Added persistence to debug console

images/earth.html

@@ -177,7 +177,7 @@ trailsVisible[id] = false;
 
 }
 
-function hideTrail(id)
+function clearTrail(id)
 {
 	trailsVisible[id] = false;
 	ge.getFeatures().removeChild(trailPlacemarks[id]);
@@ -253,9 +253,9 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
 	// FIXME Currently invalid conversion from right-handed z-down to z-up frame
 	planeOrient.setRoll(((roll/M_PI))*180.0+180.0);
 	planeOrient.setTilt(((pitch/M_PI))*180.0+180.0);
-	planeOrient.setHeading(((yaw/M_PI))*180.0-90.0);
+	planeOrient.setHeading(((yaw/M_PI))*180.0-90.0+180.0);
 	
-	currFollowHeading = ((yaw/M_PI))*180.0;
+	currFollowHeading = ((yaw/M_PI))*180.0+180.0;
     
     planeLoc.setLatitude(lastLat);
     planeLoc.setLongitude(lastLon);

src/QGC.cc

@@ -23,6 +23,8 @@ This file is part of the QGROUNDCONTROL project
 
 #include "QGC.h"
 
+#include <qmath.h>
+
 namespace QGC {
 
 quint64 groundTimeUsecs()
@@ -34,6 +36,25 @@ quint64 groundTimeUsecs()
     return static_cast<quint64>(microseconds + (time.time().msec()*1000));
 }
 
+double limitAngleToPMPI(double angle)
+{
+    if (angle < -M_PI)
+    {
+        while (angle < -M_PI)
+        {
+            angle += M_PI;
+        }
+    }
+    else if (angle > M_PI)
+    {
+        while (angle > M_PI)
+        {
+            angle -= M_PI;
+        }
+    }
+    return angle;
+}
+
 int applicationVersion()
 {
     return APPLICATIONVERSION;

src/QGC.h

@@ -18,6 +18,8 @@ namespace QGC
 
     /** @brief Get the current ground time in microseconds */
     quint64 groundTimeUsecs();
+    /** @brief Returns the angle limited to -pi - pi */
+    double limitAngleToPMPI(double angle);
     int applicationVersion();
 
     const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21;

src/comm/MAVLinkProtocol.cc

@@ -77,10 +77,7 @@ MAVLinkProtocol::~MAVLinkProtocol()
 
 void MAVLinkProtocol::run()
 {
-    forever
-    {
-        QGC::SLEEP::msleep(5000);
-    }
+    exec();
 }
 
 QString MAVLinkProtocol::getLogfileName()

src/comm/MAVLinkSimulationLink.cc

@@ -959,6 +959,7 @@ bool MAVLinkSimulationLink::connect()
     MAVLinkSimulationMAV* mav1 = new MAVLinkSimulationMAV(this, 1, 47.376, 8.548);
     MAVLinkSimulationMAV* mav2 = new MAVLinkSimulationMAV(this, 2);
     Q_UNUSED(mav1);
+    Q_UNUSED(mav2);
     //    timer->start(rate);
     return true;
 }

src/comm/UDPLink.cc

@@ -64,10 +64,11 @@ UDPLink::~UDPLink()
  **/
 void UDPLink::run()
 {
-    forever
-    {
-        QGC::SLEEP::msleep(5000);
-    }
+//    forever
+//    {
+//        QGC::SLEEP::msleep(5000);
+//    }
+    exec();
 }
 
 void UDPLink::setAddress(QString address)

src/uas/UAS.cc

@@ -385,6 +385,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 roll = attitude.roll;
                 pitch = attitude.pitch;
                 yaw = attitude.yaw;
+
+                roll = QGC::limitAngleToPMPI(roll);
+                pitch = QGC::limitAngleToPMPI(pitch);
+                yaw = QGC::limitAngleToPMPI(yaw);
+
 //                emit valueChanged(uasId, "roll IMU", mavlink_msg_attitude_get_roll(&message), time);
 //                emit valueChanged(uasId, "pitch IMU", mavlink_msg_attitude_get_pitch(&message), time);
 //                emit valueChanged(uasId, "yaw IMU", mavlink_msg_attitude_get_yaw(&message), time);

src/uas/UASManager.cc

@@ -69,10 +69,11 @@ UASManager::~UASManager()
 
 void UASManager::run()
 {
-    forever
-    {
-        QGC::SLEEP::msleep(5000);
-    }
+//    forever
+//    {
+//        QGC::SLEEP::msleep(5000);
+//    }
+    exec();
 }
 
 void UASManager::addUAS(UASInterface* uas)

src/ui/DebugConsole.cc

@@ -29,6 +29,7 @@ This file is part of the QGROUNDCONTROL project
  *
  */
 #include <QPainter>
+#include <QSettings>
 
 #include "DebugConsole.h"
 #include "ui_DebugConsole.h"
@@ -45,6 +46,7 @@ DebugConsole::DebugConsole(QWidget *parent) :
         holdOn(false),
         convertToAscii(true),
         filterMAVLINK(false),
+        autoHold(true),
         bytesToIgnore(0),
         lastByte(-1),
         sentBytes(),
@@ -57,7 +59,6 @@ DebugConsole::DebugConsole(QWidget *parent) :
         dataRate(0.0f),
         lowpassDataRate(0.0f),
         dataRateThreshold(500),
-        autoHold(true),
         commandIndex(0),
         m_ui(new Ui::DebugConsole)
 {
@@ -121,14 +122,57 @@ DebugConsole::DebugConsole(QWidget *parent) :
 
     hold(false);
 
-    this->setVisible(false);
+    loadSettings();
+
+    // Warn user about not activated hold
+    if (!m_ui->holdCheckBox->isChecked())
+    {
+        m_ui->receiveText->appendHtml(QString("<font color=\"%1\">%2</font>\n").arg(QColor(Qt::red).name(), tr("WARNING: You have NOT enabled auto-hold (stops updating the console is huge amounts of serial data arrive). Updating the console consumes significant CPU load, so if you receive more than about 5 KB/s of serial data, make sure to enable auto-hold if not using the console.")));
+    }
 }
 
 DebugConsole::~DebugConsole()
 {
+    storeSettings();
     delete m_ui;
 }
 
+void DebugConsole::loadSettings()
+{
+    // Load defaults from settings
+    QSettings settings;
+    settings.sync();
+    settings.beginGroup("QGC_DEBUG_CONSOLE");
+    m_ui->specialComboBox->setCurrentIndex(settings.value("SPECIAL_SYMBOL", m_ui->specialComboBox->currentIndex()).toInt());
+    m_ui->specialCheckBox->setChecked(settings.value("SPECIAL_SYMBOL_CHECKBOX_STATE", m_ui->specialCheckBox->isChecked()).toBool());
+    hexModeEnabled(settings.value("HEX_MODE_ENABLED", m_ui->hexCheckBox->isChecked()).toBool());
+    MAVLINKfilterEnabled(settings.value("MAVLINK_FILTER_ENABLED", m_ui->mavlinkCheckBox->isChecked()).toBool());
+    setAutoHold(settings.value("AUTO_HOLD_ENABLED", m_ui->holdCheckBox->isChecked()).toBool());
+    settings.endGroup();
+
+    // Update visibility settings
+    if (m_ui->specialCheckBox->isChecked())
+    {
+        m_ui->specialCheckBox->setVisible(true);
+        m_ui->addSymbolButton->setVisible(false);
+    }
+}
+
+void DebugConsole::storeSettings()
+{
+    // Store settings
+    QSettings settings;
+    settings.beginGroup("QGC_DEBUG_CONSOLE");
+    settings.setValue("SPECIAL_SYMBOL", m_ui->specialComboBox->currentIndex());
+    settings.setValue("SPECIAL_SYMBOL_CHECKBOX_STATE", m_ui->specialCheckBox->isChecked());
+    settings.setValue("HEX_MODE_ENABLED", m_ui->hexCheckBox->isChecked());
+    settings.setValue("MAVLINK_FILTER_ENABLED", m_ui->mavlinkCheckBox->isChecked());
+    settings.setValue("AUTO_HOLD_ENABLED", m_ui->holdCheckBox->isChecked());
+    settings.endGroup();
+    settings.sync();
+    //qDebug() << "Storing settings!";
+}
+
 /**
  * Add a link to the debug console output
  */
@@ -480,6 +524,12 @@ void DebugConsole::appendSpecialSymbol()
 
 void DebugConsole::sendBytes()
 {
+    // FIXME This store settings should be removed
+    // once all threading issues have been resolved
+    // since its called in the destructor, which
+    // is absolutely sufficient
+    storeSettings();
+
     // Store command history
     commandHistory.append(m_ui->sendText->text());
     // Since text was just sent, we're at position commandHistory.length()
@@ -614,26 +664,42 @@ void DebugConsole::sendBytes()
  */
 void DebugConsole::hexModeEnabled(bool mode)
 {
+    if (convertToAscii == mode)
+    {
         convertToAscii = !mode;
+        if (m_ui->hexCheckBox->isChecked() != mode)
+        {
+            m_ui->hexCheckBox->setChecked(mode);
+        }
         m_ui->receiveText->clear();
         m_ui->sendText->clear();
         m_ui->sentText->clear();
         commandHistory.clear();
     }
+}
 
 /**
  * @param filter true to ignore all MAVLINK raw data in output, false, to display all incoming data
  */
 void DebugConsole::MAVLINKfilterEnabled(bool filter)
 {
+    if (filterMAVLINK != filter)
+    {
         filterMAVLINK = filter;
         bytesToIgnore = 0;
+        if (m_ui->mavlinkCheckBox->isChecked() != filter)
+        {
+            m_ui->mavlinkCheckBox->setChecked(filter);
+        }
+    }
 }
 /**
  * @param hold Freeze the input and thus any scrolling
  */
 void DebugConsole::hold(bool hold)
 {
+    if (holdOn != hold)
+    {
     // Check if we need to append bytes from the hold buffer
     if (this->holdOn && !hold)
     {
@@ -654,6 +720,11 @@ void DebugConsole::hold(bool hold)
     {
         m_ui->receiveText->setTextInteractionFlags(Qt::NoTextInteraction);
     }
+    if (m_ui->holdCheckBox->isChecked() != hold)
+    {
+        m_ui->holdCheckBox->setChecked(hold);
+    }
+}
 }
 
 /**

src/ui/DebugConsole.h

@@ -96,6 +96,8 @@ public slots:
     void paintEvent(QPaintEvent *event);
     /** @brief Update traffic measurements */
     void updateTrafficMeasurements();
+    void loadSettings();
+    void storeSettings();
 
 protected:
     void changeEvent(QEvent *e);
@@ -109,14 +111,12 @@ protected:
     void cycleCommandHistory(bool up);
 
     QList<LinkInterface*> links;
-    QStringList commandHistory;
-    QString currCommand;
-    int commandIndex;
     LinkInterface* currLink;
 
     bool holdOn;              ///< Hold current view, ignore new data
     bool convertToAscii;      ///< Convert data to ASCII
     bool filterMAVLINK;       ///< Set true to filter out MAVLink in output
+    bool autoHold;            ///< Auto-hold mode sets view into hold if the data rate is too high
     int bytesToIgnore;        ///< Number of bytes to ignore
     char lastByte;            ///< The last received byte
     QList<QString> sentBytes; ///< Transmitted bytes, per transmission
@@ -129,7 +129,9 @@ protected:
     float dataRate;           ///< Current data rate
     float lowpassDataRate;    ///< Lowpass filtered data rate
     float dataRateThreshold;  ///< Threshold where to enable auto-hold
-    bool autoHold;            ///< Auto-hold mode sets view into hold if the data rate is too high
+    QStringList commandHistory;
+    QString currCommand;
+    int commandIndex;
 
 private:
     Ui::DebugConsole *m_ui;

src/ui/map3D/QGCGoogleEarthView.ui

@@ -158,7 +158,7 @@
     </widget>
    </item>
    <item row="1" column="7">
-    <widget class="QPushButton" name="clearWPButton">
+    <widget class="QPushButton" name="clearTrailsButton">
      <property name="toolTip">
       <string>Delete all waypoints</string>
      </property>
@@ -169,7 +169,7 @@
       <string>Delete all waypoints</string>
      </property>
      <property name="text">
-      <string>Clear WPs</string>
+      <string>Clear Trails</string>
      </property>
     </widget>
    </item>