From f1c6ebc19fbd33cf78733f8f66a0eff25dfe56c4 Mon Sep 17 00:00:00 2001
From: lm <pixhawk@switched.com>
Date: Mon, 29 Nov 2010 12:20:54 +0100
Subject: [PATCH 1/3] Fixed mac header inclusion
---
src/ui/map3D/Q3DWidget.cc | 2 ++
1 file changed, 2 insertions(+)
diff --git a/src/ui/map3D/Q3DWidget.cc b/src/ui/map3D/Q3DWidget.cc
index 0e08d85..2130045 100644
--- a/src/ui/map3D/Q3DWidget.cc
+++ b/src/ui/map3D/Q3DWidget.cc
@@ -34,7 +34,9 @@ This file is part of the QGROUNDCONTROL project
#include <osg/Geometry>
#include <osg/LineWidth>
#include <osg/MatrixTransform>
+#ifdef Q_OS_MACX
#include <Carbon/Carbon.h>
+#endif
Q3DWidget::Q3DWidget(QWidget* parent)
: QGLWidget(parent)
From aef052a012dbda166b6edce9a0660ae1a52cc2eb Mon Sep 17 00:00:00 2001
From: pixhawk <mavteam@student.ethz.ch>
Date: Tue, 30 Nov 2010 12:27:57 +0100
Subject: [PATCH 2/3] corrected a compile warning in Wayppoint.cc, made
adaptions to Freenect for the current revision of the code (update
libfreenect repository!), commented out pixhawk poi mavlink code - needs
fixing
---
src/Waypoint.cc | 6 +++---
src/input/Freenect.cc | 12 +++++++++---
src/input/Freenect.h | 4 ++--
src/uas/UAS.cc | 32 ++++++++++++++++----------------
4 files changed, 30 insertions(+), 24 deletions(-)
diff --git a/src/Waypoint.cc b/src/Waypoint.cc
index d84b76e..7a1c295 100644
--- a/src/Waypoint.cc
+++ b/src/Waypoint.cc
@@ -40,12 +40,12 @@ Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _
y(_y),
z(_z),
yaw(_yaw),
+ frame(_frame),
+ action(_action),
autocontinue(_autocontinue),
current(_current),
orbit(_orbit),
- holdTime(_holdTime),
- frame(_frame),
- action(_action)
+ holdTime(_holdTime)
{
}
diff --git a/src/input/Freenect.cc b/src/input/Freenect.cc
index a60f094..defce4b 100644
--- a/src/input/Freenect.cc
+++ b/src/input/Freenect.cc
@@ -98,8 +98,14 @@ Freenect::process(void)
return false;
}
- freenect_get_raw_accel(device, &ax, &ay, &az);
- freenect_get_mks_accel(device, &dx, &dy, &dz);
+ //libfreenect changed some access functions in one of the new revisions
+ freenect_raw_device_state state;
+ freenect_get_mks_accel(state, &ax, &ay, &az);
+ //tiltAngle = freenect_get_tilt_degs(&state);
+
+ //these are the old access functions
+ //freenect_get_raw_accel(device, &ax, &ay, &az);
+ //freenect_get_mks_accel(device, &dx, &dy, &dz);
return true;
}
@@ -183,7 +189,7 @@ Freenect::rgbCallback(freenect_device* device, freenect_pixel* rgb, uint32_t tim
}
void
-Freenect::depthCallback(freenect_device* device, freenect_depth* depth, uint32_t timestamp)
+Freenect::depthCallback(freenect_device* device, void* depth, uint32_t timestamp)
{
Freenect* freenect = static_cast<Freenect *>(freenect_get_user(device));
freenect_depth* data = reinterpret_cast<freenect_depth *>(depth);
diff --git a/src/input/Freenect.h b/src/input/Freenect.h
index e3e3925..1f5fd90 100644
--- a/src/input/Freenect.h
+++ b/src/input/Freenect.h
@@ -1,7 +1,7 @@
#ifndef FREENECT_H
#define FREENECT_H
-#include <libfreenect.h>
+#include <libfreenect/libfreenect.h>
#include <QMutex>
#include <QScopedPointer>
#include <QSharedPointer>
@@ -26,7 +26,7 @@ public:
private:
static void rgbCallback(freenect_device* device, freenect_pixel* rgb, uint32_t timestamp);
- static void depthCallback(freenect_device* device, freenect_depth* depth, uint32_t timestamp);
+ static void depthCallback(freenect_device* device, void* depth, uint32_t timestamp);
freenect_context* context;
freenect_device* device;
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 30ce495..3ca6c54 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -559,22 +559,22 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit textMessageReceived(uasId, message.compid, severity, text);
}
break;
-#ifdef MAVLINK_ENABLED_PIXHAWK
- case MAVLINK_MSG_ID_POINT_OF_INTEREST:
- {
- mavlink_point_of_interest_t poi;
- mavlink_msg_point_of_interest_decode(&message, &poi);
- emit poiFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN), poi.x, poi.y, poi.z);
- }
- break;
- case MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION:
- {
- mavlink_point_of_interest_connection_t poi;
- mavlink_msg_point_of_interest_connection_decode(&message, &poi);
- emit poiConnectionFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN), poi.x1, poi.y1, poi.z1, poi.x2, poi.y2, poi.z2);
- }
- break;
-#endif
+//#ifdef MAVLINK_ENABLED_PIXHAWK
+// case MAVLINK_MSG_ID_POINT_OF_INTEREST:
+// {
+// mavlink_point_of_interest_t poi;
+// mavlink_msg_point_of_interest_decode(&message, &poi);
+// emit poiFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN), poi.x, poi.y, poi.z);
+// }
+// break;
+// case MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION:
+// {
+// mavlink_point_of_interest_connection_t poi;
+// mavlink_msg_point_of_interest_connection_decode(&message, &poi);
+// emit poiConnectionFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN), poi.x1, poi.y1, poi.z1, poi.x2, poi.y2, poi.z2);
+// }
+// break;
+//#endif
#ifdef MAVLINK_ENABLED_UALBERTA
case MAVLINK_MSG_ID_NAV_FILTER_BIAS:
{
From 2caee818447cea24001eaf16d3de0ce2144afbbc Mon Sep 17 00:00:00 2001
From: pixhawk <mavteam@student.ethz.ch>
Date: Tue, 30 Nov 2010 12:46:48 +0100
Subject: [PATCH 3/3] changed short int to double
---
src/input/Freenect.cc | 2 +-
src/input/Freenect.h | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/input/Freenect.cc b/src/input/Freenect.cc
index defce4b..f2e6ab0 100644
--- a/src/input/Freenect.cc
+++ b/src/input/Freenect.cc
@@ -100,7 +100,7 @@ Freenect::process(void)
//libfreenect changed some access functions in one of the new revisions
freenect_raw_device_state state;
- freenect_get_mks_accel(state, &ax, &ay, &az);
+ freenect_get_mks_accel(&state, &ax, &ay, &az);
//tiltAngle = freenect_get_tilt_degs(&state);
//these are the old access functions
diff --git a/src/input/Freenect.h b/src/input/Freenect.h
index 1f5fd90..50fc6f9 100644
--- a/src/input/Freenect.h
+++ b/src/input/Freenect.h
@@ -60,7 +60,7 @@ private:
QMutex coloredDepthMutex;
// accelerometer data
- short ax, ay, az;
+ double ax, ay, az;
double dx, dy, dz;
// gamma map