Cleaned up compile environment

src/comm/MAVLinkXMLParser.cc

@@ -73,6 +73,8 @@ bool MAVLinkXMLParser::generate()
     QList< QPair<QString, QString> > cFiles;
     QString lcmStructDefs = "";
 
+    QString pureFileName;
+
     // Run through root children
     while(!n.isNull())
     {
@@ -103,6 +105,7 @@ bool MAVLinkXMLParser::generate()
                             {
                                 QFileInfo rInfo(this->fileName);
                                 fileName = rInfo.absoluteDir().canonicalPath() + "/" + fileName;
+                                pureFileName = rInfo.baseName().split(".").first();
                             }
 
                             QFile file(fileName);
@@ -365,6 +368,7 @@ bool MAVLinkXMLParser::generate()
     // Mark all code as C code
     mainHeader += "#ifdef __cplusplus\nextern \"C\" {\n#endif\n\n";
     mainHeader += "\n#include \"protocol.h\"\n";
+    mainHeader += "\n#define MAVLINK_ENABLED_" + pureFileName.toUpper() + "\n\n";
     QString includeLine = "#include \"%1\"\n";
     QString mainHeaderName = "mavlink.h";
     QString messagesDirName = "generated";

src/uas/PxQuadMAV.cc

@@ -22,10 +22,36 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
     //qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid;
 
+// Only compile this portion if matching MAVLink packets have been compiled
+#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
 
-    // Handle your special messages
-    switch (msg->msgid)
+    if (message.sysid == uasId)
     {
+        QString uasState;
+        QString stateDescription;
+        QString patternPath;
+        switch (message.msgid)
+        {
+        case MAVLINK_MSG_ID_RAW_AUX:
+            {
+                mavlink_raw_aux_t raw;
+                mavlink_msg_raw_aux_decode(&message, &raw);
+                quint64 time = getUnixTime(0);
+                emit valueChanged(uasId, "Pressure", raw.baro, time);
+                emit valueChanged(uasId, "Temperature", raw.temp, time);
+            }
+            break;
+        case MAVLINK_MSG_ID_PATTERN_DETECTED:
+            {
+                QByteArray b;
+                b.resize(256);
+                mavlink_msg_pattern_detected_get_file(&message, (int8_t*)b.data());
+                b.append('\0');
+                QString path = QString(b);
+                bool detected (mavlink_msg_pattern_detected_get_detected(&message) == 1 ? true : false );
+                emit detectionReceived(uasId, path, 0, 0, 0, 0, 0, 0, 0, 0, mavlink_msg_pattern_detected_get_confidence(&message), detected);
+            }
+            break;
     case MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT:
             {
                 mavlink_watchdog_heartbeat_t payload;
@@ -105,8 +131,12 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
         }
     }
 
+#endif
+}
+
 void PxQuadMAV::sendProcessCommand(int watchdogId, int processId, unsigned int command)
 {
+#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
     mavlink_watchdog_command_t payload;
     payload.target_system_id = uasId;
     payload.watchdog_id = watchdogId;
@@ -116,4 +146,5 @@ void PxQuadMAV::sendProcessCommand(int watchdogId, int processId, unsigned int c
     mavlink_message_t msg;
     mavlink_msg_watchdog_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &payload);
     sendMessage(msg);
+#endif
 }

src/uas/UAS.cc

@@ -266,15 +266,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "Mag. Z", raw.zmag, time);
             }
             break;
-        case MAVLINK_MSG_ID_RAW_AUX:
-            {
-                mavlink_raw_aux_t raw;
-                mavlink_msg_raw_aux_decode(&message, &raw);
-                quint64 time = getUnixTime(0);
-                emit valueChanged(uasId, "Pressure", raw.baro, time);
-                emit valueChanged(uasId, "Temperature", raw.temp, time);
-            }
-            break;
         case MAVLINK_MSG_ID_ATTITUDE:
             //std::cerr << std::endl;
             //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
@@ -349,7 +340,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 //qDebug() << "GOT GPS STATUS FOR "<< pos.satellites_visible << "SATELLITES";
                 for(int i = 0; i < (int)pos.satellites_visible; i++)
                 {
-                    emit gpsSatelliteStatusChanged(uasId, i, pos.satellite_azimuth[i], pos.satellite_direction[i], pos.satellite_snr[i], static_cast<bool>(pos.satellite_used[i]));
+                    emit gpsSatelliteStatusChanged(uasId, i, pos.satellite_elevation[i], pos.satellite_azimuth[i], pos.satellite_snr[i], static_cast<bool>(pos.satellite_used[i]));
                 }
             }
             break;
@@ -390,17 +381,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit textMessageReceived(uasId, severity, text);
             }
             break;
-        case MAVLINK_MSG_ID_PATTERN_DETECTED:
-            {
-                QByteArray b;
-                b.resize(256);
-                mavlink_msg_pattern_detected_get_file(&message, (int8_t*)b.data());
-                b.append('\0');
-                QString path = QString(b);
-                bool detected (mavlink_msg_pattern_detected_get_detected(&message) == 1 ? true : false );
-                emit detectionReceived(uasId, path, 0, 0, 0, 0, 0, 0, 0, 0, mavlink_msg_pattern_detected_get_confidence(&message), detected);
-            }
-            break;
         default:
             {
                 if (!unknownPackets.contains(message.msgid))

src/ui/HSIDisplay.cc

@@ -146,7 +146,7 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
     //}
 }
 
-void HSIDisplay::updateSatellite(int uasid, int satid, float azimuth, float direction, float snr, bool used)
+void HSIDisplay::updateSatellite(int uasid, int satid, float elevation, float azimuth, float snr, bool used)
 {
     Q_UNUSED(uasid);
     //qDebug() << "UPDATED SATELLITE";
@@ -159,12 +159,12 @@ void HSIDisplay::updateSatellite(int uasid, int satid, float azimuth, float dire
 
     if (gpsSatellites.at(satid) == NULL)
     {
-        gpsSatellites.insert(satid, new GPSSatellite(satid, azimuth, direction, snr, used));
+        gpsSatellites.insert(satid, new GPSSatellite(satid, elevation, azimuth, snr, used));
     }
     else
     {
         // Satellite exists, update it
-        gpsSatellites.at(satid)->update(satid, azimuth, direction, snr, used);
+        gpsSatellites.at(satid)->update(satid, elevation, azimuth, snr, used);
     }
 }
 
@@ -230,8 +230,8 @@ void HSIDisplay::drawGPS()
             painter.setPen(color);
             painter.setBrush(brush);
 
-            float xPos = xCenter + sin(sat->direction/180.0f * M_PI) * (sat->azimuth/180.0f * M_PI) * radius;
-            float yPos = yCenter + cos(sat->direction/180.0f * M_PI) * (sat->azimuth/180.0f * M_PI) * radius;
+            float xPos = xCenter + sin(((sat->azimuth/255.0f)*360.0f)/180.0f * M_PI) * (sat->elevation/180.0f * M_PI) * radius;
+            float yPos = yCenter + cos(((sat->azimuth/255.0f)*360.0f)/180.0f * M_PI) * (sat->elevation/180.0f * M_PI) * radius;
 
             drawCircle(xPos, yPos, vwidth*0.02f, 1.0f, color, &painter);
         }

src/ui/HSIDisplay.h

@@ -68,28 +68,28 @@ protected:
     class GPSSatellite
     {
     public:
-        GPSSatellite(int id, float azimuth, float direction, float snr, bool used) :
+        GPSSatellite(int id, float elevation, float azimuth, float snr, bool used) :
                 id(id),
+                elevation(elevation),
                 azimuth(azimuth),
-                direction(direction),
                 snr(snr),
                 used(used)
         {
 
         }
 
-        void update(int id, float azimuth, float direction, float snr, bool used)
+        void update(int id, float elevation, float azimuth, float snr, bool used)
         {
             this->id = id;
+            this->elevation = elevation;
             this->azimuth = azimuth;
-            this->direction = direction;
             this->snr = snr;
             this->used = used;
         }
 
         int id;
+        float elevation;
         float azimuth;
-        float direction;
         float snr;
         bool used;