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Fixed a bug in the default options

QGC4.4
LM 14 years ago
parent
047dc94eb7
commit
7388388b84
2 changed files with 31 additions and 30 deletions
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  1. 30
      src/uas/PxQuadMAV.cc
  2. 31
      src/uas/UAS.cc

30
src/uas/PxQuadMAV.cc
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@ -132,6 +132,36 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message) @@ -132,6 +132,36 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit valueChanged(uasId, "vis. speed z", "m/s", speed.z, time);
}
break;
case MAVLINK_MSG_ID_CONTROL_STATUS:
{
mavlink_control_status_t status;
mavlink_msg_control_status_decode(&message, &status);
// Emit control status vector
emit attitudeControlEnabled(static_cast<bool>(status.control_att));
emit positionXYControlEnabled(static_cast<bool>(status.control_pos_xy));
emit positionZControlEnabled(static_cast<bool>(status.control_pos_z));
emit positionYawControlEnabled(static_cast<bool>(status.control_pos_yaw));
// Emit localization status vector
emit localizationChanged(this, status.position_fix);
emit visionLocalizationChanged(this, status.vision_fix);
emit gpsLocalizationChanged(this, status.gps_fix);
}
break;
case MAVLINK_MSG_ID_VISUAL_ODOMETRY:
{
mavlink_visual_odometry_t pos;
mavlink_msg_visual_odometry_decode(&message, &pos);
quint64 time = getUnixTime(pos.frame1_time_us);
//emit valueChanged(uasId, "vis. time", pos.usec, time);
emit valueChanged(uasId, "vis-o. roll", "rad", pos.roll, time);
emit valueChanged(uasId, "vis-o. pitch", "rad", pos.pitch, time);
emit valueChanged(uasId, "vis-o. yaw", "rad", pos.yaw, time);
emit valueChanged(uasId, "vis-o. x", "m", pos.x, time);
emit valueChanged(uasId, "vis-o. y", "m", pos.y, time);
emit valueChanged(uasId, "vis-o. z", "m", pos.z, time);
}
break;
case MAVLINK_MSG_ID_AUX_STATUS: {
mavlink_aux_status_t status;
mavlink_msg_aux_status_decode(&message, &status);

31
src/uas/UAS.cc
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@ -75,7 +75,7 @@ paramsOnceRequested(false), @@ -75,7 +75,7 @@ paramsOnceRequested(false),
airframe(0),
attitudeKnown(false),
paramManager(NULL),
attitudeStamped(true),
attitudeStamped(false),
lastAttitude(0)
{
color = UASInterface::getNextColor();
@ -403,35 +403,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) @@ -403,35 +403,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
}
break;
#ifdef MAVLINK_ENABLED_PIXHAWK
case MAVLINK_MSG_ID_CONTROL_STATUS:
{
mavlink_control_status_t status;
mavlink_msg_control_status_decode(&message, &status);
// Emit control status vector
emit attitudeControlEnabled(static_cast<bool>(status.control_att));
emit positionXYControlEnabled(static_cast<bool>(status.control_pos_xy));
emit positionZControlEnabled(static_cast<bool>(status.control_pos_z));
emit positionYawControlEnabled(static_cast<bool>(status.control_pos_yaw));
// Emit localization status vector
emit localizationChanged(this, status.position_fix);
emit visionLocalizationChanged(this, status.vision_fix);
emit gpsLocalizationChanged(this, status.gps_fix);
}
break;
case MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE:
{
mavlink_vision_speed_estimate_t speed;
mavlink_msg_vision_speed_estimate_decode(&message, &speed);
quint64 time = getUnixTime(speed.usec);
emit valueChanged(uasId, "vis.speed x", "m/s", static_cast<double>(speed.x), time);
emit valueChanged(uasId, "vis.speed y", "m/s", static_cast<double>(speed.y), time);
emit valueChanged(uasId, "vis.speed z", "m/s", static_cast<double>(speed.z), time);
}
break;
#endif // PIXHAWK
case MAVLINK_MSG_ID_RAW_IMU:
{
mavlink_raw_imu_t raw;

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