add widget to SlugsDataSensorView.ui

src/comm/UDPLink.cc

@@ -36,7 +36,7 @@ This file is part of the QGROUNDCONTROL project
 #include "UDPLink.h"
 #include "LinkManager.h"
 #include "MG.h"
-#include <netinet/in.h>
+//#include <netinet/in.h>
 
 UDPLink::UDPLink(QHostAddress host, quint16 port)
 {

src/uas/SlugsMAV.cc

@@ -1,26 +1,3 @@
-/*=====================================================================
-
-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/>.
-
-======================================================================*/
-
 #include "SlugsMAV.h"
 
 #include <QDebug>
@@ -29,8 +6,6 @@ SlugsMAV::SlugsMAV(MAVLinkProtocol* mavlink, int id) :
         UAS(mavlink, id)//,
         // Place other initializers here
 {
-
-
 }
 
 /**
@@ -55,7 +30,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             break;
         }
 
-#ifdef MAVLINK_ENABLED_SLUGS
+#ifdef MAVLINK_ENABLED_SLUGS_MESSAGES_QGC
 
     case MAVLINK_MSG_ID_CPU_LOAD:
         {
@@ -67,7 +42,11 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, tr("ControlDSC Load"), cpu_load.ctrlLoad, time);
                 emit valueChanged(uasId, tr("Battery Volt"), cpu_load.batVolt, time);
 
-                emit newCpuLoad (uasId, &cpu_load);
+                emit slugsCPULoad(uasId,
+                                  cpu_load.sensLoad,
+                                  cpu_load.ctrlLoad,
+                                  cpu_load.batVolt,
+                                  time);
 
             break;
         }
@@ -80,6 +59,12 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, tr("Static Pressure"),air_data.staticPressure, time);
                 emit valueChanged(uasId, tr("Temp"),air_data.temperature,time);
 
+                emit slugsAirData(uasId,
+                                  air_data.dynamicPressure,
+                                  air_data.staticPressure,
+                                  air_data.temperature,
+                                  time);
+
             break;
         }
     case MAVLINK_MSG_ID_SENSOR_BIAS:
@@ -94,6 +79,16 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId,tr("Gy Bias"),sensor_bias.gyBias,time);
                 emit valueChanged(uasId,tr("Gz Bias"),sensor_bias.gzBias,time);
 
+                emit slugsSensorBias(uasId,
+                                     sensor_bias.axBias,
+                                     sensor_bias.ayBias,
+                                     sensor_bias.azBias,
+                                     sensor_bias.gxBias,
+                                     sensor_bias.gyBias,
+                                     sensor_bias.gzBias,
+                                     time);
+
+
             break;
         }
     case MAVLINK_MSG_ID_DIAGNOSTIC:
@@ -108,6 +103,14 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId,tr("Diag S2"),diagnostic.diagSh2,time);
                 emit valueChanged(uasId,tr("Diag S3"),diagnostic.diagSh3,time);
 
+                emit slugsDiagnostic(uasId,
+                                     diagnostic.diagFl1,
+                                     diagnostic.diagFl2,
+                                     diagnostic.diagFl3,
+                                     diagnostic.diagSh1,
+                                     diagnostic.diagSh2,
+                                     diagnostic.diagSh3);
+
             break;
         }
     case MAVLINK_MSG_ID_PILOT_CONSOLE:
@@ -121,6 +124,15 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId,"dr",pilot.dr,time);
                 emit valueChanged(uasId,"de",pilot.de,time);
 
+                emit slugsPilotConsolePWM(uasId,
+                                          pilot.dt,
+                                          pilot.dla,
+                                          pilot.dra,
+                                          pilot.dr,
+                                          pilot.de,
+                                          time);
+
+
             break;
         }
     case MAVLINK_MSG_ID_PWM_COMMANDS:
@@ -139,6 +151,19 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId,"da1_c",pwm.aux1,time);
                 emit valueChanged(uasId,"da2_c",pwm.aux2,time);
 
+                emit slugsPWM(uasId,
+                              pwm.dt_c,
+                              pwm.dla_c,
+                              pwm.dra_c,
+                              pwm.dr_c,
+                              pwm.dle_c,
+                              pwm.dre_c,
+                              pwm.dlf_c,
+                              pwm.drf_c,
+                              pwm.aux1,
+                              pwm.aux2,
+                              time);
+
 
             break;
         }

src/uas/UASInterface.h

@@ -383,6 +383,62 @@ signals:
      * @param fix 0: No IR/Ultrasound sensor, N > 0: Found N active sensors
      */
     void irUltraSoundLocalizationChanged(UASInterface* uas, int fix);
+
+
+    // ESPECIAL SLUGS MESSAGE
+    void slugsCPULoad(UASInterface* uas,
+                      uint8_t sensLoad,
+                      uint8_t ctrlLoad,
+                      uint8_t batVolt,
+                      quint64 time);
+
+    void slugsAirData(UASInterface* uas,
+                      float dinamicPressure,
+                      float staticPresure,
+                      uint16_t temperature,
+                      quint64 time);
+
+    void slugsSensorBias(UASInterface* uas,
+                         double axBias,
+                         double ayBias,
+                         double azBias,
+                         double gxBias,
+                         double gyBias,
+                         double gzBias,
+                         quint64 time);
+
+    void slugsDiagnostic(UASInterface* uas,
+                         double diagFl1,
+                         double diagFl2,
+                         double diagFl3,
+                         int16_t diagSh1,
+                         int16_t diagSh2,
+                         int16_t diagSh3,
+                         quint64 time);
+
+    void slugsPilotConsolePWM(UASInterface* uas,
+                              uint16_t dt,
+                              uint16_t dla,
+                              uint16_t dra,
+                              uint16_t dr,
+                              uint16_t de,
+                              quint64 time);
+
+    void slugsPWM(UASInterface* uas,
+                  uint16_t dt_c,
+                  uint16_t dla_c,
+                  uint16_t dra_c,
+                  uint16_t dr_c,
+                  uint16_t dle_c,
+                  uint16_t dre_c,
+                  uint16_t dlf_c,
+                  uint16_t drf_c,
+                  uint16_t da1_c,
+                  uint16_t da2_c,
+                  quint64 time);
+
+
+
 };
 
 Q_DECLARE_INTERFACE(UASInterface, "org.qgroundcontrol/1.0");

src/ui/MainWindow.cc

@@ -181,6 +181,7 @@ void MainWindow::buildWidgets()
     slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
     slugsDataWidget->setWidget( new SlugsDataSensorView(this));
 
+
 }
 
 /**
@@ -540,7 +541,17 @@ void MainWindow::UASCreated(UASInterface* uas)
         PxQuadMAV* mav = dynamic_cast<PxQuadMAV*>(uas);
         if (mav) loadPixhawkView();
         SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
-        if (mav2) loadSlugsView();
+        if (mav2)
+        {
+            SlugsDataSensorView* slugDataView = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
+            if(slugDataView)
+            {
+                slugDataView->addUAS(uas);
+            }
+            loadSlugsView();
+        }
+
+
 
     }
 }

src/ui/SlugsDataSensorView.cc

@@ -47,12 +47,11 @@ void SlugsDataSensorView::loadParameters()
     Axb = 0;
     Ayb = 0;
     Azb = 0;
-    TimeActualAcel = 0;
     //Gyro
     Gxb = 0;
     Gyb = 0;
     Gzb = 0;
-    TimeActualGyro = 0;
+    TimeActualBias = 0;
 
 }
 
@@ -68,7 +67,7 @@ void SlugsDataSensorView::addUAS(UASInterface* uas)
         connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugLocalPositionChange(UASInterface*,double,double,double,quint64)));
         connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugSpeedLocalPositionChanged(UASInterface*,double,double,double,quint64)));
         connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugAttitudeChanged(UASInterface*,double,double,double,quint64)));
-        connect(uas, SIGNAL(sensorBiasAcelerometerChanged(UASInterface*,double,double,double,quint64)), this, SLOT(slugsSensorBiasAcelerometerChanged(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(slugsSensorBias(UASInterface*,double,double,double,double,double,double,quint64)), this, SLOT(slugsSensorBiasAcelerometerChanged(UASInterface*,double,double,double,quint64)));
 
         // Set this UAS as active if it is the first one
         if(activeUAS == 0)
@@ -81,35 +80,48 @@ void SlugsDataSensorView::addUAS(UASInterface* uas)
 void SlugsDataSensorView::setActiveUAS(UASInterface* uas)
 {
     activeUAS = uas;
+
+
 }
 
 
 void SlugsDataSensorView::refresh()
 {
+    if(activeUAS)
+    {
 
-    //refresh UI position data
-    ui->ed_x->setPlainText(QString::number(Xpos, 'f', 4));
-    ui->ed_y->setPlainText(QString::number(Ypos, 'f', 4));
-    ui->ed_z->setPlainText(QString::number(Zpos, 'f', 4));
-
-    //refresh UI speed position data
-    ui->ed_vx->setPlainText(QString::number(VXpos,'f',4));
-    ui->ed_vy->setPlainText(QString::number(VYpos,'f',4));
-    ui->ed_vz->setPlainText(QString::number(VZpos,'f',4));
-
-    //refresh UI attitude data
-    ui->m_SlugAttitudeRoll_plainTextEdit->setPlainText(QString::number(roll,'f',4));
-    ui->m_SlugAttitudePitch_plainTextEdit->setPlainText(QString::number(pitch,'f',4));
-    ui->m_SlugAttitudeYaw_plainTextEdit->setPlainText(QString::number(yaw,'f',4));
+            //refresh UI position data
+            ui->ed_x->setPlainText(QString::number(Xpos, 'f', 4));
+            ui->ed_y->setPlainText(QString::number(Ypos, 'f', 4));
+            ui->ed_z->setPlainText(QString::number(Zpos, 'f', 4));
+
+            //refresh UI speed position data
+            ui->ed_vx->setPlainText(QString::number(VXpos,'f',4));
+            ui->ed_vy->setPlainText(QString::number(VYpos,'f',4));
+            ui->ed_vz->setPlainText(QString::number(VZpos,'f',4));
+
+            //refresh UI attitude data
+            ui->m_SlugAttitudeRoll_plainTextEdit->setPlainText(QString::number(roll,'f',4));
+            ui->m_SlugAttitudePitch_plainTextEdit->setPlainText(QString::number(pitch,'f',4));
+            ui->m_SlugAttitudeYaw_plainTextEdit->setPlainText(QString::number(yaw,'f',4));
+
+            //refresh UI sensor bias acelerometer data
+            ui->m_SlugsAxBiases_textEdit->setText(QString::number(Axb, 'f', 4));
+            ui->m_SlugsAyBiases_textEdit->setText(QString::number(Ayb, 'f', 4));
+            ui->m_SlugsAzBiases_textEdit->setText(QString::number(Azb, 'f', 4));
+            ui->m_SlugsGxBiases_textEdit->setText(QString::number(Gxb, 'f', 4));
+            ui->m_SlugsGyBiases_textEdit->setText(QString::number(Gyb, 'f', 4));
+            ui->m_SlugsGzBiases_textEdit->setText(QString::number(Gzb, 'f', 4));
 
-    //refresh UI sensor bias acelerometer data
-    ui->m_SlugsAxBiases_textEdit->setText(QString::number(Axb, 'f', 4));
-    ui->m_SlugsAyBiases_textEdit->setText(QString::number(Ayb, 'f', 4));
-    ui->m_SlugsAzBiases_textEdit->setText(QString::number(Azb, 'f', 4));
+    }
 
 }
 
-void SlugsDataSensorView::slugLocalPositionChanged(UASInterface * uasTemp, double x, double y, double z, quint64 time)
+void SlugsDataSensorView::slugLocalPositionChanged(UASInterface * uasTemp,
+                                                   double x,
+                                                   double y,
+                                                   double z,
+                                                   quint64 time)
 {
     Q_UNUSED( uasTemp);
 
@@ -120,7 +132,11 @@ void SlugsDataSensorView::slugLocalPositionChanged(UASInterface * uasTemp, doubl
 
 }
 
-void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface *uasTemp, double vx, double vy, double vz, quint64 time)
+void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface *uasTemp,
+                                                        double vx,
+                                                        double vy,
+                                                        double vz,
+                                                        quint64 time)
 {
     Q_UNUSED( uasTemp);
 
@@ -130,7 +146,11 @@ void SlugsDataSensorView::slugSpeedLocalPositionChanged(UASInterface *uasTemp, d
     TimeActualSpeed = time;
 }
 
-void SlugsDataSensorView::slugAttitudeChanged(UASInterface *uasTemp, double slugroll, double slugpitch, double slugyaw, quint64 time)
+void SlugsDataSensorView::slugAttitudeChanged(UASInterface *uasTemp,
+                                              double slugroll,
+                                              double slugpitch,
+                                              double slugyaw,
+                                              quint64 time)
 {
     Q_UNUSED( uasTemp);
 
@@ -140,14 +160,24 @@ void SlugsDataSensorView::slugAttitudeChanged(UASInterface *uasTemp, double slug
     TimeActualAttitude = time;
 }
 
-void SlugsDataSensorView::slugsSensorBiasAcelerometerChanged(UASInterface *uasTemp, double axb, double ayb, double azb, quint64 time)
+void SlugsDataSensorView::slugsSensorBiasChanged(UASInterface *uasTemp,
+                                                 double axb,
+                                                 double ayb,
+                                                 double azb,
+                                                 double gxb,
+                                                 double gyb,
+                                                 double gzb,
+                                                 quint64 time)
 {
      Q_UNUSED( uasTemp);
 
      Axb = axb;
      Ayb = ayb;
      Azb = azb;
-     TimeActualAcel = time;
+     Gxb = gxb;
+     Gyb = gyb;
+     Gzb = gzb;
+     TimeActualBias = time;
 
 
 }

src/ui/SlugsDataSensorView.h

@@ -75,10 +75,35 @@ public slots:
     void refresh();
 
 
-    void slugLocalPositionChanged(UASInterface* uasTemp,double x,double y,double z,quint64 time);
-    void slugSpeedLocalPositionChanged(UASInterface* uasTemp,double vx,double vy,double vz,quint64 time);
-    void slugAttitudeChanged(UASInterface* uasTemp,double slugroll,double slugpitch,double slugyaw, quint64 time);
-    void slugsSensorBiasAcelerometerChanged(UASInterface* uasTemp, double axb, double ayb, double azb, quint64 time);
+
+
+
+    void slugLocalPositionChanged(UASInterface* uasTemp,
+                                  double x,
+                                  double y,
+                                  double z,
+                                  quint64 time);
+
+    void slugSpeedLocalPositionChanged(UASInterface* uasTemp,
+                                       double vx,
+                                       double vy,
+                                       double vz,
+                                       quint64 time);
+
+    void slugAttitudeChanged(UASInterface* uasTemp,
+                             double slugroll,
+                             double slugpitch,
+                             double slugyaw,
+                             quint64 time);
+
+    void slugsSensorBiasChanged(UASInterface* uasTemp,
+                                            double axb,
+                                            double ayb,
+                                            double azb,
+                                            double gxb,
+                                            double gyb,
+                                            double gzb,
+                                            quint64 time);
 
 protected:
     QTimer* updateTimer;
@@ -106,12 +131,14 @@ protected:
      double Axb;
      double Ayb;
      double Azb;
-     quint64 TimeActualAcel;
+
      //Gyro
      double Gxb;
      double Gyb;
      double Gzb;
-      quint64 TimeActualGyro;
+     quint64 TimeActualBias;
+
+     //