A number of bugfixes for various MAVLink messages

.gitignore

@@ -1,32 +1,33 @@
-*Makefile*
+*Makefile*
-tags
+tags
-build
+build
-Info.plist
+Info.plist
-obj
+obj
-*.log
+*.log
-*~
+*~
-*qtc*
+*qtc*
-bin/*.exe
+bin/*.exe
-bin/*.txt
+bin/*.txt
-bin/mac
+bin/mac
-*pro.user*
+*pro.user*
-qrc_*.cpp
+qrc_*.cpp
-*.Debug
+*.Debug
-*.Release
+*.Release
-tmp
+tmp
-debug
+debug
-release
+release
-qgroundcontrol
+qgroundcontrol
-mavlinkgen
+mavlinkgen
-*.wav
+*.wav
-qgroundcontrol.xcodeproj/**
+qgroundcontrol.xcodeproj/**
-doc/html
+doc/html
-doc/doxy.log
+doc/doxy.log
-deploy/mac
+deploy/mac
-deploy/linux
+deploy/linux
-controller_log*
+deploy/qgroundcontrol*
-user_config.pri
+controller_log*
-*.app
+user_config.pri
+*.app
 
 *.ncb
 *.vcproj
@@ -39,4 +40,4 @@ user_config.pri
 *.project
 *.cproject
 *.sln
-*.suo
+*.suo

deploy/mac_create_dmg.sh

@@ -1,20 +1,12 @@
 #!/bin/sh
-# Clean build directories
+cp -r ../../qgroundcontrol-build-desktop/qgroundcontrol.app .
-rm -rf mac
-mkdir -p mac
-# Change to build directory and compile application
-cd ..
-make -j4
-# Copy and build the application bundle
-cd deploy
-cp -r ../bin/mac/qgroundcontrol.app mac/.
 
 
-cp -r ../audio mac/qgroundcontrol.app/Contents/MacOs/.
+cp -r ../audio qgroundcontrol.app/Contents/MacOs/.
-mkdir -p mac/qgroundcontrol.app/Contents/Frameworks/
+mkdir -p qgroundcontrol.app/Contents/Frameworks/
 # SDL is not copied by Qt - for whatever reason
-cp -r SDL.framework mac/qgroundcontrol.app/Contents/Frameworks/.
+cp -r /Library/Frameworks/SDL.framework qgroundcontrol.app/Contents/Frameworks/.
 echo -e '\n\nStarting to create disk image. This may take a while..\n'
-macdeployqt mac/qgroundcontrol.app -dmg
+macdeployqt qgroundcontrol.app -dmg
-rm -rf mac/qgroundcontrol.app
+#rm -rf qgroundcontrol.app
 echo -e '\n\n QGroundControl .DMG file is now ready for publishing\n'

qgroundcontrol.pri

@@ -50,11 +50,13 @@ macx {
     COMPILER_VERSION = $$system(gcc -v)
     #message(Using compiler $$COMPILER_VERSION)
 
+        CONFIG += x86 cocoa phonon
+        CONFIG -= x86_64
+
     HARDWARE_PLATFORM = $$system(uname -a)
     contains( $$HARDWARE_PLATFORM, "9.6.0" ) || contains( $$HARDWARE_PLATFORM, "9.7.0" ) || contains( $$HARDWARE_PLATFORM, "9.8.0" ) || contains( $$HARDWARE_PLATFORM, "9.9.0" ) {
         # x86 Mac OS X Leopard 10.5 and earlier
-        CONFIG += x86 x86_64 cocoa phonon
+
-        #CONFIG -= x86_64
         #message(Building for Mac OS X 32bit/Leopard 10.5 and earlier)
 
                 # Enable function-profiling with the OS X saturn tool

src/comm/MAVLinkSimulationMAV.cc

@@ -143,9 +143,13 @@ void MAVLinkSimulationMAV::mainloop()
 
         // ATTITUDE
         mavlink_attitude_t attitude;
+        attitude.usec = 0;
         attitude.roll = 0.0f;
         attitude.pitch = 0.0f;
         attitude.yaw = yaw;
+        attitude.rollspeed = 0.0f;
+        attitude.pitchspeed = 0.0f;
+        attitude.yawspeed = 0.0f;
 
         mavlink_msg_attitude_encode(systemid, MAV_COMP_ID_IMU, &msg, &attitude);
         link->sendMAVLinkMessage(&msg);
@@ -158,7 +162,7 @@ void MAVLinkSimulationMAV::mainloop()
         status.packet_drop = 0;
         status.vbat = 10500;
         status.status = sys_state;
-
+        status.battery_remaining = 900;
         mavlink_msg_sys_status_encode(systemid, MAV_COMP_ID_IMU, &msg, &status);
         link->sendMAVLinkMessage(&msg);
         timer10Hz = 5;
@@ -183,8 +187,19 @@ void MAVLinkSimulationMAV::mainloop()
         nav.wp_dist = 2.0f;
         nav.alt_error = 0.5f;
         nav.xtrack_error = 0.2f;
+        nav.aspd_error = 0.0f;
         mavlink_msg_nav_controller_output_encode(systemid, MAV_COMP_ID_IMU, &msg, &nav);
         link->sendMAVLinkMessage(&msg);
+
+        // RAW PRESSURE
+        mavlink_raw_pressure_t pressure;
+        pressure.press_abs = 1000;
+        pressure.press_diff1 = 2000;
+        pressure.press_diff2 = 5000;
+        pressure.temperature = 18150; // 18.15 deg Celsius
+        pressure.usec = 0; // Works also with zero timestamp
+        mavlink_msg_raw_pressure_encode(systemid, MAV_COMP_ID_IMU, &msg, &pressure);
+        link->sendMAVLinkMessage(&msg);
     }
 
     // 25 Hz execution
@@ -203,6 +218,7 @@ void MAVLinkSimulationMAV::mainloop()
         control_status.gps_fix = 2;        // 2D GPS fix
         control_status.position_fix = 3;   // 3D fix from GPS + barometric pressure
         control_status.vision_fix = 0;     // no fix from vision system
+        control_status.ahrs_health = 230;
         mavlink_msg_control_status_encode(systemid, MAV_COMP_ID_IMU, &ret, &control_status);
         link->sendMAVLinkMessage(&ret);
         #endif //MAVLINK_ENABLED_PIXHAWK

src/uas/UAS.cc

@@ -620,10 +620,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 mavlink_raw_pressure_t pressure;
                 mavlink_msg_raw_pressure_decode(&message, &pressure);
-                quint64 time = this->getUnixTime(0);
+                quint64 time = this->getUnixTime(pressure.usec);
                 emit valueChanged(uasId, "abs pressure", "hPa", pressure.press_abs, time);
                 emit valueChanged(uasId, "diff pressure 1", "hPa", pressure.press_diff1, time);
                 emit valueChanged(uasId, "diff pressure 2", "hPa", pressure.press_diff2, time);
+                emit valueChanged(uasId, "temperature", "deg C", pressure.temperature/100.0f, time);
             }
             break;
         case MAVLINK_MSG_ID_RC_CHANNELS_RAW:

src/ui/QGCRemoteControlView.cc

@@ -97,7 +97,7 @@ void QGCRemoteControlView::setUASId(int id)
         {
             // The UAS exists, disconnect any existing connections
             disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float,float)), this, SLOT(setChannel(int,float,float)));
-            disconnect(uas, SIGNAL(remoteControlRSSIRawChanged(float)), this, SLOT(setRemoteRSSI(float)));
+            disconnect(uas, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float)));
             disconnect(uas, SIGNAL(radioCalibrationRawReceived(const QPointer<RadioCalibrationData>)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
             disconnect(uas, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannelRaw(int,float)));
             disconnect(uas, SIGNAL(remoteControlChannelScaledChanged(int,float,float)), calibrationWindow, SLOT(setChannelScaled(int,float)));
@@ -116,9 +116,7 @@ void QGCRemoteControlView::setUASId(int id)
 
         connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(setChannelRaw(int,float)));
         connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannel(int,float)));
-
         connect(newUAS, SIGNAL(remoteControlChannelScaledChanged(int,float)), this, SLOT(setChannelScaled(int,float)));
-//        connect(newUAS, SIGNAL(remoteControlChannelScaledChanged(int,float)), calibrationWindow, SLOT(setChannelScaled(int,float)));
     }
 }
 
@@ -205,6 +203,8 @@ void QGCRemoteControlView::redraw()
         {
             progressBars.at(i)->setValue(normalized.at(i)*100.0f);
         }
+        // Update RSSI
+        rssiBar->setValue(rssi*100);
         updated = false;
     }
 }