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Removing all SLUGS autopilot-specific code. 

SLUGS has maintained their patches out-of-tree for a long while now.
These will eventually get merged back in, but it'll be easier to evaluate them as fresh commits instead of modifications to this old & dead code, so we'll delete this for now.
QGC4.4
Bryant 11 years ago
parent
27736f5d26
commit
9d8d4c5be9
20 changed files with 0 additions and 5514 deletions
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  1. 11
      qgroundcontrol.pro
  2. 1
      src/comm/MAVLinkProtocol.cc
  3. 14
      src/uas/QGCMAVLinkUASFactory.cc
  4. 1
      src/uas/QGCMAVLinkUASFactory.h
  5. 235
      src/uas/SlugsMAV.cc
  6. 131
      src/uas/SlugsMAV.h
  7. 1
      src/ui/MainWindow.cc
  8. 7
      src/ui/MainWindow.h
  9. 352
      src/ui/SlugsDataSensorView.cc
  10. 213
      src/ui/SlugsDataSensorView.h
  11. 3140
      src/ui/SlugsDataSensorView.ui
  12. 364
      src/ui/SlugsHilSim.cc
  13. 158
      src/ui/SlugsHilSim.h
  14. 369
      src/ui/SlugsHilSim.ui
  15. 179
      src/ui/SlugsPadCameraControl.cpp
  16. 69
      src/ui/SlugsPadCameraControl.h
  17. 94
      src/ui/SlugsPadCameraControl.ui
  18. 95
      src/ui/SlugsVideoCamControl.cpp
  19. 75
      src/ui/uas/UASControlParameters.cpp
  20. 5
      src/ui/uas/UASControlParameters.h

11
qgroundcontrol.pro
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@ -269,9 +269,6 @@ FORMS += \
src/ui/QMap3D.ui \ src/ui/QMap3D.ui \
src/ui/QGCWebView.ui \ src/ui/QGCWebView.ui \
src/ui/map3D/QGCGoogleEarthView.ui \ src/ui/map3D/QGCGoogleEarthView.ui \
src/ui/SlugsDataSensorView.ui \
src/ui/SlugsHilSim.ui \
src/ui/SlugsPadCameraControl.ui \
src/ui/uas/QGCUnconnectedInfoWidget.ui \ src/ui/uas/QGCUnconnectedInfoWidget.ui \
src/ui/designer/QGCToolWidget.ui \ src/ui/designer/QGCToolWidget.ui \
src/ui/designer/QGCParamSlider.ui \ src/ui/designer/QGCParamSlider.ui \
@ -407,7 +404,6 @@ HEADERS += \
src/ui/QGCParamWidget.h \ src/ui/QGCParamWidget.h \
src/ui/QGCSensorSettingsWidget.h \ src/ui/QGCSensorSettingsWidget.h \
src/ui/linechart/Linecharts.h \ src/ui/linechart/Linecharts.h \
src/uas/SlugsMAV.h \
src/uas/PxQuadMAV.h \ src/uas/PxQuadMAV.h \
src/uas/ArduPilotMegaMAV.h \ src/uas/ArduPilotMegaMAV.h \
src/uas/senseSoarMAV.h \ src/uas/senseSoarMAV.h \
@ -431,9 +427,6 @@ HEADERS += \
src/comm/QGCMAVLink.h \ src/comm/QGCMAVLink.h \
src/ui/QGCWebView.h \ src/ui/QGCWebView.h \
src/ui/map3D/QGCWebPage.h \ src/ui/map3D/QGCWebPage.h \
src/ui/SlugsDataSensorView.h \
src/ui/SlugsHilSim.h \
src/ui/SlugsPadCameraControl.h \
src/ui/QGCMainWindowAPConfigurator.h \ src/ui/QGCMainWindowAPConfigurator.h \
src/comm/MAVLinkSwarmSimulationLink.h \ src/comm/MAVLinkSwarmSimulationLink.h \
src/ui/uas/QGCUnconnectedInfoWidget.h \ src/ui/uas/QGCUnconnectedInfoWidget.h \
@ -601,7 +594,6 @@ SOURCES += \
src/ui/QGCParamWidget.cc \ src/ui/QGCParamWidget.cc \
src/ui/QGCSensorSettingsWidget.cc \ src/ui/QGCSensorSettingsWidget.cc \
src/ui/linechart/Linecharts.cc \ src/ui/linechart/Linecharts.cc \
src/uas/SlugsMAV.cc \
src/uas/PxQuadMAV.cc \ src/uas/PxQuadMAV.cc \
src/uas/ArduPilotMegaMAV.cc \ src/uas/ArduPilotMegaMAV.cc \
src/uas/senseSoarMAV.cpp \ src/uas/senseSoarMAV.cpp \
@ -624,9 +616,6 @@ SOURCES += \
src/ui/RadioCalibration/RadioCalibrationData.cc \ src/ui/RadioCalibration/RadioCalibrationData.cc \
src/ui/QGCWebView.cc \ src/ui/QGCWebView.cc \
src/ui/map3D/QGCWebPage.cc \ src/ui/map3D/QGCWebPage.cc \
src/ui/SlugsDataSensorView.cc \
src/ui/SlugsHilSim.cc \
src/ui/SlugsPadCameraControl.cpp \
src/ui/QGCMainWindowAPConfigurator.cc \ src/ui/QGCMainWindowAPConfigurator.cc \
src/comm/MAVLinkSwarmSimulationLink.cc \ src/comm/MAVLinkSwarmSimulationLink.cc \
src/ui/uas/QGCUnconnectedInfoWidget.cc \ src/ui/uas/QGCUnconnectedInfoWidget.cc \

1
src/comm/MAVLinkProtocol.cc
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@ -24,7 +24,6 @@
#include "UASManager.h" #include "UASManager.h"
#include "UASInterface.h" #include "UASInterface.h"
#include "UAS.h" #include "UAS.h"
#include "SlugsMAV.h"
#include "PxQuadMAV.h" #include "PxQuadMAV.h"
#include "ArduPilotMegaMAV.h" #include "ArduPilotMegaMAV.h"
#include "configuration.h" #include "configuration.h"

14
src/uas/QGCMAVLinkUASFactory.cc
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@ -73,20 +73,6 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
uas = px4; uas = px4;
} }
break; break;
case MAV_AUTOPILOT_SLUGS:
{
SlugsMAV* mav = new SlugsMAV(mavlink, worker, sysid);
// Set the system type
mav->setSystemType((int)heartbeat->type);
// Connect this robot to the UAS object
// it is IMPORTANT here to use the right object type,
// else the slot of the parent object is called (and thus the special
// packets never reach their goal)
connect(mavlink, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
uas = mav;
}
break;
case MAV_AUTOPILOT_ARDUPILOTMEGA: case MAV_AUTOPILOT_ARDUPILOTMEGA:
{ {
ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(mavlink, worker, sysid); ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(mavlink, worker, sysid);

1
src/uas/QGCMAVLinkUASFactory.h
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@ -10,7 +10,6 @@
// INCLUDE ALL MAV/UAS CLASSES USING MAVLINK // INCLUDE ALL MAV/UAS CLASSES USING MAVLINK
#include "UAS.h" #include "UAS.h"
#include "SlugsMAV.h"
#include "PxQuadMAV.h" #include "PxQuadMAV.h"
#include "senseSoarMAV.h" #include "senseSoarMAV.h"
#include "ArduPilotMegaMAV.h" #include "ArduPilotMegaMAV.h"

235
src/uas/SlugsMAV.cc
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@ -1,235 +0,0 @@
#include "SlugsMAV.h"
#include <QDebug>
SlugsMAV::SlugsMAV(MAVLinkProtocol* mavlink, QThread* thread, int id) :
UAS(mavlink, thread, id)
{
widgetTimer = new QTimer (this);
widgetTimer->setInterval(SLUGS_UPDATE_RATE);
connect (widgetTimer, SIGNAL(timeout()), this, SLOT(emitSignals()));
widgetTimer->start();
memset(&mlRawImuData ,0, sizeof(mavlink_raw_imu_t));// clear all the state structures
#ifdef MAVLINK_ENABLED_SLUGS
memset(&mlGpsData, 0, sizeof(mavlink_gps_raw_t));
memset(&mlCpuLoadData, 0, sizeof(mavlink_cpu_load_t));
memset(&mlAirData, 0, sizeof(mavlink_air_data_t));
memset(&mlSensorBiasData, 0, sizeof(mavlink_sensor_bias_t));
memset(&mlDiagnosticData, 0, sizeof(mavlink_diagnostic_t));
memset(&mlBoot ,0, sizeof(mavlink_boot_t));
memset(&mlGpsDateTime ,0, sizeof(mavlink_gps_date_time_t));
memset(&mlApMode ,0, sizeof(mavlink_set_mode_t));
memset(&mlNavigation ,0, sizeof(mavlink_slugs_navigation_t));
memset(&mlDataLog ,0, sizeof(mavlink_data_log_t));
memset(&mlPassthrough ,0, sizeof(mavlink_ctrl_srfc_pt_t));
memset(&mlActionAck,0, sizeof(mavlink_action_ack_t));
memset(&mlAction ,0, sizeof(mavlink_slugs_action_t));
memset(&mlScaled ,0, sizeof(mavlink_scaled_imu_t));
memset(&mlServo ,0, sizeof(mavlink_servo_output_raw_t));
memset(&mlChannels ,0, sizeof(mavlink_rc_channels_raw_t));
updateRoundRobin = 0;
uasId = id;
#endif
}
/**
* This function is called by MAVLink once a complete, uncorrupted (CRC check valid)
* mavlink packet is received.
*
* @param link Hardware link the message came from (e.g. /dev/ttyUSB0 or UDP port).
* messages can be sent back to the system via this link
* @param message MAVLink message, as received from the MAVLink protocol stack
*/
void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
UAS::receiveMessage(link, message);// Let UAS handle the default message set
if (message.sysid == uasId) {
#ifdef MAVLINK_ENABLED_SLUGS// Handle your special messages mavlink_message_t* msg = &message;
switch (message.msgid) {
case MAVLINK_MSG_ID_RAW_IMU:
mavlink_msg_raw_imu_decode(&message, &mlRawImuData);
break;
case MAVLINK_MSG_ID_BOOT:
mavlink_msg_boot_decode(&message,&mlBoot);
emit slugsBootMsg(uasId, mlBoot);
break;
case MAVLINK_MSG_ID_ATTITUDE:
mavlink_msg_attitude_decode(&message, &mlAttitude);
break;
case MAVLINK_MSG_ID_GPS_RAW:
mavlink_msg_gps_raw_decode(&message, &mlGpsData);
break;
case MAVLINK_MSG_ID_CPU_LOAD: //170
mavlink_msg_cpu_load_decode(&message,&mlCpuLoadData);
break;
case MAVLINK_MSG_ID_AIR_DATA: //171
mavlink_msg_air_data_decode(&message,&mlAirData);
break;
case MAVLINK_MSG_ID_SENSOR_BIAS: //172
mavlink_msg_sensor_bias_decode(&message,&mlSensorBiasData);
break;
case MAVLINK_MSG_ID_DIAGNOSTIC: //173
mavlink_msg_diagnostic_decode(&message,&mlDiagnosticData);
break;
case MAVLINK_MSG_ID_SLUGS_NAVIGATION://176
mavlink_msg_slugs_navigation_decode(&message,&mlNavigation);
break;
case MAVLINK_MSG_ID_DATA_LOG: //177
mavlink_msg_data_log_decode(&message,&mlDataLog);
break;
case MAVLINK_MSG_ID_GPS_DATE_TIME: //179
mavlink_msg_gps_date_time_decode(&message,&mlGpsDateTime);
break;
case MAVLINK_MSG_ID_MID_LVL_CMDS: //180
mavlink_msg_mid_lvl_cmds_decode(&message, &mlMidLevelCommands);
break;
case MAVLINK_MSG_ID_CTRL_SRFC_PT: //181
mavlink_msg_ctrl_srfc_pt_decode(&message, &mlPassthrough);
break;
case MAVLINK_MSG_ID_SLUGS_ACTION: //183
mavlink_msg_slugs_action_decode(&message, &mlAction);
break;
case MAVLINK_MSG_ID_SCALED_IMU:
mavlink_msg_scaled_imu_decode(&message, &mlScaled);
break;
case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
mavlink_msg_servo_output_raw_decode(&message, &mlServo);
break;
case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
mavlink_msg_rc_channels_raw_decode(&message, &mlChannels);
break;
switch (mlAction.actionId) {
case SLUGS_ACTION_EEPROM:
if (mlAction.actionVal == SLUGS_ACTION_FAIL) {
emit textMessageReceived(message.sysid, message.compid, MAV_SEVERITY_ERROR, "EEPROM Write Fail, Data was not saved in Memory!");
}
break;
case SLUGS_ACTION_PT_CHANGE:
if (mlAction.actionVal == SLUGS_ACTION_SUCCESS) {
emit textMessageReceived(message.sysid, message.compid, MAV_SEVERITY_INFO, "Passthrough Succesfully Changed");
}
break;
case SLUGS_ACTION_MLC_CHANGE:
if (mlAction.actionVal == SLUGS_ACTION_SUCCESS) {
emit textMessageReceived(message.sysid, message.compid, MAV_SEVERITY_INFO, "Mid-level Commands Succesfully Changed");
}
break;
}
//break;
default:
// qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
break;
}
#endif
}
}
void SlugsMAV::emitSignals (void)
{
#ifdef MAVLINK_ENABLED_SLUGS
switch(updateRoundRobin) {
case 1:
emit slugsCPULoad(uasId, mlCpuLoadData);
emit slugsSensorBias(uasId,mlSensorBiasData);
break;
case 2:
emit slugsAirData(uasId, mlAirData);
emit slugsDiagnostic(uasId,mlDiagnosticData);
break;
case 3:
emit slugsNavegation(uasId, mlNavigation);
emit slugsDataLog(uasId, mlDataLog);
break;
case 4:
emit slugsGPSDateTime(uasId, mlGpsDateTime);
break;
case 5:
emit slugsActionAck(uasId,mlActionAck);
emit emitGpsSignals();
break;
case 6:
emit slugsChannels(uasId, mlChannels);
emit slugsServo(uasId, mlServo);
emit slugsScaled(uasId, mlScaled);
break;
}
emit slugsAttitude(uasId, mlAttitude);
emit attitudeChanged(this,
mlAttitude.roll,
mlAttitude.pitch,
mlAttitude.yaw,
0.0);
#endif
emit slugsRawImu(uasId, mlRawImuData);
// wrap around
updateRoundRobin = updateRoundRobin > 10? 1: updateRoundRobin + 1;
}
#ifdef MAVLINK_ENABLED_SLUGS
void SlugsMAV::emitGpsSignals (void)
{
// qDebug()<<"After Emit GPS Signal"<<mlGpsData.fix_type;
//ToDo Uncomment if. it was comment only to test
// if (mlGpsData.fix_type > 0){
emit globalPositionChanged(this,
mlGpsData.lon,
mlGpsData.lat,
mlGpsData.alt,
0.0);
emit slugsGPSCogSog(uasId,mlGpsData.hdg, mlGpsData.v);
}
#endif // MAVLINK_ENABLED_SLUGS

131
src/uas/SlugsMAV.h
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@ -1,131 +0,0 @@
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#ifndef SLUGSMAV_H
#define SLUGSMAV_H
#include "UAS.h"
#include "mavlink.h"
#include <QTimer>
#define SLUGS_UPDATE_RATE 200 // in ms
class SlugsMAV : public UAS
{
Q_OBJECT
Q_INTERFACES(UASInterface)
enum SLUGS_ACTION {
SLUGS_ACTION_NONE,
SLUGS_ACTION_SUCCESS,
SLUGS_ACTION_FAIL,
SLUGS_ACTION_EEPROM,
SLUGS_ACTION_MODE_CHANGE,
SLUGS_ACTION_MODE_REPORT,
SLUGS_ACTION_PT_CHANGE,
SLUGS_ACTION_PT_REPORT,
SLUGS_ACTION_PID_CHANGE,
SLUGS_ACTION_PID_REPORT,
SLUGS_ACTION_WP_CHANGE,
SLUGS_ACTION_WP_REPORT,
SLUGS_ACTION_MLC_CHANGE,
SLUGS_ACTION_MLC_REPORT
};
public:
SlugsMAV(MAVLinkProtocol* mavlink, QThread* thread, int id = 0);
public slots:
/** @brief Receive a MAVLink message from this MAV */
void receiveMessage(LinkInterface* link, mavlink_message_t message);
void emitSignals (void);
signals:
void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData);
void slugsGPSCogSog(int uasId, double cog, double sog);
#ifdef MAVLINK_ENABLED_SLUGS
void slugsCPULoad(int systemId, const mavlink_cpu_load_t& cpuLoad);
void slugsAirData(int systemId, const mavlink_air_data_t& airData);
void slugsSensorBias(int systemId, const mavlink_sensor_bias_t& sensorBias);
void slugsDiagnostic(int systemId, const mavlink_diagnostic_t& diagnostic);
void slugsNavegation(int systemId, const mavlink_slugs_navigation_t& slugsNavigation);
void slugsDataLog(int systemId, const mavlink_data_log_t& dataLog);
void slugsGPSDateTime(int systemId, const mavlink_gps_date_time_t& gpsDateTime);
void slugsActionAck(int systemId, const mavlink_action_ack_t& actionAck);
void slugsBootMsg(int uasId, mavlink_boot_t& boot);
void slugsAttitude(int uasId, mavlink_attitude_t& attitude);
void slugsScaled(int uasId, const mavlink_scaled_imu_t& scaled);
void slugsServo(int uasId, const mavlink_servo_output_raw_t& servo);
void slugsChannels(int uasId, const mavlink_rc_channels_raw_t& channels);
#endif
protected:
unsigned char updateRoundRobin;
QTimer* widgetTimer;
mavlink_raw_imu_t mlRawImuData;
#ifdef MAVLINK_ENABLED_SLUGS
mavlink_gps_raw_t mlGpsData;
mavlink_attitude_t mlAttitude;
mavlink_cpu_load_t mlCpuLoadData;
mavlink_air_data_t mlAirData;
mavlink_sensor_bias_t mlSensorBiasData;
mavlink_diagnostic_t mlDiagnosticData;
mavlink_boot_t mlBoot;
mavlink_gps_date_time_t mlGpsDateTime;
mavlink_mid_lvl_cmds_t mlMidLevelCommands;
mavlink_set_mode_t mlApMode;
mavlink_slugs_navigation_t mlNavigation;
mavlink_data_log_t mlDataLog;
mavlink_ctrl_srfc_pt_t mlPassthrough;
mavlink_action_ack_t mlActionAck;
mavlink_slugs_action_t mlAction;
mavlink_scaled_imu_t mlScaled;
mavlink_servo_output_raw_t mlServo;
mavlink_rc_channels_raw_t mlChannels;
// Standart messages MAVLINK used by SLUGS
private:
void emitGpsSignals (void);
void emitPidSignal(void);
int uasId;
#endif // if SLUGS
};
#endif // SLUGSMAV_H

1
src/ui/MainWindow.cc
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@ -85,7 +85,6 @@ This file is part of the QGROUNDCONTROL project
// FIXME Move // FIXME Move
#include "PxQuadMAV.h" #include "PxQuadMAV.h"
#include "SlugsMAV.h"
#include "LogCompressor.h" #include "LogCompressor.h"

7
src/ui/MainWindow.h
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@ -65,12 +65,8 @@ This file is part of the QGROUNDCONTROL project
#include "QGCGoogleEarthView.h" #include "QGCGoogleEarthView.h"
#endif #endif
#include "QGCToolBar.h" #include "QGCToolBar.h"
#include "SlugsDataSensorView.h"
#include "LogCompressor.h" #include "LogCompressor.h"
#include "SlugsHilSim.h"
#include "SlugsPadCameraControl.h"
#include "UASControlParameters.h" #include "UASControlParameters.h"
#include "QGCMAVLinkInspector.h" #include "QGCMAVLinkInspector.h"
#include "QGCMAVLinkLogPlayer.h" #include "QGCMAVLinkLogPlayer.h"
@ -463,9 +459,6 @@ protected:
QPointer<QDockWidget> hsiDockWidget; QPointer<QDockWidget> hsiDockWidget;
QPointer<QDockWidget> rcViewDockWidget; QPointer<QDockWidget> rcViewDockWidget;
QPointer<QDockWidget> hudDockWidget; QPointer<QDockWidget> hudDockWidget;
QPointer<QDockWidget> slugsDataWidget;
QPointer<QDockWidget> slugsHilSimWidget;
QPointer<QDockWidget> slugsCamControlWidget;
QPointer<QGCToolBar> toolBar; QPointer<QGCToolBar> toolBar;
QPointer<QGCStatusBar> customStatusBar; QPointer<QGCStatusBar> customStatusBar;

352
src/ui/SlugsDataSensorView.cc
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@ -1,352 +0,0 @@
#include "SlugsDataSensorView.h"
#include "ui_SlugsDataSensorView.h"
#include <UASManager.h>
#include "SlugsMAV.h"
#include <QDebug>
SlugsDataSensorView::SlugsDataSensorView(QWidget *parent) :
QWidget(parent),
ui(new Ui::SlugsDataSensorView)
{
ui->setupUi(this);
activeUAS = NULL;
this->setVisible(false);
}
SlugsDataSensorView::~SlugsDataSensorView()
{
delete ui;
}
void SlugsDataSensorView::addUAS(UASInterface* uas)
{
SlugsMAV* slugsMav = qobject_cast<SlugsMAV*>(uas);
if (slugsMav != NULL) {
connect(slugsMav, SIGNAL(slugsRawImu(int, const mavlink_raw_imu_t&)), this, SLOT(slugRawDataChanged(int, const mavlink_raw_imu_t&)));
#ifdef MAVLINK_ENABLED_SLUGS
//connect standar messages
connect(slugsMav, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugLocalPositionChanged(UASInterface*,double,double,double,quint64)));
connect(slugsMav, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)), this, SLOT(slugSpeedLocalPositionChanged(UASInterface*,double,double,double,quint64)));
connect(slugsMav, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugAttitudeChanged(UASInterface*,double,double,double,quint64)));
connect(slugsMav, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugsGlobalPositionChanged(UASInterface*,double,double,double,quint64)));
connect(slugsMav,SIGNAL(slugsGPSCogSog(int,double,double)),this,SLOT(slugsGPSCogSog(int,double,double)));
//connect slugs especial messages
connect(slugsMav, SIGNAL(slugsSensorBias(int,const mavlink_sensor_bias_t&)), this, SLOT(slugsSensorBiasChanged(int,const mavlink_sensor_bias_t&)));
connect(slugsMav, SIGNAL(slugsDiagnostic(int,const mavlink_diagnostic_t&)), this, SLOT(slugsDiagnosticMessageChanged(int,const mavlink_diagnostic_t&)));
connect(slugsMav, SIGNAL(slugsCPULoad(int,const mavlink_cpu_load_t&)), this, SLOT(slugsCpuLoadChanged(int,const mavlink_cpu_load_t&)));
connect(slugsMav, SIGNAL(slugsNavegation(int,const mavlink_slugs_navigation_t&)),this,SLOT(slugsNavegationChanged(int,const mavlink_slugs_navigation_t&)));
connect(slugsMav, SIGNAL(slugsDataLog(int,const mavlink_data_log_t&)), this, SLOT(slugsDataLogChanged(int,const mavlink_data_log_t&)));
// connect(slugsMav, SIGNAL(slugsPWM(int,const mavlink_pwm_commands_t&)),this,SLOT(slugsPWMChanged(int,const mavlink_pwm_commands_t&)));
// connect(slugsMav, SIGNAL(slugsFilteredData(int,const mavlink_filtered_data_t&)),this,SLOT(slugsFilteredDataChanged(int,const mavlink_filtered_data_t&)));
connect(slugsMav, SIGNAL(slugsGPSDateTime(int,const mavlink_gps_date_time_t&)),this,SLOT(slugsGPSDateTimeChanged(int,const mavlink_gps_date_time_t&)));
connect(slugsMav,SIGNAL(slugsAirData(int, const mavlink_air_data_t&)),this,SLOT(slugsAirDataChanged(int, const mavlink_air_data_t&)));
connect(slugsMav, SIGNAL(slugsChannels(int, const mavlink_rc_channels_raw_t&)), this, SLOT(slugsRCRawChannels(int, const mavlink_rc_channels_raw_t&)));
connect(slugsMav, SIGNAL(slugsServo(int, const mavlink_servo_output_raw_t&)), this, SLOT(slugsRCServo(int,const mavlink_servo_output_raw_t&)));
connect(slugsMav, SIGNAL(slugsScaled(int, const mavlink_scaled_imu_t&)), this, SLOT(slugsFilteredDataChanged(int, const mavlink_scaled_imu_t&)));
#endif // MAVLINK_ENABLED_SLUGS
// Set this UAS as active if it is the first one
if(activeUAS == 0) {
activeUAS = uas;
}
}
}
void SlugsDataSensorView::slugRawDataChanged(int uasId, const mavlink_raw_imu_t &rawData)
{
Q_UNUSED(uasId);
ui->m_Axr->setText(QString::number(rawData.xacc));
ui->m_Ayr->setText(QString::number(rawData.yacc));
ui->m_Azr->setText(QString::number(rawData.zacc));
ui->m_Mxr->setText(QString::number(rawData.xmag));
ui->m_Myr->setText(QString::number(rawData.ymag));
ui->m_Mzr->setText(QString::number(rawData.zmag));
ui->m_Gxr->setText(QString::number(rawData.xgyro));
ui->m_Gyr->setText(QString::number(rawData.ygyro));
ui->m_Gzr->setText(QString::number(rawData.zgyro));
}
#ifdef MAVLINK_ENABLED_SLUGS
void SlugsDataSensorView::slugsRCRawChannels(int systemId, const mavlink_rc_channels_raw_t &gpsDateTime)
{
Q_UNUSED(systemId);
ui->tbRCThrottle->setText(QString::number(gpsDateTime.chan1_raw));
ui->tbRCAileron->setText(QString::number(gpsDateTime.chan2_raw));
ui->tbRCRudder->setText(QString::number(gpsDateTime.chan3_raw));
ui->tbRCElevator->setText(QString::number(gpsDateTime.chan4_raw));
}
void SlugsDataSensorView::slugsRCServo(int systemId, const mavlink_servo_output_raw_t &gpsDateTime)
{
Q_UNUSED(systemId);
ui->m_pwmThro->setText(QString::number(gpsDateTime.servo1_raw));
ui->m_pwmAile->setText(QString::number(gpsDateTime.servo2_raw));
ui->m_pwmRudd->setText(QString::number(gpsDateTime.servo3_raw));
ui->m_pwmElev->setText(QString::number(gpsDateTime.servo4_raw));
ui->m_pwmThroTrim->setText(QString::number(gpsDateTime.servo5_raw));
ui->m_pwmAileTrim->setText(QString::number(gpsDateTime.servo6_raw));
ui->m_pwmRuddTrim->setText(QString::number(gpsDateTime.servo7_raw));
ui->m_pwmElevTrim->setText(QString::number(gpsDateTime.servo8_raw));
}
#endif
void SlugsDataSensorView::setActiveUAS(UASInterface* uas)
{
activeUAS = uas;
addUAS(activeUAS);
}
#ifdef MAVLINK_ENABLED_SLUGS
void SlugsDataSensorView::slugsGlobalPositionChanged(UASInterface *uas,
double lat,
double lon,
double alt,
quint64 time)
{
Q_UNUSED(uas);
Q_UNUSED(time);
ui->m_GpsLatitude->setText(QString::number(lat));
ui->m_GpsLongitude->setText(QString::number(lon));
ui->m_GpsHeight->setText(QString::number(alt));
//qDebug()<<"GPS Position = "<<lat<<" - "<<lon<<" - "<<alt;
}
void SlugsDataSensorView::slugLocalPositionChanged(UASInterface* uas,
double x,
double y,
double z,
quint64 time)
{
Q_UNUSED(uas);
Q_UNUSED(time);
ui->ed_x->setText(QString::number(x));
ui->ed_y->setText(QString::number(y));
ui->ed_z->setText(QString::number(z));
}
void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface* uas,
double vx,
double vy,
double vz,
quint64 time)
{
Q_UNUSED( uas);
Q_UNUSED(time);
ui->ed_vx->setText(QString::number(vx));
ui->ed_vy->setText(QString::number(vy));
ui->ed_vz->setText(QString::number(vz));
//qDebug()<<"Speed Local Position = "<<vx<<" - "<<vy<<" - "<<vz;
}
void SlugsDataSensorView::slugAttitudeChanged(UASInterface* uas,
double slugroll,
double slugpitch,
double slugyaw,
quint64 time)
{
Q_UNUSED( uas);
Q_UNUSED(time);
ui->m_Roll->setText(QString::number(slugroll));
ui->m_Pitch->setText(QString::number(slugpitch));
ui->m_Yaw->setText(QString::number(slugyaw));
// qDebug()<<"Attitude change = "<<slugroll<<" - "<<slugpitch<<" - "<<slugyaw;
}
void SlugsDataSensorView::slugsSensorBiasChanged(int systemId,
const mavlink_sensor_bias_t& sensorBias)
{
Q_UNUSED( systemId);
ui->m_AxBiases->setText(QString::number(sensorBias.axBias));
ui->m_AyBiases->setText(QString::number(sensorBias.ayBias));
ui->m_AzBiases->setText(QString::number(sensorBias.azBias));
ui->m_GxBiases->setText(QString::number(sensorBias.gxBias));
ui->m_GyBiases->setText(QString::number(sensorBias.gyBias));
ui->m_GzBiases->setText(QString::number(sensorBias.gzBias));
}
void SlugsDataSensorView::slugsDiagnosticMessageChanged(int systemId,
const mavlink_diagnostic_t& diagnostic)
{
Q_UNUSED(systemId);
ui->m_Fl1->setText(QString::number(diagnostic.diagFl1));
ui->m_Fl2->setText(QString::number(diagnostic.diagFl2));
ui->m_Fl3->setText(QString::number(diagnostic.diagFl2));
ui->m_Sh1->setText(QString::number(diagnostic.diagSh1));
ui->m_Sh2->setText(QString::number(diagnostic.diagSh2));
ui->m_Sh3->setText(QString::number(diagnostic.diagSh3));
}
void SlugsDataSensorView::slugsCpuLoadChanged(int systemId,
const mavlink_cpu_load_t& cpuLoad)
{
Q_UNUSED(systemId);
ui->ed_sens->setText(QString::number(cpuLoad.sensLoad));
ui->ed_control->setText(QString::number(cpuLoad.ctrlLoad));
ui->ed_batvolt->setText(QString::number(cpuLoad.batVolt));
}
void SlugsDataSensorView::slugsNavegationChanged(int systemId,
const mavlink_slugs_navigation_t& slugsNavigation)
{
Q_UNUSED(systemId);
ui->m_Um->setText(QString::number(slugsNavigation.u_m));
ui->m_PhiC->setText(QString::number(slugsNavigation.phi_c));
ui->m_PitchC->setText(QString::number(slugsNavigation.theta_c));
ui->m_PsidC->setText(QString::number(slugsNavigation.psiDot_c));
ui->m_AyBody->setText(QString::number(slugsNavigation.ay_body));
ui->m_TotRun->setText(QString::number(slugsNavigation.totalDist));
ui->m_DistToGo->setText(QString::number(slugsNavigation.dist2Go));
ui->m_FromWP->setText(QString::number(slugsNavigation.fromWP));
ui->m_ToWP->setText(QString::number(slugsNavigation.toWP));
}
void SlugsDataSensorView::slugsDataLogChanged(int systemId,
const mavlink_data_log_t& dataLog)
{
Q_UNUSED(systemId);
ui->m_logFl1->setText(QString::number(dataLog.fl_1));
ui->m_logFl2->setText(QString::number(dataLog.fl_2));
ui->m_logFl3->setText(QString::number(dataLog.fl_3));
ui->m_logFl4->setText(QString::number(dataLog.fl_4));
ui->m_logFl5->setText(QString::number(dataLog.fl_5));
ui->m_logFl6->setText(QString::number(dataLog.fl_6));
}
//void SlugsDataSensorView::slugsPWMChanged(int systemId,
// const mavlink_servo_output_raw_t& pwmCommands){
// Q_UNUSED(systemId);
// ui->m_pwmThro->setText(QString::number(pwmCommands.servo1_raw));//.dt_c));
// ui->m_pwmAile->setText(QString::number(pwmCommands.servo2_raw));//dla_c));
// ui->m_pwmElev->setText(QString::number(pwmCommands.servo4_raw));//dle_c));
// ui->m_pwmRudd->setText(QString::number(pwmCommands.servo3_raw));//dr_c));
// ui->m_pwmThroTrim->setText(QString::number(pwmCommands.servo5_raw));//dre_c));
// ui->m_pwmAileTrim->setText(QString::number(pwmCommands.servo6_raw));//dlf_c));
// ui->m_pwmElevTrim->setText(QString::number(pwmCommands.servo8_raw));//drf_c));
// ui->m_pwmRuddTrim->setText(QString::number(pwmCommands.servo7_raw));//aux1));
//}
void SlugsDataSensorView::slugsFilteredDataChanged(int systemId,
const mavlink_scaled_imu_t& filteredData)
{
Q_UNUSED(systemId);
ui->m_Axf->setText(QString::number(filteredData.xacc/1000.0f));
ui->m_Ayf->setText(QString::number(filteredData.yacc/1000.0f));
ui->m_Azf->setText(QString::number(filteredData.zacc/1000.0f));
ui->m_Gxf->setText(QString::number(filteredData.xgyro/1000.0f));
ui->m_Gyf->setText(QString::number(filteredData.ygyro/1000.0f));
ui->m_Gzf->setText(QString::number(filteredData.zgyro/1000.0f));
ui->m_Mxf->setText(QString::number(filteredData.xmag/1000.0f));
ui->m_Myf->setText(QString::number(filteredData.ymag/1000.0f));
ui->m_Mzf->setText(QString::number(filteredData.zmag/1000.0f));
}
void SlugsDataSensorView::slugsGPSDateTimeChanged(int systemId,
const mavlink_gps_date_time_t& gpsDateTime)
{
Q_UNUSED(systemId);
QString month, day;
month = QString::number(gpsDateTime.month);
day = QString::number(gpsDateTime.day);
if(gpsDateTime.month < 10) month = "0" + QString::number(gpsDateTime.month);
if(gpsDateTime.day < 10) day = "0" + QString::number(gpsDateTime.day);
ui->m_GpsDate->setText(day + "/" +
month + "/" +
QString::number(gpsDateTime.year));
QString hour, min, sec;
hour = QString::number(gpsDateTime.hour);
min = QString::number(gpsDateTime.min);
sec = QString::number(gpsDateTime.sec);
if(gpsDateTime.hour < 10) hour = "0" + QString::number(gpsDateTime.hour);
if(gpsDateTime.min < 10) min = "0" + QString::number(gpsDateTime.min);
if(gpsDateTime.sec < 10) sec = "0" + QString::number(gpsDateTime.sec);
ui->m_GpsTime->setText(hour + ":" +
min + ":" +
sec);
ui->m_GpsSat->setText(QString::number(gpsDateTime.visSat));
}
/**
* @brief Updates the air data widget - 171
*/
void SlugsDataSensorView::slugsAirDataChanged(int systemId, const mavlink_air_data_t &airData)
{
Q_UNUSED(systemId);
ui->ed_dynamic->setText(QString::number(airData.dynamicPressure));
ui->ed_static->setText(QString::number(airData.staticPressure));
ui->ed_temp->setText(QString::number(airData.temperature));
}
/**
* @brief set COG and SOG values
*
* COG and SOG GPS display on the Widgets
*/
void SlugsDataSensorView::slugsGPSCogSog(int systemId, double cog, double sog)
{
Q_UNUSED(systemId);
ui->m_GpsCog->setText(QString::number(cog));
ui->m_GpsSog->setText(QString::number(sog));
}
#endif // MAVLINK_ENABLED_SLUGS

213
src/ui/SlugsDataSensorView.h
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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Grpahical presentation of SLUGS generated data
*
* @author Juan F. Robles <jfroblesc@gmail.com>
*
*/
#ifndef SLUGSDATASENSORVIEW_H
#define SLUGSDATASENSORVIEW_H
#include <QWidget>
#include "UASInterface.h"
#include "SlugsMAV.h"
#include "mavlink.h"
namespace Ui
{
class SlugsDataSensorView;
}
class SlugsDataSensorView : public QWidget
{
Q_OBJECT
public:
explicit SlugsDataSensorView(QWidget *parent = 0);
~SlugsDataSensorView();
public slots:
/**
* @brief Adds the UAS for data display
*
* Adds the UAS and makes all the correct connections for data display on the Widgets. If
* there is no current UAS active, it sets it as active.
* @param uas The UAS being added
*/
void addUAS(UASInterface* uas);
/**
* @brief Sets the UAS as active
*
* @param uas The UAS being set as active
*/
void setActiveUAS(UASInterface* uas);
/**
* @brief Updates the Raw Data widget
*/
void slugRawDataChanged (int uasId, const mavlink_raw_imu_t& rawData);
#ifdef MAVLINK_ENABLED_SLUGS
/**
* @brief Adds the UAS for data display
*
* Adds the UAS and makes all the correct connections for data display on the Widgets
*/
void slugLocalPositionChanged(UASInterface* uas,
double x,
double y,
double z,
quint64 time);
/**
* @brief Adds the UAS for data display
*
* Adds the UAS and makes all the correct connections for data display on the Widgets
*/
void slugSpeedLocalPositionChanged(UASInterface* uas,
double vx,
double vy,
double vz,
quint64 time);
/**
* @brief Adds the UAS for data display
*
* Adds the UAS and makes all the correct connections for data display on the Widgets
*/
void slugAttitudeChanged(UASInterface* uas,
double slugroll,
double slugpitch,
double slugyaw,
quint64 time);
/**
* @brief Adds the UAS for data display
*
* Adds the UAS and makes all the correct connections for data display on the Widgets
*/
void slugsGlobalPositionChanged(UASInterface* uas,
double lat,
double lon,
double alt,
quint64 time);
/**
* @brief set COG and SOG values
*
* COG and SOG GPS display on the Widgets
*/
void slugsGPSCogSog(int systemId,
double cog,
double sog);
/**
* @brief Updates the CPU load widget - 170
*/
void slugsCpuLoadChanged(int systemId,
const mavlink_cpu_load_t& cpuLoad);
/**
* @brief Updates the air data widget - 171
*/
void slugsAirDataChanged(int systemId,
const mavlink_air_data_t& airData);
/**
* @brief Updates the sensor bias widget - 172
*/
void slugsSensorBiasChanged(int systemId,
const mavlink_sensor_bias_t& sensorBias);
/**
* @brief Updates the diagnostic widget - 173
*/
void slugsDiagnosticMessageChanged(int systemId,
const mavlink_diagnostic_t& diagnostic);
/**
* @brief Updates the Navigation widget - 176
*/
void slugsNavegationChanged(int systemId,
const mavlink_slugs_navigation_t& slugsNavigation);
/**
* @brief Updates the Data Log widget - 177
*/
void slugsDataLogChanged(int systemId,
const mavlink_data_log_t& dataLog);
// /**
// * @brief Updates the PWM Commands widget - 175
// */
// void slugsPWMChanged(int systemId,
// const mavlink_servo_output_raw_t& pwmCommands);
/**
* @brief Updates the filtered sensor measurements widget - 178
*/
void slugsFilteredDataChanged(int systemId,
const mavlink_scaled_imu_t& filteredData);
/**
* @brief Updates the gps Date Time widget - 179
*/
void slugsGPSDateTimeChanged(int systemId,
const mavlink_gps_date_time_t& gpsDateTime);
void slugsRCRawChannels(int systemId,
const mavlink_rc_channels_raw_t& gpsDateTime);
void slugsRCServo(int systemId,
const mavlink_servo_output_raw_t& gpsDateTime);
#endif // MAVLINK_ENABLED_SLUGS
protected:
UASInterface* activeUAS;
private:
Ui::SlugsDataSensorView *ui;
};
#endif // SLUGSDATASENSORVIEW_H

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364
src/ui/SlugsHilSim.cc
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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Configuration Window for Slugs' HIL Simulator
* @author Mariano Lizarraga <malife@gmail.com>
* @author Alejandro Molina <am.alex09@gmail.com>
*/
#include "SlugsHilSim.h"
#include "ui_SlugsHilSim.h"
SlugsHilSim::SlugsHilSim(QWidget *parent) :
QWidget(parent),
ui(new Ui::SlugsHilSim)
{
ui->setupUi(this);
rxSocket = new QUdpSocket(this);
txSocket = new QUdpSocket(this);
hilLink = NULL;
connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addToCombo(LinkInterface*)));
connect(ui->cb_mavlinkLinks, SIGNAL(currentIndexChanged(int)), this, SLOT(linkSelected(int)));
connect(ui->bt_startHil, SIGNAL(clicked()), this, SLOT(putInHilMode()));
connect(rxSocket, SIGNAL(readyRead()), this, SLOT(readDatagram()));
linksAvailable.clear();
#ifdef MAVLINK_ENABLED_SLUGS
memset(&tmpAirData, 0, sizeof(mavlink_air_data_t));
memset(&tmpAttitudeData, 0, sizeof(mavlink_attitude_t));
memset(&tmpGpsData, 0, sizeof(mavlink_gps_raw_t));
memset(&tmpGpsTime, 0, sizeof(mavlink_gps_date_time_t));
memset(&tmpLocalPositionData, 0, sizeof(mavlink_sensor_bias_t));
memset(&tmpRawImuData, 0, sizeof(mavlink_raw_imu_t));
#endif
foreach (LinkInterface* link, LinkManager::instance()->getLinks()) {
addToCombo(link);
}
}
SlugsHilSim::~SlugsHilSim()
{
rxSocket->disconnectFromHost();
delete ui;
}
void SlugsHilSim::addToCombo(LinkInterface* theLink)
{
linksAvailable.insert(ui->cb_mavlinkLinks->count(),theLink);
ui->cb_mavlinkLinks->addItem(theLink->getName());
if (hilLink == NULL) {
hilLink = theLink;
}
}
void SlugsHilSim::putInHilMode(void)
{
bool sw_enableControls = !(ui->bt_startHil->isChecked());
QString buttonCaption= ui->bt_startHil->isChecked()? "Stop Slugs HIL Mode": "Set Slugs in HIL Mode";
if (ui->bt_startHil->isChecked()) {
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText("You are about to put SLUGS in HIL Mode.");
msgBox.setInformativeText("It will stop reading the actual sensor readings. Do you wish to continue?");
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
msgBox.setDefaultButton(QMessageBox::No);
if(msgBox.exec() == QMessageBox::Yes) {
rxSocket->disconnectFromHost();
rxSocket->bind(QHostAddress::Any, ui->ed_rxPort->text().toInt());
//txSocket->bind(QHostAddress::Broadcast, ui->ed_txPort->text().toInt());
ui->ed_ipAdress->setEnabled(sw_enableControls);
ui->ed_rxPort->setEnabled(sw_enableControls);
ui->ed_txPort->setEnabled(sw_enableControls);
ui->cb_mavlinkLinks->setEnabled(sw_enableControls);
ui->bt_startHil->setText(buttonCaption);
activeUas->startHil();
} else {
ui->bt_startHil->setChecked(false);
}
} else {
ui->ed_ipAdress->setEnabled(sw_enableControls);
ui->ed_rxPort->setEnabled(sw_enableControls);
ui->ed_txPort->setEnabled(sw_enableControls);
ui->cb_mavlinkLinks->setEnabled(sw_enableControls);
ui->bt_startHil->setText(buttonCaption);
rxSocket->disconnectFromHost();
activeUas->stopHil();
}
}
void SlugsHilSim::readDatagram(void)
{
static int count = 0;
while (rxSocket->hasPendingDatagrams()) {
QByteArray datagram;
datagram.resize(rxSocket->pendingDatagramSize());
QHostAddress sender;
quint16 senderPort;
rxSocket->readDatagram(datagram.data(), datagram.size(),
&sender, &senderPort);
if (datagram.size() == 113) {
processHilDatagram(&datagram);
sendMessageToSlugs();
commandDatagramToSimulink();
}
ui->ed_count->setText(QString::number(count++));
}
}
void SlugsHilSim::activeUasSet(UASInterface* uas)
{
if (uas != NULL) {
activeUas = static_cast <UAS *>(uas);
}
}
void SlugsHilSim::processHilDatagram(const QByteArray* datagram)
{
#ifdef MAVLINK_ENABLED_SLUGS
unsigned char i = 0;
tmpGpsTime.year = datagram->at(i++);
tmpGpsTime.month = datagram->at(i++);
tmpGpsTime.day = datagram->at(i++);
tmpGpsTime.hour = datagram->at(i++);
tmpGpsTime.min = datagram->at(i++);
tmpGpsTime.sec = datagram->at(i++);
tmpGpsData.lat = getFloatFromDatagram(datagram, &i);
tmpGpsData.lon = getFloatFromDatagram(datagram, &i);
tmpGpsData.alt = getFloatFromDatagram(datagram, &i);
tmpGpsData.hdg = getUint16FromDatagram(datagram, &i);
tmpGpsData.v = getUint16FromDatagram(datagram, &i);
tmpGpsData.eph = getUint16FromDatagram(datagram, &i);
tmpGpsData.fix_type = datagram->at(i++);
tmpGpsTime.visSat = datagram->at(i++);
i++;
tmpAirData.dynamicPressure= getFloatFromDatagram(datagram, &i);
tmpAirData.staticPressure= getFloatFromDatagram(datagram, &i);
tmpAirData.temperature= getUint16FromDatagram(datagram, &i);
// TODO Salto en el Datagrama
i=i+8;
tmpRawImuData.xgyro = getUint16FromDatagram(datagram, &i);
tmpRawImuData.ygyro = getUint16FromDatagram(datagram, &i);
tmpRawImuData.zgyro = getUint16FromDatagram(datagram, &i);
tmpRawImuData.xacc = getUint16FromDatagram(datagram, &i);
tmpRawImuData.yacc = getUint16FromDatagram(datagram, &i);
tmpRawImuData.zacc = getUint16FromDatagram(datagram, &i);
tmpRawImuData.xmag = getUint16FromDatagram(datagram, &i);
tmpRawImuData.ymag = getUint16FromDatagram(datagram, &i);
tmpRawImuData.zmag = getUint16FromDatagram(datagram, &i);
tmpAttitudeData.roll = getFloatFromDatagram(datagram, &i);
tmpAttitudeData.pitch = getFloatFromDatagram(datagram, &i);
tmpAttitudeData.yaw = getFloatFromDatagram(datagram, &i);
tmpAttitudeData.rollspeed = getFloatFromDatagram(datagram, &i);
tmpAttitudeData.pitchspeed = getFloatFromDatagram(datagram, &i);
tmpAttitudeData.yawspeed = getFloatFromDatagram(datagram, &i);
// TODO Crear Paquete SYNC TIME
i=i+2;
tmpLocalPositionData.x = getFloatFromDatagram(datagram, &i);
tmpLocalPositionData.y = getFloatFromDatagram(datagram, &i);
tmpLocalPositionData.z = getFloatFromDatagram(datagram, &i);
tmpLocalPositionData.vx = getFloatFromDatagram(datagram, &i);
tmpLocalPositionData.vy = getFloatFromDatagram(datagram, &i);
tmpLocalPositionData.vz = getFloatFromDatagram(datagram, &i);
// TODO: this is legacy of old HIL datagram. Need to remove from Simulink model
i++;
ui->ed_1->setText(QString::number(tmpRawImuData.xacc));
ui->ed_2->setText(QString::number(tmpRawImuData.yacc));
ui->ed_3->setText(QString::number(tmpRawImuData.zacc));
ui->tbA->setText(QString::number(tmpRawImuData.xgyro));
ui->tbB->setText(QString::number(tmpRawImuData.ygyro));
ui->tbC->setText(QString::number(tmpRawImuData.zgyro));
#else
Q_UNUSED(datagram);
#endif
}
float SlugsHilSim::getFloatFromDatagram (const QByteArray* datagram, unsigned char * i)
{
tFloatToChar tmpF2C;
tmpF2C.chData[0] = datagram->at((*i)++);
tmpF2C.chData[1] = datagram->at((*i)++);
tmpF2C.chData[2] = datagram->at((*i)++);
tmpF2C.chData[3] = datagram->at((*i)++);
return tmpF2C.flData;
}
uint16_t SlugsHilSim::getUint16FromDatagram (const QByteArray* datagram, unsigned char * i)
{
tUint16ToChar tmpU2C;
tmpU2C.chData[0] = datagram->at((*i)++);
tmpU2C.chData[1] = datagram->at((*i)++);
return tmpU2C.uiData;
}
void SlugsHilSim::linkSelected(int cbIndex)
{
#ifdef MAVLINK_ENABLED_SLUGS
// HIL code to go here...
//hilLink = linksAvailable
// FIXME Mariano
hilLink =linksAvailable.value(cbIndex);
#else
Q_UNUSED(cbIndex)
#endif
}
void SlugsHilSim::sendMessageToSlugs()
{
#ifdef MAVLINK_ENABLED_SLUGS
mavlink_message_t msg;
mavlink_msg_local_position_encode(MG::SYSTEM::ID,
MG::SYSTEM::COMPID,
&msg,
&tmpLocalPositionData);
activeUas->sendMessage(hilLink, msg);
memset(&msg, 0, sizeof(mavlink_message_t));
mavlink_msg_attitude_encode(MG::SYSTEM::ID,
MG::SYSTEM::COMPID,
&msg,
&tmpAttitudeData);
activeUas->sendMessage(hilLink, msg);
memset(&msg, 0, sizeof(mavlink_message_t));
mavlink_msg_raw_imu_encode(MG::SYSTEM::ID,
MG::SYSTEM::COMPID,
&msg,
&tmpRawImuData);
activeUas->sendMessage(hilLink, msg);
memset(&msg, 0, sizeof(mavlink_message_t));
mavlink_msg_air_data_encode(MG::SYSTEM::ID,
MG::SYSTEM::COMPID,
&msg,
&tmpAirData);
activeUas->sendMessage(hilLink, msg);
memset(&msg, 0, sizeof(mavlink_message_t));
mavlink_msg_gps_raw_encode(MG::SYSTEM::ID,
MG::SYSTEM::COMPID,
&msg,
&tmpGpsData);
activeUas->sendMessage(hilLink, msg);
memset(&msg, 0, sizeof(mavlink_message_t));
mavlink_msg_gps_date_time_encode(MG::SYSTEM::ID,
MG::SYSTEM::COMPID,
&msg,
&tmpGpsTime);
activeUas->sendMessage(hilLink, msg);
memset(&msg, 0, sizeof(mavlink_message_t));
#endif
}
void SlugsHilSim::commandDatagramToSimulink()
{
#ifdef MAVLINK_ENABLED_SLUGS
//mavlink_pwm_commands_t* pwdC = (static_cast<SlugsMAV*>(activeUas))->getPwmCommands();
//mavlink_pwm_commands_t* pwdC;
// if(pwdC != NULL){
// }
QByteArray data;
data.resize(22);
unsigned char i=0;
setUInt16ToDatagram(data, &i, 1);//pwdC->dt_c);
setUInt16ToDatagram(data, &i, 2);//pwdC->dla_c);
setUInt16ToDatagram(data, &i, 3);//pwdC->dra_c);
setUInt16ToDatagram(data, &i, 4);//pwdC->dr_c);
setUInt16ToDatagram(data, &i, 5);//pwdC->dle_c);
setUInt16ToDatagram(data, &i, 6);//pwdC->dre_c);
setUInt16ToDatagram(data, &i, 7);//pwdC->dlf_c);
setUInt16ToDatagram(data, &i, 8);//pwdC->drf_c);
setUInt16ToDatagram(data, &i, 9);//pwdC->aux1);
setUInt16ToDatagram(data, &i, 10);//pwdC->aux2);
setUInt16ToDatagram(data, &i, 11);//value default
txSocket->writeDatagram(data, QHostAddress::Broadcast, ui->ed_txPort->text().toInt());
#endif
}
void SlugsHilSim::setUInt16ToDatagram(QByteArray& datagram, unsigned char* pos, uint16_t value)
{
tUint16ToChar tmpUnion;
tmpUnion.uiData= value;
datagram[(*pos)++]= tmpUnion.chData[0];
datagram[(*pos)++]= tmpUnion.chData[1];
}

158
src/ui/SlugsHilSim.h
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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Definition of the configuration Window for Slugs' HIL Simulator
* @author Mariano Lizarraga <malife@gmail.com>
*/
#ifndef SLUGSHILSIM_H
#define SLUGSHILSIM_H
#include <stdint.h>
#include <QWidget>
#include <QHostAddress>
#include <QUdpSocket>
#include <QMessageBox>
#include <QByteArray>
#include "LinkInterface.h"
#include "UAS.h"
#include "LinkManager.h"
#include "SlugsMAV.h"
namespace Ui
{
class SlugsHilSim;
}
class SlugsHilSim : public QWidget
{
Q_OBJECT
public:
explicit SlugsHilSim(QWidget *parent = 0);
~SlugsHilSim();
protected:
LinkInterface* hilLink;
QHostAddress* simulinkIp;
QUdpSocket* txSocket;
QUdpSocket* rxSocket;
UAS* activeUas;
mavlink_local_position_ned_t tmpLocalPositionData;
mavlink_attitude_t tmpAttitudeData;
mavlink_raw_imu_t tmpRawImuData;
#ifdef MAVLINK_ENABLED_SLUGS
mavlink_air_data_t tmpAirData;
#endif
mavlink_gps_raw_int_t tmpGpsData;
#ifdef MAVLINK_ENABLED_SLUGS
mavlink_gps_date_time_t tmpGpsTime;
#endif
public slots:
/**
* @brief Adds a link to the combo box listing so the user can select a link
*
* Populates the Combo box that allows the user to select the link with which Slugs will
* receive the simulated sensor data from Simulink
*
* @param theLink the link that is being added to the combo box
*/
void addToCombo(LinkInterface* theLink);
/**
* @brief Puts Slugs in HIL Mode
*
* Sends the required messages through the main communication link to set Slugs in HIL Mode
*
*/
void putInHilMode(void);
/**
* @brief Receives a datagram from Simulink containing the sensor data.
*
* Receives a datagram from Simulink containing the simulated sensor data. This data is then
* forwarded to Slugs to use as input to the attitude estimation and navigation algorithms.
*
*/
void readDatagram(void);
/**
* @brief Called when the a new UAS is set to active.
*
* Called when the a new UAS is set to active.
*
* @param uas The new active UAS
*/
void activeUasSet(UASInterface* uas);
/**
* @brief Called when the Link combobox selects a new link.
*
* @param uas The new index of the selected link
*/
void linkSelected (int cbIndex);
public slots:
private:
typedef union _tFloatToChar {
unsigned char chData[4];
float flData;
} tFloatToChar;
typedef union _tUint16ToChar {
unsigned char chData[2];
uint16_t uiData;
} tUint16ToChar;
Ui::SlugsHilSim *ui;
QHash <int, LinkInterface*> linksAvailable;
void processHilDatagram (const QByteArray* datagram);
float getFloatFromDatagram (const QByteArray* datagram, unsigned char * i);
uint16_t getUint16FromDatagram (const QByteArray* datagram, unsigned char * i);
void setUInt16ToDatagram(QByteArray& datagram, unsigned char* pos, uint16_t value);
void sendMessageToSlugs();
void commandDatagramToSimulink();
};
#endif // SLUGSHILSIM_H

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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>SlugsHilSim</class>
<widget class="QWidget" name="SlugsHilSim">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>337</width>
<height>278</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>320</width>
<height>252</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>450</width>
<height>278</height>
</size>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
</font>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QLabel" name="label_2">
<property name="font">
<font>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>IP Address</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="ed_ipAdress">
<property name="minimumSize">
<size>
<width>60</width>
<height>18</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>18</height>
</size>
</property>
</widget>
</item>
<item row="1" column="0" colspan="2">
<widget class="Line" name="line">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label">
<property name="font">
<font>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>Receive Port</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLineEdit" name="ed_rxPort">
<property name="minimumSize">
<size>
<width>60</width>
<height>18</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>18</height>
</size>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_3">
<property name="font">
<font>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>Send Port</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="ed_txPort">
<property name="minimumSize">
<size>
<width>60</width>
<height>18</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>18</height>
</size>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QLabel" name="label_4">
<property name="font">
<font>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="layoutDirection">
<enum>Qt::RightToLeft</enum>
</property>
<property name="text">
<string>Slugs HIL Link</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QComboBox" name="cb_mavlinkLinks">
<property name="minimumSize">
<size>
<width>171</width>
<height>26</height>
</size>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="bt_startHil">
<property name="text">
<string>Set Slugs in HIL Mode</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QLabel" name="label_7">
<property name="font">
<font>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>Count</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="ed_count">
<property name="minimumSize">
<size>
<width>60</width>
<height>18</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>18</height>
</size>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<widget class="QLineEdit" name="ed_1">
<property name="minimumSize">
<size>
<width>60</width>
<height>18</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>18</height>
</size>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="ed_2">
<property name="minimumSize">
<size>
<width>60</width>
<height>18</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>18</height>
</size>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="ed_3">
<property name="minimumSize">
<size>
<width>60</width>
<height>18</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>80</width>
<height>18</height>
</size>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_6">
<item>
<widget class="QLineEdit" name="tbA"/>
</item>
<item>
<widget class="QLineEdit" name="tbB"/>
</item>
<item>
<widget class="QLineEdit" name="tbC"/>
</item>
</layout>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>

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#include "SlugsPadCameraControl.h"
#include "ui_SlugsPadCameraControl.h"
SlugsPadCameraControl::SlugsPadCameraControl(QWidget *parent) :
QWidget(parent),
ui(new Ui::SlugsPadCameraControl),
dragging(0)
{
ui->setupUi(this);
x1= 0;
y1 = 0;
motion = NONE;
}
SlugsPadCameraControl::~SlugsPadCameraControl()
{
delete ui;
}
void SlugsPadCameraControl::activeUasSet(UASInterface *uas)
{
if(uas) {
this->activeUAS= uas;
}
}
void SlugsPadCameraControl::mouseMoveEvent(QMouseEvent *event)
{
Q_UNUSED(event);
if(dragging) {
getDeltaPositionPad(event->x(), event->y());
}
}
void SlugsPadCameraControl::mousePressEvent(QMouseEvent *event)
{
if(!dragging) {
dragging = true;
x1 = event->x();
y1 = event->y();
}
}
void SlugsPadCameraControl::mouseReleaseEvent(QMouseEvent *event)
{
if(dragging) {
dragging = false;
getDeltaPositionPad(event->x(), event->y());
xFin = event->x();
yFin = event->y();
}
}
void SlugsPadCameraControl::getDeltaPositionPad(int x2, int y2)
{
QPointF localMeasures = ObtenerMarcacionDistanciaPixel(y1,x1,y2,x2);
if(localMeasures.y()>10) {
QString dir = "nd";
double bearing = localMeasures.x();
bearing = bearing +90;
if(bearing>= 360) {
bearing = bearing - 360;
}
if(bearing >337.5 || bearing <=22.5) {
motion= UP;
movePad = QPoint(0, 1);
dir = "UP";
} else if(bearing >22.5 && bearing <=67.5) {
motion= RIGHT_UP;
movePad = QPoint(1, 1);
dir = "RIGHT UP";
} else if(bearing >67.5 && bearing <=112.5) {
motion= RIGHT;
movePad = QPoint(1, 0);
dir = "RIGHT";
} else if(bearing >112.5 && bearing <= 157.5) {
motion= RIGHT_DOWN;
movePad = QPoint(1, -1);
dir = "RIGHT DOWN";
} else if(bearing >157.5 && bearing <=202.5) {
motion= DOWN;
movePad = QPoint(0, -1);
dir = "DOWN";
} else if(bearing >202.5 && bearing <=247.5) {
motion= LEFT_DOWN;
movePad = QPoint(-1, -1);
dir = "LEFT DOWN";
} else if(bearing >247.5 && bearing <=292.5) {
motion= LEFT;
movePad = QPoint(-1, 0);
dir = "LEFT";
} else if(bearing >292.5 && bearing <=337.5) {
motion= LEFT_UP;
movePad = QPoint(-1, 1);
dir = "LEFT UP";
}
emit changeMotionCamera(motion);
ui->lbPixel->setText(QString::number(localMeasures.y()));
ui->lbDirection->setText(dir);
//qDebug()<<dir;
update();
}
}
QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, double lat1,
double lon2, double lat2)
{
double cateto_opuesto,cateto_adyacente, hipotenusa;//, distancia;
double marcacion = 0.0;
//latitude and longitude first point
if(lat1<0) lat1= lat1*(-1);
if(lat2<0) lat2= lat2*(-1);
if(lon1<0) lon1= lon1*(-1);
if(lon2<0) lon1= lon1*(-1);
cateto_opuesto = abs((lat1-lat2));
cateto_adyacente = abs((lon1-lon2));
hipotenusa = sqrt(pow(cateto_opuesto,2) + pow(cateto_adyacente,2));
//distancia = hipotenusa*60.0;
if ((lat1 < lat2) && (lon1 > lon2)) //primer cuadrante
marcacion = 360 -((asin(cateto_adyacente/hipotenusa))/ 0.017453292);
else if ((lat1 < lat2) && (lon1 < lon2)) //segundo cuadrante
marcacion = (asin(cateto_adyacente/hipotenusa))/ 0.017453292;
else if((lat1 > lat2) && (lon1 < lon2)) //tercer cuadrante
marcacion = 180 -((asin(cateto_adyacente/hipotenusa))/ 0.017453292);
else if((lat1 > lat2) && (lon1 > lon2)) //cuarto cuadrante
marcacion = 180 +((asin(cateto_adyacente/hipotenusa))/ 0.017453292);
else if((lat1 < lat2) && (lon1 == lon2)) //360
marcacion = 360;
else if((lat1 == lat2) && (lon1 > lon2)) //270
marcacion = 270;
else if((lat1 > lat2) && (lon1 == lon2)) //180
marcacion = 180;
else if((lat1 == lat2) && (lon1 < lon2)) //90
marcacion =90;
else if((lat1 == lat2) && (lon1 == lon2)) //0
marcacion = 0.0;
return QPointF(marcacion,hipotenusa);// distancia);
}
void SlugsPadCameraControl::keyPressEvent(QKeyEvent *event)
{
switch (event->key()) {
case Qt::Key_Left:
emit changeMotionCamera(LEFT);
break;
case Qt::Key_Right:
emit changeMotionCamera(RIGHT);
break;
case Qt::Key_Down:
emit changeMotionCamera(DOWN);
break;
case Qt::Key_Up:
emit changeMotionCamera(UP);
break;
default:
QWidget::keyPressEvent(event);
}
}

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src/ui/SlugsPadCameraControl.h
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#ifndef SLUGSPADCAMERACONTROL_H
#define SLUGSPADCAMERACONTROL_H
#include <QWidget>
#include <QGraphicsView>
#include <QMouseEvent>
#include <QKeyEvent>
#include <QDebug>
#include <qmath.h>
#include <QPainter>
#include "UASManager.h"
namespace Ui
{
class SlugsPadCameraControl;
}
class SlugsPadCameraControl : public QWidget //QGraphicsView//
{
Q_OBJECT
public:
explicit SlugsPadCameraControl(QWidget *parent = 0);
~SlugsPadCameraControl();
enum MotionCamera {
UP,
DOWN,
LEFT,
RIGHT,
RIGHT_UP,
RIGHT_DOWN,
LEFT_UP,
LEFT_DOWN,
NONE
};
public slots:
void getDeltaPositionPad(int x, int y);
QPointF ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2);
void activeUasSet(UASInterface *uas);
signals:
void changeMotionCamera(MotionCamera);
protected:
void mousePressEvent(QMouseEvent* event);
void mouseReleaseEvent(QMouseEvent* event);
void mouseMoveEvent(QMouseEvent* event);
void keyPressEvent(QKeyEvent *event);
//void paintEvent(QPaintEvent *pe);
private:
Ui::SlugsPadCameraControl *ui;
bool dragging;
int x1;
int y1;
int xFin;
int yFin;
QString directionPad;
MotionCamera motion;
UASInterface* activeUAS;
QPoint movePad;
};
#endif // SLUGSPADCAMERACONTROL_H

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src/ui/SlugsPadCameraControl.ui
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>SlugsPadCameraControl</class>
<widget class="QWidget" name="SlugsPadCameraControl">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>200</width>
<height>200</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(255, 170, 0);</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="margin">
<number>1</number>
</property>
<property name="spacing">
<number>1</number>
</property>
<item row="0" column="0">
<widget class="QFrame" name="frame">
<property name="minimumSize">
<size>
<width>200</width>
<height>200</height>
</size>
</property>
<property name="mouseTracking">
<bool>true</bool>
</property>
<property name="styleSheet">
<string notr="true">background-color: rgb(135, 206, 235);</string>
</property>
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>156</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="lbPixel">
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>----</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lbDirection">
<property name="text">
<string>----</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>

95
src/ui/SlugsVideoCamControl.cpp
Unescape View File

@ -1,95 +0,0 @@
#include "SlugsVideoCamControl.h"
#include "ui_SlugsVideoCamControl.h"
#include <QGraphicsScene>
#include <QGraphicsTextItem>
#include <QTextStream>
#include <QScrollBar>
#include <QMouseEvent>
#include <QWheelEvent>
#include <QDebug>
#include <qmath.h>
#include <QPainter>
#include <QGridLayout>
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QPushButton>
#include "SlugsPadCameraControl.h"
SlugsVideoCamControl::SlugsVideoCamControl(QWidget *parent) :
QWidget(parent),
ui(new Ui::SlugsVideoCamControl)
{
ui->setupUi(this);
// x1= 0;
// y1 = 0;
connect(ui->viewCamBordeatMap_checkBox,SIGNAL(clicked(bool)),this,SLOT(changeViewCamBorderAtMapStatus(bool)));
padCamera = new SlugsPadCameraControl(this);
ui->gridLayout->addWidget(padCamera);
//connect(padCamera,SIGNAL(mouseMoveCoord(int,int)),this,SLOT(mousePadMoveEvent(int,int)));
//connect(padCamera,SIGNAL(mousePressCoord(int,int)),this,SLOT(mousePadPressEvent(int,int)));
//connect(padCamera,SIGNAL(mouseReleaseCoord(int,int)),this,SLOT(mousePadReleaseEvent(int,int)));
//connect(padCamera,SIGNAL(changeCursorPosition(double,double,QString)),this,SLOT(getDeltaPositionPad(double,double,QString)));
}
SlugsVideoCamControl::~SlugsVideoCamControl()
{
delete ui;
}
//void SlugsVideoCamControl::mouseMoveEvent(QMouseEvent *event)
//{
// Q_UNUSED(event);
//}
//void SlugsVideoCamControl::mousePressEvent(QMouseEvent *evnt)
//{
// Q_UNUSED(evnt);
//}
//void SlugsVideoCamControl::mouseReleaseEvent(QMouseEvent *evnt)
//{
// Q_UNUSED(evnt);
//}
//void SlugsVideoCamControl::mousePadMoveEvent(int x, int y)
//{
//}
//void SlugsVideoCamControl::mousePadPressEvent(int x, int y)
//{
//}
//void SlugsVideoCamControl::mousePadReleaseEvent(int x, int y)
//{
//}
void SlugsVideoCamControl::changeViewCamBorderAtMapStatus(bool status)
{
emit viewCamBorderAtMap(status);
}
void SlugsVideoCamControl::getDeltaPositionPad(double bearing, double distance, QString dirText)
{
ui->label_dir->setText(dirText);
ui->label_x->setText("Distancia= " + QString::number(distance));
ui->label_y->setText("Bearing= " + QString::number(bearing));
//emit changeCamPosition(20, bearing, dirText);
}

75
src/ui/uas/UASControlParameters.cpp
Unescape View File

@ -4,18 +4,6 @@
#define CONTROL_MODE_LOCKED "MODE LOCKED" #define CONTROL_MODE_LOCKED "MODE LOCKED"
#define CONTROL_MODE_MANUAL "MODE MANUAL" #define CONTROL_MODE_MANUAL "MODE MANUAL"
#ifdef MAVLINK_ENABLED_SLUGS
#define CONTROL_MODE_GUIDED "MODE MID-L CMDS"
#define CONTROL_MODE_AUTO "MODE WAYPOINT"
#define CONTROL_MODE_TEST1 "MODE PASST"
#define CONTROL_MODE_TEST2 "MODE SEL PT"
#else
#define CONTROL_MODE_GUIDED "MODE GUIDED"
#define CONTROL_MODE_AUTO "MODE AUTO"
#define CONTROL_MODE_TEST1 "MODE TEST1"
#define CONTROL_MODE_TEST2 "MODE TEST2"
#endif
#define CONTROL_MODE_READY "MODE TEST3" #define CONTROL_MODE_READY "MODE TEST3"
#define CONTROL_MODE_RC_TRAINING "RC SIMULATION" #define CONTROL_MODE_RC_TRAINING "RC SIMULATION"
@ -61,21 +49,6 @@ void UASControlParameters::changedMode(int mode)
case (uint8_t)MAV_MODE_MANUAL_DISARMED: case (uint8_t)MAV_MODE_MANUAL_DISARMED:
modeTemp = "D/MANUAL MODE"; modeTemp = "D/MANUAL MODE";
break; break;
#ifdef MAVLINK_ENABLED_SLUGS
case (uint8_t)MAV_MODE_AUTO:
modeTemp = "WAYPOINT MODE";
break;
case (uint8_t)MAV_MODE_GUIDED:
modeTemp = "MID-L CMDS MODE";
break;
case (uint8_t)MAV_MODE_TEST1:
modeTemp = "PASST MODE";
break;
case (uint8_t)MAV_MODE_TEST2:
modeTemp = "SEL PT MODE";
break;
#endif
default: default:
modeTemp = "UNKNOWN MODE"; modeTemp = "UNKNOWN MODE";
break; break;
@ -131,20 +104,6 @@ void UASControlParameters::updateAttitude(UASInterface *uas, double roll, double
void UASControlParameters::setCommands() void UASControlParameters::setCommands()
{ {
#ifdef MAVLINK_ENABLED_SLUGS
if(this->activeUAS) {
UAS* myUas= static_cast<UAS*>(this->activeUAS);
mavlink_message_t msg;
tempCmds.uCommand = ui->sbAirSpeed->value();
tempCmds.hCommand = ui->sbHeight->value();
tempCmds.rCommand = ui->sbTurnRate->value();
mavlink_msg_mid_lvl_cmds_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &this->tempCmds);
myUas->sendMessage(msg);
}
#endif
} }
void UASControlParameters::getCommands() void UASControlParameters::getCommands()
@ -156,40 +115,6 @@ void UASControlParameters::getCommands()
void UASControlParameters::setPassthrough() void UASControlParameters::setPassthrough()
{ {
#ifdef MAVLINK_ENABLED_SLUGS
if(this->activeUAS) {
UAS* myUas= static_cast<UAS*>(this->activeUAS);
mavlink_message_t msg;
int8_t tmpBit=0;
if(ui->cxdle_c->isChecked()) { //left elevator command
tmpBit+=8;
}
if(ui->cxdr_c->isChecked()) { //rudder command
tmpBit+=16;
}
if(ui->cxdla_c->isChecked()) { //left aileron command
tmpBit+=64;
}
if(ui->cxdt_c->isChecked()) { //throttle command
tmpBit+=128;
}
generic_16bit r;
r.b[1] = 0;
r.b[0] = tmpBit;//255;
tempCtrl.target= this->activeUAS->getUASID();
tempCtrl.bitfieldPt= (uint16_t)r.s;
mavlink_msg_ctrl_srfc_pt_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &this->tempCtrl);
myUas->sendMessage(msg);
//qDebug()<<tempCtrl.bitfieldPt;
}
#endif
} }
void UASControlParameters::updateMode(int uas,QString mode,QString description) void UASControlParameters::updateMode(int uas,QString mode,QString description)

5
src/ui/uas/UASControlParameters.h
Unescape View File

@ -3,7 +3,6 @@
#include <QWidget> #include <QWidget>
#include "UASManager.h" #include "UASManager.h"
#include "SlugsMAV.h"
#include <QTimer> #include <QTimer>
#include <QTabWidget> #include <QTabWidget>
@ -45,10 +44,6 @@ private:
QString REDcolorStyle; QString REDcolorStyle;
QPointer<RadioCalibrationData> radio; QPointer<RadioCalibrationData> radio;
LinkInterface* hilLink; LinkInterface* hilLink;
#ifdef MAVLINK_ENABLED_SLUGS
mavlink_mid_lvl_cmds_t tempCmds;
mavlink_ctrl_srfc_pt_t tempCtrl;
#endif
}; };
#endif // UASCONTROLPARAMETERS_H #endif // UASCONTROLPARAMETERS_H

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