Added PNGs for mac icon, moved UAS timestamps to microseconds instead of milliseconds

src/comm/MAVLinkProtocol.cc

@@ -61,6 +61,8 @@ MAVLinkProtocol::MAVLinkProtocol() :
     heartbeatTimer->start(1000/heartbeatRate);
     totalReceiveCounter = 0;
     totalLossCounter = 0;
+    currReceiveCounter = 0;
+    currLossCounter = 0;
     for (int i = 0; i < 256; i++)
     {
         for (int j = 0; j < 256; j++)
@@ -131,6 +133,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link)
             }
             // Increase receive counter
             totalReceiveCounter++;
+            currReceiveCounter++;
             qint64 lastLoss = totalLossCounter;
             // Update last packet index
             if (lastIndex[message.sysid][message.compid] == -1)
@@ -150,7 +153,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link)
 
                 int safeguard = 0;
                 //qDebug() << "SYSID" << message.sysid << "COMPID" << message.compid << "MSGID" << message.msgid << "LASTINDEX" << lastIndex[message.sysid][message.compid] << "SEQ" << message.seq;
-                while(lastIndex[message.sysid][message.compid] != message.seq && safeguard < 1)
+                while(lastIndex[message.sysid][message.compid] != message.seq && safeguard < 255)
                 {
                     if (lastIndex[message.sysid][message.compid] == 255)
                     {
@@ -161,6 +164,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link)
                         lastIndex[message.sysid][message.compid]++;
                     }
                     totalLossCounter++;
+                    currLossCounter++;
                     safeguard++;
                 }
             }
@@ -171,12 +175,17 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link)
             //                while (lastCompIndex->value(message.compid, 0)+1 )
             //            }
             //if ()
-            if (lastLoss != totalLossCounter || (totalReceiveCounter / 64) == 0)
+
+            // If a new loss was detected or we just hit one 128th packet step
+            if (lastLoss != totalLossCounter || (totalReceiveCounter & 0b1111111) == 0)
             {
                 // Calculate new loss ratio
                 // Receive loss
-                float receiveLoss = (double)totalLossCounter/(double)(totalReceiveCounter+totalLossCounter);
+                float receiveLoss = (double)currLossCounter/(double)(currReceiveCounter+currLossCounter);
                 receiveLoss *= 100.0f;
+               // qDebug() << "LOSSCHANGED" << receiveLoss;
+                currLossCounter = 0;
+                currReceiveCounter = 0;
                 emit receiveLossChanged(receiveLoss);
             }
 

src/comm/MAVLinkProtocol.h

@@ -90,6 +90,8 @@ protected:
     int lastIndex[256][256];
     int totalReceiveCounter;
     int totalLossCounter;
+    int currReceiveCounter;
+    int currLossCounter;
 
 signals:
     /** @brief Message received and directly copied via signal */

src/uas/UAS.cc

@@ -225,15 +225,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 mavlink_aux_status_t status;
                 mavlink_msg_aux_status_decode(&message, &status);
-                emit loadChanged(this, status.load/100.0f);
-                emit valueChanged(this, "Load", status.load/1000.0f, MG::TIME::getGroundTimeNow());
+                emit loadChanged(this, status.load/10.0f);
+                emit valueChanged(this, "Load", ((float)status.load)/1000.0f, MG::TIME::getGroundTimeNow());
             }
             break;
         case MAVLINK_MSG_ID_RAW_IMU:
             {
                 mavlink_raw_imu_t raw;
                 mavlink_msg_raw_imu_decode(&message, &raw);
-                quint64 time = raw.msec;
+                quint64 time = raw.msec/1000;
                 if (time == 0)
                 {
                     time = MG::TIME::getGroundTimeNow();
@@ -285,7 +285,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 mavlink_attitude_t attitude;
                 mavlink_msg_attitude_decode(&message, &attitude);
-                quint64 time = mavlink_msg_attitude_get_msec(&message);
+                quint64 time = mavlink_msg_attitude_get_msec(&message)/1000;
                 if (time == 0)
                 {
                     time = MG::TIME::getGroundTimeNow();
@@ -316,7 +316,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 mavlink_position_t pos;
                 mavlink_msg_position_decode(&message, &pos);
-                quint64 time = pos.msec;
+                quint64 time = pos.msec/1000;
                 if (time == 0)
                 {
                     time = MG::TIME::getGroundTimeNow();

src/ui/uas/UASInfoWidget.cc

@@ -113,7 +113,7 @@ void UASInfoWidget::updateCPULoad(UASInterface* uas, double load)
 {
     if (activeUAS == uas)
     {
-        this->load = load*100.0f;
+        this->load = load;
     }
 }