID_ATT_LIM	100
 42	200	PID_ATT_P	90
 42	200	PID_POS_AWU	5
 42	200	PID_POS_D	2
 42	200	PID_POS_I	0.4
+42	200	PID_POS_LIM	0.2
 42	200	PID_POS_P	1.8
 42	200	PID_POS_Z_AWU	3
 42	200	PID_POS_Z_D	0.2
@@ -44,16 +46,18 @@
 42	200	PID_YAWPOS_AWU	1
 42	200	PID_YAWPOS_D	1
 42	200	PID_YAWPOS_I	0.1
+42	200	PID_YAWPOS_LIM	2
 42	200	PID_YAWPOS_P	5
 42	200	PID_YAWSPEED_D	0
-42	200	PID_YAWSPEED_I	10
-42	200	PID_YAWSPEED_P	30
+42	200	PID_YAWSPEED_I	5
+42	200	PID_YAWSPEED_P	15
 42	200	PID_YAWSPE_AWU	1
+42	200	PID_YAWSPE_LIM	50
 42	200	POS_SP_ACCEPT	1
-42	200	POS_SP_X	1.75
-42	200	POS_SP_Y	0.5
-42	200	POS_SP_YAW	0
-42	200	POS_SP_Z	0
+42	200	POS_SP_X	1.09
+42	200	POS_SP_Y	0.527403
+42	200	POS_SP_YAW	1.57763
+42	200	POS_SP_Z	-0.7
 42	200	POS_TIMEOUT	1e+06
 42	200	RC_NICK_CHAN	1
 42	200	RC_ROLL_CHAN	2

parameters_bravo.txt

@@ -20,21 +20,23 @@
 42	200	DEBUG_4	0
 42	200	DEBUG_5	0
 42	200	DEBUG_6	0
-42	200	GYRO_OFFSET_X	29830
-42	200	GYRO_OFFSET_Y	29990
-42	200	GYRO_OFFSET_Z	29440
-42	200	MIX_OFFSET	1
+42	200	GYRO_OFFSET_X	29884
+42	200	GYRO_OFFSET_Y	29943
+42	200	GYRO_OFFSET_Z	29479
+42	200	MIX_OFFSET	0
 42	200	MIX_POSITION	0
 42	200	MIX_POS_YAW	0
-42	200	MIX_REMOTE	1
+42	200	MIX_REMOTE	0
 42	200	MIX_Z_POSITION	0
 42	200	PID_ATT_AWU	0.3
 42	200	PID_ATT_D	10
-42	200	PID_ATT_I	10
-42	200	PID_ATT_P	40
+42	200	PID_ATT_I	20
+42	200	PID_ATT_LIM	100
+42	200	PID_ATT_P	55
 42	200	PID_POS_AWU	5
 42	200	PID_POS_D	2
 42	200	PID_POS_I	0.25
+42	200	PID_POS_LIM	0.2
 42	200	PID_POS_P	1.7
 42	200	PID_POS_Z_AWU	3
 42	200	PID_POS_Z_D	0.2
@@ -44,16 +46,18 @@
 42	200	PID_YAWPOS_AWU	1
 42	200	PID_YAWPOS_D	1
 42	200	PID_YAWPOS_I	0.1
+42	200	PID_YAWPOS_LIM	2
 42	200	PID_YAWPOS_P	5
 42	200	PID_YAWSPEED_D	0
-42	200	PID_YAWSPEED_I	10
-42	200	PID_YAWSPEED_P	30
+42	200	PID_YAWSPEED_I	5
+42	200	PID_YAWSPEED_P	15
 42	200	PID_YAWSPE_AWU	1
+42	200	PID_YAWSPE_LIM	50
 42	200	POS_SP_ACCEPT	1
-42	200	POS_SP_X	1.75
-42	200	POS_SP_Y	0.5
+42	200	POS_SP_X	1.1
+42	200	POS_SP_Y	1.1
 42	200	POS_SP_YAW	0
-42	200	POS_SP_Z	-0.7
+42	200	POS_SP_Z	-0.8
 42	200	POS_TIMEOUT	1e+06
 42	200	RC_NICK_CHAN	1
 42	200	RC_ROLL_CHAN	2

src/uas/PxQuadMAV.cc

@@ -49,9 +49,11 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 b.resize(256);
                 mavlink_msg_pattern_detected_get_file(&message, (int8_t*)b.data());
                 b.append('\0');
-                QString path = QString(b);
-                emit detectionReceived(uasId, path, 0, 0, 0, 0, 0, 0, 0, 0, mavlink_msg_pattern_detected_get_confidence(&message), detected.detected);
-                emit letterDetected(uasId, path, detected.confidence, detected.detected);
+                QString name = QString(b);
+                if (detected.type == 0)
+                    emit patternDetected(uasId, name, detected.confidence, detected.detected);
+                else if (detected.type == 1)
+                    emit letterDetected(uasId, name, detected.confidence, detected.detected);
             }
             break;
     case MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT:

src/uas/UASInterface.h

@@ -290,7 +290,7 @@ signals:
     void waypointReached(UASInterface* uas, int id);
     void autoModeChanged(bool autoMode);
     void parameterChanged(int uas, int component, QString parameterName, float value);
-    void detectionReceived(int uasId, QString patternPath, int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4, double confidence, bool detected);
+    void patternDetected(int uasId, QString patternPath, float confidence, bool detected);
     void letterDetected(int uasId, QString letter, float confidence, bool detected);
     /**
      * @brief The battery status has been updated

src/ui/ObjectDetectionView.cc

@@ -26,6 +26,7 @@ This file is part of the PIXHAWK project
  *   @brief List of detected objects
  *   @author Benjamin Knecht <mavteam@student.ethz.ch>
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *   @author Fabian Landau <mavteam@student.ethz.ch>
  *
  */
 
@@ -37,13 +38,15 @@ This file is part of the PIXHAWK project
 #include "GAudioOutput.h"
 
 #include <QDebug>
+#include <QMap>
 
 #include "MG.h"
 
 ObjectDetectionView::ObjectDetectionView(QString folder, QWidget *parent) :
         QWidget(parent),
         patternList(),
-        patternCount(),
+        letterList(),
+        letterTimer(),
         uas(NULL),
         patternFolder(folder),
         separator(" "),
@@ -51,6 +54,8 @@ ObjectDetectionView::ObjectDetectionView(QString folder, QWidget *parent) :
 {
     m_ui->setupUi(this);
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
+    letterTimer.start(1000);
+    connect(&letterTimer, SIGNAL(timeout()), this, SLOT(decreaseLetterTime()));
 }
 
 ObjectDetectionView::~ObjectDetectionView()
@@ -74,91 +79,108 @@ void ObjectDetectionView::setUAS(UASInterface* uas)
     //if (this->uas == NULL && uas != NULL)
     //{
     this->uas = uas;
-    connect(uas, SIGNAL(detectionReceived(int, QString, int, int, int, int, int, int, int, int, double, bool)), this, SLOT(newDetection(int,QString,int,int,int,int,int,int,int,int,double,bool)));
-    connect(uas, SIGNAL(letterDetected(int,QString,float,bool)), this, SLOT(newLetter(int,QString,float,bool)));
+    connect(uas, SIGNAL(patternDetected(int, QString, float, bool)), this, SLOT(newPattern(int, QString, float, bool)));
+    connect(uas, SIGNAL(letterDetected(int, QString, float, bool)), this, SLOT(newLetter(int, QString, float, bool)));
     //}
 }
 
-void ObjectDetectionView::newLetter(int uasId, QString letter, float confidence, bool detected)
+void ObjectDetectionView::newPattern(int uasId, QString patternPath, float confidence, bool detected)
 {
-    // Emit audio message on detection
-    if (detected) GAudioOutput::instance()->say("System " + QString::number(uasId) + " detected letter " + letter);
-    m_ui->nameLabel->setText(letter);
-    m_ui->imageLabel->setText(letter);
-}
+    if (detected)
+    {
+        if (!patternList.contains(patternPath))
+        {
+            // Emit audio message on detection
+            if (detected) GAudioOutput::instance()->say("System " + QString::number(uasId) + " detected pattern " + QString(patternPath.split("/").last()).split(".").first());
 
-void ObjectDetectionView::newDetection(int uasId, QString patternPath, int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4, double confidence, bool detected)
-{
-    Q_UNUSED(x1);
-    Q_UNUSED(y1);
-    Q_UNUSED(x2);
-    Q_UNUSED(y2);
-    Q_UNUSED(x3);
-    Q_UNUSED(y3);
-    Q_UNUSED(x4);
-    Q_UNUSED(y4);
-    newDetection(uasId, patternPath, confidence, detected);
+            patternList.insert(patternPath, Pattern(patternPath, confidence));
+        }
+        else
+        {
+            Pattern pattern = patternList.value(patternPath);
+            if (confidence > pattern.confidence)
+                pattern.confidence = confidence;
+            ++pattern.count;
+            patternList.insert(patternPath, pattern);
+        }
+
+        // set list items
+        QList<Pattern> templist;
+        foreach (Pattern pattern, patternList)
+            templist.push_back(pattern);
+        qSort(templist);
+        m_ui->listWidget->clear();
+        foreach (Pattern pattern, templist)
+            m_ui->listWidget->addItem(pattern.name + separator + "(" + QString::number(pattern.count) + ")" + separator + QString::number(pattern.confidence));
+
+        // load image
+        QString filePath = MG::DIR::getSupportFilesDirectory() + "/" + patternFolder + "/" + patternPath.split("/").last();
+        QPixmap image = QPixmap(filePath);
+        if (image.width() > image.height())
+            image = image.scaledToWidth(m_ui->imageLabel->width());
+        else
+            image = image.scaledToHeight(m_ui->imageLabel->height());
+        m_ui->imageLabel->setPixmap(image);
+
+        // set textlabel
+        QString patternName = patternPath.split("/").last(); // Remove preceding folder names
+        patternName = patternName.split(".").first(); // Remove file ending
+        m_ui->nameLabel->setText("Pattern: " + patternName);
+    }
 }
 
-void ObjectDetectionView::newDetection(int uasId, QString patternPath, float confidence, bool detected)
+void ObjectDetectionView::newLetter(int uasId, QString letter, float confidence, bool detected)
 {
+    Q_UNUSED(confidence);
+
     if (detected)
     {
-        if (patternList.contains(patternPath))
+        if (!letterList.contains(letter))
         {
-            //qDebug() << "REDETECTED";
-
-            QList<QAction*> actions = m_ui->listWidget->actions();
-            // Find action and update it
-            foreach (QAction* act, actions)
-            {
-                qDebug() << "ACTION";
-                if (act->text().trimmed().split(separator).first() == patternPath)
-                {
-                    int count = patternCount.value(patternPath);
-                    patternCount.insert(patternPath, count);
-                    act->setText(patternPath + separator + "(#" + QString::number(count) + ")" + separator + QString::number(confidence));
-                }
-            }
-            QString filePath = MG::DIR::getSupportFilesDirectory() + "/" + patternFolder + "/" + patternPath.split("/").last();
-            qDebug() << "Loading:" << filePath;
-            QPixmap image = QPixmap(filePath);
-            image = image.scaledToWidth(m_ui->imageLabel->width());
-            m_ui->imageLabel->setPixmap(image);
-            QString patternName = patternPath.split("//").last(); // Remove preceding folder names
-            patternName = patternName.split(".").first(); // Remove file ending
+            // Emit audio message on detection
+            if (detected) GAudioOutput::instance()->say("System " + QString::number(uasId) + " detected letter " + letter);
 
-            // Set name and label
-            m_ui->nameLabel->setText(patternName);
+            letterList.insert(letter, Pattern(letter, 0));
         }
         else
         {
-            // Emit audio message on detection
-            if (detected) GAudioOutput::instance()->say("System " + QString::number(uasId) + " detected pattern " + QString(patternPath.split("/").last()).split(".").first());
+            Pattern pattern = letterList.value(letter);
+            pattern.confidence = 0;
+            ++pattern.count;
+            letterList.insert(letter, pattern);
+        }
 
-            patternList.insert(patternPath, confidence);
-            patternCount.insert(patternPath, 1);
+        updateLetterList();
 
-            QString filePath = MG::DIR::getSupportFilesDirectory() + "/" + patternFolder + "/" + patternPath.split("/").last();
+        // display letter
+        m_ui->letterLabel->setText(letter);
 
-            qDebug() << "Loading:" << filePath;
-            QPixmap image = QPixmap(filePath);
-            QIcon ico(image);
-            QAction* act = new QAction(ico, patternPath + separator + "(#" + QString::number(1) + ")" + separator + QString::number(confidence), this);
-            connect(act, SIGNAL(triggered()), this, SLOT(takeAction()));
-            //m_ui->listWidget->addAction(act);
-            m_ui->listWidget->addItem(patternPath + separator + "(#" + QString::number(1) + ")" + separator + QString::number(confidence));
-            //m_ui->listWidget->addItem(patternPath + " " + QString::number(confidence));
-            image = image.scaledToWidth(m_ui->imageLabel->width());
-            m_ui->imageLabel->setPixmap(image);
-            QString patternName = patternPath.split("//").last(); // Remove preceding folder names
-            patternName = patternName.split(".").first(); // Remove file ending
+        // set textlabel
+        m_ui->nameLabel->setText("Letter: " + letter);
+    }
+}
 
-            // Set name and label
-            m_ui->nameLabel->setText(patternName);
-            qDebug() << "IMAGE SET" << patternFolder + "/" + patternPath;
-        }
+void ObjectDetectionView::decreaseLetterTime()
+{
+    foreach (Pattern pattern, letterList)
+    {
+        pattern.confidence -= 1;
+        letterList.insert(pattern.name, pattern);
     }
+
+    updateLetterList();
+}
+
+void ObjectDetectionView::updateLetterList()
+{
+    // set list items
+    QList<Pattern> templist;
+    foreach (Pattern pattern, letterList)
+        templist.push_back(pattern);
+    qSort(templist);
+    m_ui->letterListWidget->clear();
+    foreach (Pattern pattern, templist)
+        m_ui->letterListWidget->addItem(pattern.name + separator + "(" + QString::number(pattern.count) + ")" + separator + QString::number(pattern.confidence));
 }
 
 void ObjectDetectionView::takeAction()

src/ui/ObjectDetectionView.h

@@ -26,6 +26,7 @@ This file is part of the PIXHAWK project
  *   @brief List of detected objects
  *   @author Benjamin Knecht <mavteam@student.ethz.ch>
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *   @author Fabian Landau <mavteam@student.ethz.ch>
  *
  */
 
@@ -47,8 +48,21 @@ namespace Ui {
 class ObjectDetectionView : public QWidget {
     Q_OBJECT
     Q_DISABLE_COPY(ObjectDetectionView)
-        public:
-            explicit ObjectDetectionView(QString folder="patterns", QWidget *parent = 0);
+
+    struct Pattern
+    {
+        Pattern() : name(QString()), confidence(0.0f), count(0) {}
+        Pattern(QString name, float confidence) : name(name), confidence(confidence), count(1) {}
+
+        bool operator<(const Pattern& other) const { return this->confidence > other.confidence; } // this comparison is intentionally wrong to sort the QList from highest confidence to lowest
+
+        QString name;
+        float confidence;
+        unsigned int count;
+    };
+
+public:
+    explicit ObjectDetectionView(QString folder="patterns", QWidget *parent = 0);
     virtual ~ObjectDetectionView();
 
     /** @brief Resize widget contents */
@@ -58,17 +72,19 @@ public slots:
     /** @brief Set the UAS this view is currently associated to */
     void setUAS(UASInterface* uas);
     /** @brief Report new detection */
-    void newDetection(int uasId, QString patternPath, int x1, int y1, int x2, int y2, int x3, int y3, int x4, int y4, double confidence, bool detected);
+    void newPattern(int uasId, QString patternPath, float confidence, bool detected);
     void newLetter(int uasId, QString letter, float confidence, bool detected);
-    void newDetection(int uasId, QString patternPath, float confidence, bool detected);
+    void decreaseLetterTime();
+    void updateLetterList();
     /** @brief Accept an internal action, update name and preview image label */
     void takeAction();
 
 protected:
     virtual void changeEvent(QEvent *e);
-    QMap<QString, double>  patternList;  ///< The detected patterns
-    QMap<QString, unsigned int> patternCount; ///< Number of detections per pattern
-    UASInterface*   uas;                 ///< The monitored UAS
+    QMap<QString, Pattern> patternList;  ///< The detected patterns with their confidence and detection count
+    QMap<QString, Pattern> letterList;   ///< The detected letters with their confidence and detection count
+    QTimer letterTimer;                  ///< A timer to "forget" old letters
+    UASInterface* uas;                   ///< The monitored UAS
     QString patternFolder;               ///< The base folder where pattern images are stored in
     const QString separator;
 

src/ui/ObjectDetectionView.ui

@@ -7,17 +7,20 @@
     <x>0</x>
     <y>0</y>
     <width>246</width>
-    <height>396</height>
+    <height>403</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
-   <item row="0" column="0">
+  <layout class="QGridLayout" name="gridLayout" columnstretch="10,10" columnminimumwidth="0,0">
+   <item row="0" column="0" colspan="2">
     <widget class="QListWidget" name="listWidget"/>
    </item>
-   <item row="1" column="0">
+   <item row="1" column="0" colspan="2">
+    <widget class="QListWidget" name="letterListWidget"/>
+   </item>
+   <item row="2" column="0">
     <widget class="QLabel" name="imageLabel">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -36,7 +39,39 @@
      </property>
     </widget>
    </item>
-   <item row="2" column="0">
+   <item row="2" column="1">
+    <widget class="QLabel" name="letterLabel">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+       <horstretch>10</horstretch>
+       <verstretch>10</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="sizeIncrement">
+      <size>
+       <width>2</width>
+       <height>2</height>
+      </size>
+     </property>
+     <property name="baseSize">
+      <size>
+       <width>10</width>
+       <height>10</height>
+      </size>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">font: 72pt;
+color: white;</string>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0" colspan="2">
     <widget class="QLabel" name="nameLabel">
      <property name="text">
       <string>No objects recognized</string>

waypoints-final-pole-racing.txt

@@ -0,0 +1,9 @@
+	0	1.60066	0.497923	-0.7	-0.156858	1	1	0.15	2000
+	1	0.973377	0.691139	-0.7	-0.0664193	1	0	0.15	2000
+	2	0.646637	1.57225	-0.7	6.26573	1	0	0.15	2000
+	3	0.659852	2.39951	-0.7	-0.0549587	1	0	0.15	2000
+	4	1.41441	2.8804	-0.7	-0.0258336	1	0	0.15	2000
+	5	2.33563	2.90308	-0.7	-0.0621037	1	0	0.15	2000
+	6	2.76383	2.04368	-0.7	-0.0381553	1	0	0.15	2000
+	7	2.73091	1.05595	-0.7	-0.0520457	1	0	0.15	2000
+	8	1.73409	0.599043	0	6.26573	1	0	0.15	2000

waypoints_A0_circlev2.txt

@@ -1,10 +1,10 @@
-	0	1.75	0.5	-0.7	0	1	1	0.3	10000
-	1	0.95	0.5	-0.7	0	1	0	0.3	2000
-	2	0.5	1.5	-0.7	0	1	0	0.3	2000
-	3	0.5	2.8	-0.7	0	1	0	0.3	2000
-	4	1.75	2.8	-0.7	0	1	0	0.3	2000
-	5	2.8	2.8	-0.7	0	1	0	0.3	2000
-	6	2.8	1.75	-0.7	0	1	0	0.3	2000
-	7	2.8	0.7	-0.7	0	1	0	0.3	2000
-	8	1.75	0.5	-0.7	0	1	0	0.3	2000
-	9	1.75	0.5	0	0	0	0	0.3	2000
+	0	1.75	0.5	-0.7	0	1	1	0.15	10000
+	1	0.95	0.5	-0.7	0	1	0	0.15	2000
+	2	0.5	1.5	-0.7	0	1	0	0.15	2000
+	3	0.5	2.8	-0.7	0	1	0	0.15	2000
+	4	1.75	2.8	-0.7	0	1	0	0.15	2000
+	5	2.8	2.8	-0.7	0	1	0	0.15	2000
+	6	2.8	1.75	-0.7	0	1	0	0.15	2000
+	7	2.8	0.7	-0.7	0	1	0	0.15	2000
+	8	1.75	0.5	-0.7	0	1	0	0.15	2000
+	9	1.75	0.5	0	0	0	0	0.15	2000