Fixed some issues in HUD and Head down display

.gitignore

@@ -8,7 +8,6 @@ obj
 bin/*.exe
 bin/*.txt
 bin/mac
-mavground
 *pro.user
 qrc_*.cpp
 *.Debug
@@ -17,4 +16,5 @@ tmp
 debug
 release
 opengroundcontrol.xcodeproj/**
-
+opengroundcontrol
+qgroundcontrol

src/uas/UAS.cc

@@ -85,8 +85,6 @@ void UAS::setSelected()
 
 void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 {
-
-
     if (!links->contains(link))
     {
         addLink(link);

src/ui/HDDisplay.cc

@@ -134,7 +134,7 @@ void HDDisplay::paintGL()
     for (int i = 0; i < acceptList->size(); ++i)
     {
         QString value = acceptList->at(i);
-        drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, 0.0f), maxValues.value(value, 1.0f), value, values.value(value, minValues.value(value, 0.0f)), gaugeColor, &painter, goodRanges.value(value, qMakePair(0.0f, 0.5f)), critRanges.value(value, qMakePair(0.7f, 1.0f)), true);
+        drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, -1.0f), maxValues.value(value, 1.0f), value, values.value(value, minValues.value(value, 0.0f)), gaugeColor, &painter, goodRanges.value(value, qMakePair(0.0f, 0.5f)), critRanges.value(value, qMakePair(0.7f, 1.0f)), true);
         xCoord += gaugeWidth + leftSpacing;
         // Move one row down if necessary
         if (xCoord + gaugeWidth > vwidth)
@@ -511,8 +511,8 @@ float HDDisplay::refLineWidthToPen(float line)
 
 void HDDisplay::updateValue(UASInterface* uas, QString name, double value, quint64 msec)
 {
-    if (this->uas == uas)
-    {
+    //if (this->uas == uas)
+    //{
         // Update mean
         const float oldMean = valuesMean.value(name, 0.0f);
         const int meanCount = valuesCount.value(name, 0);
@@ -521,7 +521,7 @@ void HDDisplay::updateValue(UASInterface* uas, QString name, double value, quint
         valuesDot.insert(name, (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f));
         values.insert(name, value);
         lastUpdate.insert(name, msec);
-    }
+    //}
 }
 
 /**

src/ui/HUD.cc

@@ -45,7 +45,7 @@ This file is part of the PIXHAWK project
 template<typename T>
 inline bool isnan(T value)
 {
-return value != value;
+    return value != value;
 
 }
 
@@ -173,6 +173,7 @@ void HUD::updateValue(UASInterface* uas, QString name, double value, quint64 mse
 {
     // if (this->uas == uas)
     //{
+
     if (!isnan(value) && !isinf(value))
     {
         // Update mean
@@ -184,7 +185,10 @@ void HUD::updateValue(UASInterface* uas, QString name, double value, quint64 mse
         valuesCount.insert(name, meanCount + 1);
         // Two-value sliding average
         double dot = (valuesDot.value(name) + (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f))/2.0f;
-        if (isnan(dot) || isinf(dot)) dot = 0.0;
+        if (isnan(dot) || isinf(dot))
+        {
+            dot = 0.0;
+        }
         valuesDot.insert(name, dot);
         values.insert(name, value);
         lastUpdate.insert(name, msec);
@@ -211,7 +215,8 @@ void HUD::setActiveUAS(UASInterface* uas)
         disconnect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
         disconnect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
         disconnect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
-        disconnect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString,QString)));
+        disconnect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
+        disconnect(uas, SIGNAL(modeChanged(UASInterface*,QString,QString)), this, SLOT(updateMode(UASInterface*,QString)));
         disconnect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
         disconnect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeThrustSetPoint(UASInterface*,double,double,double,double,quint64)));
         disconnect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
@@ -247,6 +252,7 @@ void HUD::updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double
 
 void HUD::updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp)
 {
+    //qDebug() << __FILE__ << __LINE__ << "ROLL" << roll;
     updateValue(uas, "roll", roll, timestamp);
     updateValue(uas, "pitch", pitch, timestamp);
     updateValue(uas, "yaw", yaw, timestamp);
@@ -307,14 +313,21 @@ void HUD::updateSpeed(UASInterface* uas,double x,double y,double z,quint64 times
  *
  * @param uas the system the state message originates from
  * @param state short state text, displayed in HUD
- * @param description longer state text, currently unused
  */
-void HUD::updateState(UASInterface* uas,QString state, QString description)
+void HUD::updateState(UASInterface* uas,QString state)
 {
-    if (this->uas == uas)
-    {
     this->state = state;
-    }
+}
+
+/**
+ * Updates the current system mode, but only if the uas matches the currently monitored uas.
+ *
+ * @param uas the system the state message originates from
+ * @param mode short mode text, displayed in HUD
+ */
+void HUD::updateMode(UASInterface* uas,QString mode)
+{
+    this->mode = mode;
 }
 
 void HUD::updateLoad(UASInterface* uas, double load)
@@ -501,9 +514,9 @@ void HUD::paintRollPitchStrips()
 void HUD::paintGL()
 {
     // Read out most important values to limit hash table lookups
-    static float roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f);
-    static float pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f);
-    static float yaw = yaw * 0.5 + 0.5 * values.value("yaw", 0.0f);
+    float roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f);
+    float pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f);
+    float yaw = yaw * 0.5 + 0.5 * values.value("yaw", 0.0f);
 
     //qDebug() << __FILE__ << __LINE__ << "ROLL:" << roll << "PITCH:" << pitch << "YAW:" << yaw;
 
@@ -557,7 +570,8 @@ void HUD::paintGL()
     // Position the coordinate frame according to the setup
 
     QPainter painter(this);
-    painter.setRenderHint(QPainter::HighQualityAntialiasing);
+    painter.setRenderHint(QPainter::Antialiasing, true);
+    painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
     painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);
 
     // COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET
@@ -566,8 +580,10 @@ void HUD::paintGL()
     // Draw all fixed indicators
     // MODE
     paintText(mode, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 10, &painter);
+    // STATE
+    paintText(state, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
     // BATTERY
-    paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
+    paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 20, &painter);
     // Waypoint
     paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);
 
@@ -659,13 +675,17 @@ void HUD::paintGL()
     yawInt *= 0.6f;
     //qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw << "asin(yawInt)" << asinYaw;
 
+    painter.translate(0, (pitch/M_PI)* -180.0f * refToScreenY(2.0f));
+
     painter.translate(refToScreenX(yawTrans), 0);
 
-    painter.translate(0, (pitch/M_PI)* -180.0f * refToScreenY(2.0f));
+
 
     // Rotate view and draw all roll-dependent indicators
     painter.rotate((roll/M_PI)* -180.0f);
 
+    qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);
+
     // CENTER
 
     // SETPOINT

src/ui/HUD.h

@@ -79,7 +79,8 @@ public slots:
     void updateLocalPosition(UASInterface*,double,double,double,quint64);
     void updateGlobalPosition(UASInterface*,double,double,double,quint64);
     void updateSpeed(UASInterface*,double,double,double,quint64);
-    void updateState(UASInterface*,QString,QString);
+    void updateState(UASInterface*,QString);
+    void updateMode(UASInterface*,QString);
     void updateLoad(UASInterface*, double);
     void selectWaypoint(UASInterface* uas, int id);
 

src/ui/MainWindow.cc

@@ -172,7 +172,7 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent)
     LinkManager::instance()->addProtocol(simulationLink, mavlink);
     //CommConfigurationWindow* simulationWidget = new CommConfigurationWindow(simulationLink, mavlink, this);
     //ui.menuNetwork->addAction(commWidget->getAction());
-    //simulationLink->connect();
+    simulationLink->connect();
 }
 
 MainWindow::~MainWindow()