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Minor improvements and fixes, added a few new MAVLink packets

QGC4.4
pixhawk 15 years ago
parent
a374e26517
commit
a2a740ddb1
6 changed files with 52 additions and 17 deletions
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  1. 9
      src/Core.cc
  2. 2
      src/GAudioOutput.cc
  3. 2
      src/comm/MAVLinkSimulationLink.cc
  4. 40
      src/uas/UAS.cc
  5. 12
      src/ui/HDDisplay.cc
  6. 4
      src/ui/HDDisplay.h

9
src/Core.cc
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@ -23,7 +23,7 @@ This file is part of the PIXHAWK project
/** /**
* @file * @file
* @brief Implementation of main class * @brief Implementation of class Core
* *
* @author Lorenz Meier <mavteam@student.ethz.ch> * @author Lorenz Meier <mavteam@student.ethz.ch>
* *
@ -115,7 +115,7 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
QMessageBox msgBox; QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical); msgBox.setIcon(QMessageBox::Critical);
msgBox.setText("Could not connect UDP port. Is already an instance of " + qAppName() + " running?"); msgBox.setText("Could not connect UDP port. Is already an instance of " + qAppName() + " running?");
msgBox.setInformativeText("You will not be able to receive data via UDP. Do you want to close the application?"); msgBox.setInformativeText("You will not be able to receive data via UDP. Please check that you're running the right executable and then re-start " + qAppName() + ". Do you want to close the application?");
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel); msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
msgBox.setDefaultButton(QMessageBox::Cancel); msgBox.setDefaultButton(QMessageBox::Cancel);
int ret = msgBox.exec(); int ret = msgBox.exec();
@ -126,9 +126,8 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
// Exit application // Exit application
if (ret == QMessageBox::Yes) if (ret == QMessageBox::Yes)
{ {
qDebug() << "EXITING"; //mainWindow->close();
mainWindow->close(); QTimer::singleShot(200, mainWindow, SLOT(close()));
this->exit(EXIT_SUCCESS);
} }
} }

2
src/GAudioOutput.cc
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@ -104,6 +104,8 @@ emergency(false)
bool GAudioOutput::say(QString text, int severity) bool GAudioOutput::say(QString text, int severity)
{ {
// TODO Add severity filter
Q_UNUSED(severity);
bool res = false; bool res = false;
if (!emergency) if (!emergency)
{ {

2
src/comm/MAVLinkSimulationLink.cc
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@ -321,7 +321,7 @@ void MAVLinkSimulationLink::mainloop()
streampointer += bufferlength; streampointer += bufferlength;
// IMU // IMU
rawImuValues.msec = time; rawImuValues.usec = time;
rawImuValues.xmag = 0; rawImuValues.xmag = 0;
rawImuValues.ymag = 0; rawImuValues.ymag = 0;
rawImuValues.zmag = 0; rawImuValues.zmag = 0;

40
src/uas/UAS.cc
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@ -258,7 +258,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{ {
mavlink_raw_imu_t raw; mavlink_raw_imu_t raw;
mavlink_msg_raw_imu_decode(&message, &raw); mavlink_msg_raw_imu_decode(&message, &raw);
quint64 time = getUnixTime(raw.msec); quint64 time = getUnixTime(raw.usec);
emit valueChanged(uasId, "Accel. X", raw.xacc, time); emit valueChanged(uasId, "Accel. X", raw.xacc, time);
emit valueChanged(uasId, "Accel. Y", raw.yacc, time); emit valueChanged(uasId, "Accel. Y", raw.yacc, time);
@ -330,12 +330,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
positionLock = true; positionLock = true;
} }
break; break;
case MAVLINK_MSG_ID_POSITION: case MAVLINK_MSG_ID_LOCAL_POSITION:
//std::cerr << std::endl; //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; //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;
{ {
mavlink_position_t pos; mavlink_local_position_t pos;
mavlink_msg_position_decode(&message, &pos); mavlink_msg_local_position_decode(&message, &pos);
quint64 time = getUnixTime(pos.usec); quint64 time = getUnixTime(pos.usec);
emit valueChanged(uasId, "x", pos.x, time); emit valueChanged(uasId, "x", pos.x, time);
emit valueChanged(uasId, "y", pos.y, time); emit valueChanged(uasId, "y", pos.y, time);
@ -346,6 +346,38 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit localPositionChanged(this, pos.x, pos.y, pos.z, time); emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
} }
break; break;
case MAVLINK_MSG_ID_GLOBAL_POSITION:
//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;
{
mavlink_global_position_t pos;
mavlink_msg_global_position_decode(&message, &pos);
quint64 time = getUnixTime(pos.usec);
emit valueChanged(uasId, "lat", pos.lat, time);
emit valueChanged(uasId, "lon", pos.lon, time);
emit valueChanged(uasId, "alt", pos.alt, time);
emit valueChanged(uasId, "g-vx", pos.vx, time);
emit valueChanged(uasId, "g-vy", pos.vy, time);
emit valueChanged(uasId, "g-vz", pos.vz, time);
emit globalPositionChanged(this, pos.lon, pos.lat, pos.alt, time);
}
break;
case MAVLINK_MSG_ID_GPS_RAW:
//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;
{
mavlink_gps_raw_t pos;
mavlink_msg_gps_raw_decode(&message, &pos);
quint64 time = getUnixTime(pos.usec);
emit valueChanged(uasId, "lat", pos.lat, time);
emit valueChanged(uasId, "lon", pos.lon, time);
emit valueChanged(uasId, "alt", pos.alt, time);
emit valueChanged(uasId, "g-vx", pos.vx, time);
emit valueChanged(uasId, "g-vy", pos.vy, time);
emit valueChanged(uasId, "g-vz", pos.vz, time);
emit globalPositionChanged(this, pos.lon, pos.lat, pos.alt, time);
}
break;
case MAVLINK_MSG_ID_PARAM_VALUE: case MAVLINK_MSG_ID_PARAM_VALUE:
{ {
mavlink_param_value_t value; mavlink_param_value_t value;

12
src/ui/HDDisplay.cc
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@ -316,7 +316,8 @@ void HDDisplay::drawGauge(float xRef, float yRef, float radius, float min, float
circlePen.setColor(color); circlePen.setColor(color);
painter->setBrush(Qt::NoBrush); painter->setBrush(Qt::NoBrush);
painter->setPen(circlePen); painter->setPen(circlePen);
drawCircle(xRef, yRef+nameHeight, radius, 0.0f, 170.0f, 1.0f, color, painter); drawCircle(xRef, yRef+nameHeight, radius, 0.0f, color, painter);
//drawCircle(xRef, yRef+nameHeight, radius, 0.0f, 170.0f, 1.0f, color, painter);
QString label; QString label;
label.sprintf("%05.1f", value); label.sprintf("%05.1f", value);
@ -466,7 +467,8 @@ void HDDisplay::drawChangeIndicatorGauge(float xRef, float yRef, float radius, f
circlePen.setColor(defaultColor); circlePen.setColor(defaultColor);
painter->setBrush(Qt::NoBrush); painter->setBrush(Qt::NoBrush);
painter->setPen(circlePen); painter->setPen(circlePen);
drawCircle(xRef, yRef, radius, 200.0f, 170.0f, 1.0f, color, painter); drawCircle(xRef, yRef, radius, 200.0f, color, painter);
//drawCircle(xRef, yRef, radius, 200.0f, 170.0f, 1.0f, color, painter);
QString label; QString label;
label.sprintf("%05.1f", value); label.sprintf("%05.1f", value);
@ -582,7 +584,7 @@ void HDDisplay::drawLine(float refX1, float refY1, float refX2, float refY2, flo
painter->drawLine(QPoint(refToScreenX(refX1), refToScreenY(refY1)), QPoint(refToScreenX(refX2), refToScreenY(refY2))); painter->drawLine(QPoint(refToScreenX(refX1), refToScreenY(refY1)), QPoint(refToScreenX(refX2), refToScreenY(refY2)));
} }
void HDDisplay::drawEllipse(float refX, float refY, float radiusX, float radiusY, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter) void HDDisplay::drawEllipse(float refX, float refY, float radiusX, float radiusY, float lineWidth, const QColor& color, QPainter* painter)
{ {
QPen pen(painter->pen().style()); QPen pen(painter->pen().style());
pen.setWidth(refLineWidthToPen(lineWidth)); pen.setWidth(refLineWidthToPen(lineWidth));
@ -591,9 +593,9 @@ void HDDisplay::drawEllipse(float refX, float refY, float radiusX, float radiusY
painter->drawEllipse(QPointF(refToScreenX(refX), refToScreenY(refY)), refToScreenX(radiusX), refToScreenY(radiusY)); painter->drawEllipse(QPointF(refToScreenX(refX), refToScreenY(refY)), refToScreenX(radiusX), refToScreenY(radiusY));
} }
void HDDisplay::drawCircle(float refX, float refY, float radius, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter) void HDDisplay::drawCircle(float refX, float refY, float radius, float lineWidth, const QColor& color, QPainter* painter)
{ {
drawEllipse(refX, refY, radius, radius, startDeg, endDeg, lineWidth, color, painter); drawEllipse(refX, refY, radius, radius, lineWidth, color, painter);
} }
void HDDisplay::changeEvent(QEvent *e) void HDDisplay::changeEvent(QEvent *e)

4
src/ui/HDDisplay.h
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@ -73,8 +73,8 @@ protected:
void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin); void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin);
void drawPolygon(QPolygonF refPolygon, QPainter* painter); void drawPolygon(QPolygonF refPolygon, QPainter* painter);
void drawLine(float refX1, float refY1, float refX2, float refY2, float width, const QColor& color, QPainter* painter); void drawLine(float refX1, float refY1, float refX2, float refY2, float width, const QColor& color, QPainter* painter);
void drawEllipse(float refX, float refY, float radiusX, float radiusY, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter); void drawEllipse(float refX, float refY, float radiusX, float radiusY, float lineWidth, const QColor& color, QPainter* painter);
void drawCircle(float refX, float refY, float radius, float startDeg, float endDeg, float lineWidth, const QColor& color, QPainter* painter); void drawCircle(float refX, float refY, float radius, float lineWidth, const QColor& color, QPainter* painter);
void drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter); void drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter);
void drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid=true); void drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid=true);

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