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@ -75,12 +75,12 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(), |
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pitch(0.0), |
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pitch(0.0), |
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yaw(0.0), |
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yaw(0.0), |
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statusTimeout(new QTimer(this)), |
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statusTimeout(new QTimer(this)), |
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#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES) |
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#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES) |
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receivedPointCloudTimestamp(0.0), |
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receivedPointCloudTimestamp(0.0), |
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receivedRGBDImageTimestamp(0.0), |
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receivedRGBDImageTimestamp(0.0), |
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receivedObstacleListTimestamp(0.0), |
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receivedObstacleListTimestamp(0.0), |
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receivedPathTimestamp(0.0), |
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receivedPathTimestamp(0.0), |
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#endif |
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#endif |
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paramsOnceRequested(false), |
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paramsOnceRequested(false), |
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airframe(QGC_AIRFRAME_EASYSTAR), |
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airframe(QGC_AIRFRAME_EASYSTAR), |
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attitudeKnown(false), |
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attitudeKnown(false), |
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@ -274,6 +274,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) |
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{ |
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{ |
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case MAVLINK_MSG_ID_HEARTBEAT: |
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case MAVLINK_MSG_ID_HEARTBEAT: |
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{ |
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{ |
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if (multiComponentSourceDetected && wrongComponent) |
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{ |
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break; |
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} |
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lastHeartbeat = QGC::groundTimeUsecs(); |
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lastHeartbeat = QGC::groundTimeUsecs(); |
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emit heartbeat(this); |
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emit heartbeat(this); |
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mavlink_heartbeat_t state; |
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mavlink_heartbeat_t state; |
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@ -381,22 +385,22 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) |
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GAudioOutput::instance()->say(audiostring.toLower()); |
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GAudioOutput::instance()->say(audiostring.toLower()); |
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} |
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} |
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// if (state.system_status == MAV_STATE_POWEROFF)
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// if (state.system_status == MAV_STATE_POWEROFF)
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// {
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// {
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// emit systemRemoved(this);
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// emit systemRemoved(this);
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// emit systemRemoved();
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// emit systemRemoved();
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// }
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// }
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} |
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} |
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break; |
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break; |
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// case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
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// case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
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// case MAVLINK_MSG_ID_NAMED_VALUE_INT:
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// case MAVLINK_MSG_ID_NAMED_VALUE_INT:
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// // Receive named value message
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// // Receive named value message
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// receiveMessageNamedValue(message);
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// receiveMessageNamedValue(message);
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// break;
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// break;
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case MAVLINK_MSG_ID_SYS_STATUS: |
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case MAVLINK_MSG_ID_SYS_STATUS: |
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{ |
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{ |
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if (multiComponentSourceDetected && message.compid != MAV_COMP_ID_IMU_2) |
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if (multiComponentSourceDetected && wrongComponent) |
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{ |
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{ |
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break; |
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break; |
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} |
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} |
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@ -445,22 +449,22 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) |
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pitch = QGC::limitAngleToPMPIf(attitude.pitch); |
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pitch = QGC::limitAngleToPMPIf(attitude.pitch); |
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yaw = QGC::limitAngleToPMPIf(attitude.yaw); |
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yaw = QGC::limitAngleToPMPIf(attitude.yaw); |
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// // Emit in angles
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// // Emit in angles
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// // Convert yaw angle to compass value
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// // Convert yaw angle to compass value
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// // in 0 - 360 deg range
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// // in 0 - 360 deg range
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// float compass = (yaw/M_PI)*180.0+360.0f;
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// float compass = (yaw/M_PI)*180.0+360.0f;
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// if (compass > -10000 && compass < 10000)
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// if (compass > -10000 && compass < 10000)
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// {
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// {
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// while (compass > 360.0f) {
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// while (compass > 360.0f) {
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// compass -= 360.0f;
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// compass -= 360.0f;
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// }
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// }
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// }
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// }
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// else
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// else
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// {
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// {
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// // Set to 0, since it is an invalid value
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// // Set to 0, since it is an invalid value
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// compass = 0.0f;
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// compass = 0.0f;
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// }
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// }
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attitudeKnown = true; |
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attitudeKnown = true; |
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emit attitudeChanged(this, roll, pitch, yaw, time); |
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emit attitudeChanged(this, roll, pitch, yaw, time); |
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@ -890,63 +894,63 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message) |
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} |
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} |
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break; |
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break; |
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#endif |
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#endif |
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// case MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT:
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// case MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT:
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// {
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// {
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// mavlink_object_detection_event_t event;
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// mavlink_object_detection_event_t event;
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// mavlink_msg_object_detection_event_decode(&message, &event);
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// mavlink_msg_object_detection_event_decode(&message, &event);
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// QString str(event.name);
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// QString str(event.name);
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// emit objectDetected(event.time, event.object_id, event.type, str, event.quality, event.bearing, event.distance);
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// emit objectDetected(event.time, event.object_id, event.type, str, event.quality, event.bearing, event.distance);
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// }
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// }
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// break;
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// break;
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// WILL BE ENABLED ONCE MESSAGE IS IN COMMON MESSAGE SET
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// WILL BE ENABLED ONCE MESSAGE IS IN COMMON MESSAGE SET
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// case MAVLINK_MSG_ID_MEMORY_VECT:
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// case MAVLINK_MSG_ID_MEMORY_VECT:
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// {
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// {
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// mavlink_memory_vect_t vect;
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// mavlink_memory_vect_t vect;
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// mavlink_msg_memory_vect_decode(&message, &vect);
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// mavlink_msg_memory_vect_decode(&message, &vect);
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// QString str("mem_%1");
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// QString str("mem_%1");
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// quint64 time = getUnixTime(0);
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// quint64 time = getUnixTime(0);
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// int16_t *mem0 = (int16_t *)&vect.value[0];
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// int16_t *mem0 = (int16_t *)&vect.value[0];
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// uint16_t *mem1 = (uint16_t *)&vect.value[0];
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// uint16_t *mem1 = (uint16_t *)&vect.value[0];
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// int32_t *mem2 = (int32_t *)&vect.value[0];
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// int32_t *mem2 = (int32_t *)&vect.value[0];
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// // uint32_t *mem3 = (uint32_t *)&vect.value[0]; causes overload problem
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// // uint32_t *mem3 = (uint32_t *)&vect.value[0]; causes overload problem
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// float *mem4 = (float *)&vect.value[0];
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// float *mem4 = (float *)&vect.value[0];
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// if ( vect.ver == 0) vect.type = 0, vect.ver = 1; else ;
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// if ( vect.ver == 0) vect.type = 0, vect.ver = 1; else ;
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// if ( vect.ver == 1)
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// if ( vect.ver == 1)
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// {
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// {
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// switch (vect.type) {
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// switch (vect.type) {
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// default:
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// default:
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// case 0:
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// case 0:
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// for (int i = 0; i < 16; i++)
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// for (int i = 0; i < 16; i++)
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// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "i16", mem0[i], time);
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// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "i16", mem0[i], time);
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// break;
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// break;
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// case 1:
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// case 1:
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// for (int i = 0; i < 16; i++)
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// for (int i = 0; i < 16; i++)
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// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "ui16", mem1[i], time);
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// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "ui16", mem1[i], time);
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// break;
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// break;
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// case 2:
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// case 2:
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// for (int i = 0; i < 16; i++)
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// for (int i = 0; i < 16; i++)
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// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "Q15", (float)mem0[i]/32767.0, time);
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// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "Q15", (float)mem0[i]/32767.0, time);
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// break;
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// break;
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// case 3:
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// case 3:
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// for (int i = 0; i < 16; i++)
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// for (int i = 0; i < 16; i++)
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// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "1Q14", (float)mem0[i]/16383.0, time);
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// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "1Q14", (float)mem0[i]/16383.0, time);
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// break;
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// break;
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// case 4:
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// case 4:
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// for (int i = 0; i < 8; i++)
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// for (int i = 0; i < 8; i++)
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// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time);
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// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time);
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// break;
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// break;
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// case 5:
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// case 5:
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// for (int i = 0; i < 8; i++)
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// for (int i = 0; i < 8; i++)
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// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time);
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// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time);
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// break;
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// break;
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// case 6:
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// case 6:
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// for (int i = 0; i < 8; i++)
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// for (int i = 0; i < 8; i++)
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// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "float", mem4[i], time);
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// // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "float", mem4[i], time);
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// break;
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// break;
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// }
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// }
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// }
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// }
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// }
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// }
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// break;
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// break;
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#ifdef MAVLINK_ENABLED_UALBERTA |
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#ifdef MAVLINK_ENABLED_UALBERTA |
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case MAVLINK_MSG_ID_NAV_FILTER_BIAS: |
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case MAVLINK_MSG_ID_NAV_FILTER_BIAS: |
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{ |
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{ |
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@ -1127,10 +1131,6 @@ void UAS::setHomePosition(double lat, double lon, double alt) |
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mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_CMD_DO_SET_HOME, 1, 0, 0, 0, 0, lat, lon, alt); |
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mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_CMD_DO_SET_HOME, 1, 0, 0, 0, 0, lat, lon, alt); |
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// Send message twice to increase chance that it reaches its goal
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// Send message twice to increase chance that it reaches its goal
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sendMessage(msg); |
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sendMessage(msg); |
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// Wait 15 ms
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QGC::SLEEP::usleep(15000); |
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// Send again
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sendMessage(msg); |
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// Send new home position to UAS
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// Send new home position to UAS
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mavlink_set_gps_global_origin_t home; |
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mavlink_set_gps_global_origin_t home; |
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@ -1164,10 +1164,6 @@ void UAS::setLocalOriginAtCurrentGPSPosition() |
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mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_CMD_DO_SET_HOME, 1, 1, 0, 0, 0, 0, 0, 0); |
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mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_CMD_DO_SET_HOME, 1, 1, 0, 0, 0, 0, 0, 0); |
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// Send message twice to increase chance that it reaches its goal
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// Send message twice to increase chance that it reaches its goal
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sendMessage(msg); |
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sendMessage(msg); |
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// Wait 15 ms
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QGC::SLEEP::usleep(15000); |
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// Send again
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sendMessage(msg); |
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} |
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} |
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} |
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} |
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@ -1614,7 +1610,7 @@ quint64 UAS::getUptime() const |
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} |
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} |
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else |
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else |
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{ |
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{ |
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return MG::TIME::getGroundTimeNow() - startTime; |
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return QGC::groundTimeMilliseconds() - startTime; |
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} |
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} |
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} |
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} |
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@ -1626,7 +1622,7 @@ int UAS::getCommunicationStatus() const |
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void UAS::requestParameters() |
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void UAS::requestParameters() |
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{ |
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{ |
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mavlink_message_t msg; |
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mavlink_message_t msg; |
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mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 25); |
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mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_ALL); |
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sendMessage(msg); |
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sendMessage(msg); |
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} |
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} |
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@ -2088,7 +2084,7 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double |
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sendMessage(message); |
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sendMessage(message); |
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qDebug() << __FILE__ << __LINE__ << ": SENT MANUAL CONTROL MESSAGE: roll" << manualRollAngle << " pitch: " << manualPitchAngle << " yaw: " << manualYawAngle << " thrust: " << manualThrust; |
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qDebug() << __FILE__ << __LINE__ << ": SENT MANUAL CONTROL MESSAGE: roll" << manualRollAngle << " pitch: " << manualPitchAngle << " yaw: " << manualYawAngle << " thrust: " << manualThrust; |
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emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, MG::TIME::getGroundTimeNow()); |
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emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, QGC::groundTimeMilliseconds()); |
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} |
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} |
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else |
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else |
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{ |
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{ |
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@ -2168,30 +2164,30 @@ bool UAS::emergencyKILL() |
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{ |
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{ |
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halt(); |
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halt(); |
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// FIXME MAVLINKV10PORTINGNEEDED
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// FIXME MAVLINKV10PORTINGNEEDED
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// bool result = false;
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// bool result = false;
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// QMessageBox msgBox;
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// QMessageBox msgBox;
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// msgBox.setIcon(QMessageBox::Critical);
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// msgBox.setIcon(QMessageBox::Critical);
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// msgBox.setText("EMERGENCY: KILL ALL MOTORS ON UAS");
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// msgBox.setText("EMERGENCY: KILL ALL MOTORS ON UAS");
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// msgBox.setInformativeText("Do you want to cut power on all systems?");
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// msgBox.setInformativeText("Do you want to cut power on all systems?");
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// msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
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// msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
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// msgBox.setDefaultButton(QMessageBox::Cancel);
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// msgBox.setDefaultButton(QMessageBox::Cancel);
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// int ret = msgBox.exec();
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// int ret = msgBox.exec();
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// // Close the message box shortly after the click to prevent accidental clicks
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// // Close the message box shortly after the click to prevent accidental clicks
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// QTimer::singleShot(5000, &msgBox, SLOT(reject()));
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// QTimer::singleShot(5000, &msgBox, SLOT(reject()));
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// if (ret == QMessageBox::Yes)
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// if (ret == QMessageBox::Yes)
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// {
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// {
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// mavlink_message_t msg;
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// mavlink_message_t msg;
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// // TODO Replace MG System ID with static function call and allow to change ID in GUI
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// // TODO Replace MG System ID with static function call and allow to change ID in GUI
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// mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_EMCY_KILL);
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// mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_EMCY_KILL);
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// // Send message twice to increase chance of reception
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// // Send message twice to increase chance of reception
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// sendMessage(msg);
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// sendMessage(msg);
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// sendMessage(msg);
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// sendMessage(msg);
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// result = true;
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// result = true;
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// }
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// }
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// return result;
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// return result;
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return false; |
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return false; |
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} |
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} |
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@ -2322,19 +2318,19 @@ QString UAS::getShortModeTextFor(int id) |
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} |
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} |
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if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED) |
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if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED) |
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{ |
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{ |
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mode += "GUIDED"; |
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mode += "|GUID"; |
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} |
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} |
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if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE) |
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if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE) |
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{ |
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{ |
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mode += "STABILIZED"; |
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mode += "|STAB"; |
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} |
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} |
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if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_TEST) |
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if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_TEST) |
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{ |
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{ |
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mode += "TEST"; |
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mode += "|TEST"; |
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} |
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} |
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if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL) |
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if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL) |
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{ |
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{ |
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mode += "MANUAL"; |
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mode += "|MAN"; |
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} |
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} |
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if (modeid == 0) |
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if (modeid == 0) |
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@ -2345,11 +2341,11 @@ QString UAS::getShortModeTextFor(int id) |
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// ARMED STATE DECODING
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// ARMED STATE DECODING
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if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_SAFETY) |
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if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_SAFETY) |
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{ |
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{ |
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mode.prepend("A|"); |
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mode.prepend("A/"); |
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} |
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} |
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else |
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else |
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{ |
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{ |
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mode.prepend("D|"); |
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mode.prepend("D/"); |
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} |
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} |
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// HARDWARE IN THE LOOP DECODING
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// HARDWARE IN THE LOOP DECODING
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@ -2480,7 +2476,7 @@ QString UAS::getBatterySpecs() |
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int UAS::calculateTimeRemaining() |
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int UAS::calculateTimeRemaining() |
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{ |
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{ |
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quint64 dt = MG::TIME::getGroundTimeNow() - startTime; |
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quint64 dt = QGC::groundTimeMilliseconds() - startTime; |
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double seconds = dt / 1000.0f; |
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double seconds = dt / 1000.0f; |
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double voltDifference = startVoltage - currentVoltage; |
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double voltDifference = startVoltage - currentVoltage; |
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if (voltDifference <= 0) voltDifference = 0.00000000001f; |
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if (voltDifference <= 0) voltDifference = 0.00000000001f; |
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LM
13 years ago