manual merge of master into hil_flightgear_dev

src/GAudioOutput.h

@@ -41,8 +41,8 @@ This file is part of the PIXHAWK project
 #endif
 #ifdef Q_OS_LINUX
 //#include <flite/flite.h>
-#include <Phonon/MediaObject>
-#include <Phonon/AudioOutput>
+#include <phonon/MediaObject>
+#include <phonon/AudioOutput>
 #endif
 #ifdef Q_OS_WIN
 #include <Phonon/MediaObject>

src/comm/QGCFlightGearLink.cc

@@ -254,9 +254,9 @@ void QGCFlightGearLink::readBytes()
     pitchspeed = values.at(8).toDouble();
     yawspeed = values.at(9).toDouble();
 
-    xacc = values.at(10).toDouble();
-    yacc = values.at(11).toDouble();
-    zacc = values.at(12).toDouble();
+    xacc = values.at(10).toDouble()*1e3/9.8; // convert to mg's
+    yacc = values.at(11).toDouble()*1e3/9.8;
+    zacc = values.at(12).toDouble()*1e3/9.8;
 
     vx = values.at(13).toDouble() * 1e2;
     vy = values.at(14).toDouble() * 1e2;

src/configuration.h

@@ -12,14 +12,14 @@
 #define WITH_TEXT_TO_SPEECH 1
 
 #define QGC_APPLICATION_NAME "QGroundControl"
-#define QGC_APPLICATION_VERSION "v. 1.0.3 (beta)"
+#define QGC_APPLICATION_VERSION "v. 1.0.4 (beta)"
 
 namespace QGC
 
 {
 const QString APPNAME = "QGROUNDCONTROL";
 const QString COMPANYNAME = "QGROUNDCONTROL";
-const int APPLICATIONVERSION = 102; // 1.0.1
+const int APPLICATIONVERSION = 104; // 1.0.4
 }
 
 #endif // QGC_CONFIGURATION_H

src/uas/UAS.cc

@@ -1100,6 +1100,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             imageWidth = p.width;
             imageHeight = p.height;
             imageStart = QGC::groundTimeMilliseconds();
+            imagePacketsArrived = 0;
+
         }
             break;
 
@@ -1132,7 +1134,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             if ((imagePacketsArrived >= imagePackets))
             {
                 // Restart statemachine
-                imagePacketsArrived = 0;
                 emit imageReady(this);
                 //qDebug() << "imageReady emitted. all packets arrived";
             }

src/ui/MAVLinkDecoder.cc

@@ -215,7 +215,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         char buf[11];
         strncpy(buf, debug.name, 10);
         buf[10] = '\0';
-        name = QString(buf);
+        name = QString("%1.%2").arg(buf).arg(fieldName);
         time = getUnixTimeFromMs(msg->sysid, (debug.time_usec+500)/1000); // Scale to milliseconds, round up/down correctly
     }
     else if (msgid == MAVLINK_MSG_ID_DEBUG)
@@ -245,24 +245,17 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         name = QString(buf);
         time = getUnixTimeFromMs(msg->sysid, debug.time_boot_ms);
     }
-//    else if (msgid == MAVLINK_MSG_ID_HIGHRES_IMU)
-//    {
-//        mavlink_highres_imu_t d;
-//        mavlink_msg_highres_imu_decode(msg, &d);
-//        name = name.arg(debug.name).arg(fieldName);
-//        time = getUnixTimeFromMs(msg->sysid, debug.time_boot_ms);
-//    }
     else
     {
-        name = name.arg(messageInfo[msgid].name, fieldName);
+        name = name.arg(messageInfo[msgid].name).arg(fieldName);
     }
 
     if (multiComponentSourceDetected)
     {
-        name.prepend(QString("C%1:").arg(msg->compid));
+        name = name.prepend(QString("C%1:").arg(msg->compid));
     }
 
-    name.prepend(QString("M%1:").arg(msg->sysid));
+    name = name.prepend(QString("M%1:").arg(msg->sysid));
 
     switch (messageInfo[msgid].fields[fieldid].type)
     {
@@ -306,7 +299,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         {
             int8_t* nums = (int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
             fieldType = QString("int8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
             {
                 emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
             }
@@ -324,7 +317,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         {
             uint16_t* nums = (uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
             fieldType = QString("uint16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
             {
                 emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
             }
@@ -342,7 +335,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         {
             int16_t* nums = (int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
             fieldType = QString("int16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
             {
                 emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
             }
@@ -360,7 +353,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         {
             uint32_t* nums = (uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
             fieldType = QString("uint32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
             {
                 emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
             }
@@ -378,7 +371,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         {
             int32_t* nums = (int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
             fieldType = QString("int32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
             {
                 emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
             }
@@ -396,9 +389,9 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         {
             float* nums = (float*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
             fieldType = QString("float[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
             {
-                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
+                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (float)(nums[j]), time);
             }
         }
         else
@@ -414,7 +407,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         {
             double* nums = (double*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
             fieldType = QString("double[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
             {
                 emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
             }
@@ -432,7 +425,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         {
             uint64_t* nums = (uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
             fieldType = QString("uint64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
             {
                 emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (quint64) nums[j], time);
             }
@@ -450,7 +443,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         {
             int64_t* nums = (int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
             fieldType = QString("int64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
             {
                 emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (qint64) nums[j], time);
             }
@@ -463,5 +456,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
             emit valueChanged(msg->sysid, name, fieldType, (qint64) n, time);
         }
         break;
+    default:
+        qDebug() << "WARNING: UNKNOWN MAVLINK TYPE";
     }
 }

src/ui/QGCHilFlightGearConfiguration.cc

@@ -42,3 +42,8 @@ void QGCHilFlightGearConfiguration::on_startButton_clicked()
     options.append(" --aircraft=" + ui->aircraftComboBox->currentText());
     mav->enableHilFlightGear(true,  options);
 }
+
+void QGCHilFlightGearConfiguration::on_stopButton_clicked()
+{
+    mav->stopHil();
+}

src/ui/QGCHilFlightGearConfiguration.h

@@ -24,6 +24,7 @@ protected:
     
 private slots:
     void on_startButton_clicked();
+    void on_stopButton_clicked();
 
 private:
     Ui::QGCHilFlightGearConfiguration *ui;

src/ui/QGCHilFlightGearConfiguration.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>190</width>
-    <height>246</height>
+    <width>237</width>
+    <height>204</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -25,26 +25,13 @@
   <property name="autoFillBackground">
    <bool>false</bool>
   </property>
-  <layout class="QGridLayout" name="gridLayout" rowminimumheight="0,0,0,0,0,0">
+  <layout class="QGridLayout" name="gridLayout" rowminimumheight="0,0,0,0,0,0,0,0">
    <property name="margin">
     <number>0</number>
    </property>
    <property name="spacing">
     <number>6</number>
    </property>
-   <item row="5" column="0">
-    <widget class="QPushButton" name="startButton">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="text">
-      <string>Start</string>
-     </property>
-    </widget>
-   </item>
    <item row="0" column="0">
     <widget class="QLabel" name="aircraftPlaintextInfoLabel">
      <property name="text">
@@ -52,7 +39,7 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="0">
+   <item row="1" column="0" colspan="2">
     <widget class="QComboBox" name="aircraftComboBox">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -72,7 +59,7 @@
      </property>
     </widget>
    </item>
-   <item row="3" column="0">
+   <item row="3" column="0" colspan="2">
     <widget class="QPlainTextEdit" name="optionsPlainTextEdit">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -85,6 +72,26 @@
      </property>
     </widget>
    </item>
+   <item row="5" column="0">
+    <widget class="QPushButton" name="startButton">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="text">
+      <string>Start</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="1">
+    <widget class="QPushButton" name="stopButton">
+     <property name="text">
+      <string>Stop</string>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>

src/ui/QGCToolBar.cc

@@ -397,7 +397,7 @@ void QGCToolBar::setSystemType(UASInterface* uas, unsigned int systemType)
             symbolButton->setIcon(QIcon(":/files/images/mavs/helicopter.svg"));
             break;
         case MAV_TYPE_ANTENNA_TRACKER:
-            symbolButton->setIcon(QIcon(":/files/images/mavs/antenn-tracker.svg"));
+            symbolButton->setIcon(QIcon(":/files/images/mavs/antenna-tracker.svg"));
             break;
         case MAV_TYPE_GCS:
             symbolButton->setIcon(QIcon(":files/images/mavs/groundstation.svg"));

src/ui/linechart/LinechartWidget.cc

@@ -436,7 +436,6 @@ void LinechartWidget::appendData(int uasId, const QString& curve, const QString&
         // Make sure the curve will be created if it does not yet exist
         if(!label)
         {
-            //qDebug() << "ADDING CURVE IN APPENDDATE DOUBLE";
             addCurve(curve, unit);
         }
     }