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Merge branch 'master' of git@pixhawk.ethz.ch:qgroundcontrol

QGC4.4
pixhawk 15 years ago
parent
ab3caa0d23 d7e57c0168
commit
cdef70bd5d
10 changed files with 442 additions and 29 deletions
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  1. 2
      src/Core.cc
  2. 34
      src/comm/MAVLinkProtocol.cc
  3. 16
      src/uas/PxQuadMAV.cc
  4. 24
      src/uas/UASInterface.h
  5. 145
      src/ui/HSIDisplay.cc
  6. 25
      src/ui/HSIDisplay.h
  7. 28
      standalone/qgroundcontrol-server/qgroundcontrol-server.pro
  8. 93
      standalone/qgroundcontrol-server/src/QGroundControlServer.cc
  9. 58
      standalone/qgroundcontrol-server/src/QGroundControlServer.h
  10. 46
      standalone/qgroundcontrol-server/src/main.cc

2
src/Core.cc
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@ -62,7 +62,7 @@ This file is part of the PIXHAWK project @@ -62,7 +62,7 @@ This file is part of the PIXHAWK project
Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
{
this->setApplicationName("QGroundControl");
this->setApplicationVersion("v. 0.7.0 (Beta)");
this->setApplicationVersion("v. 0.7.5 (Beta)");
this->setOrganizationName(QLatin1String("OpenMAV Association"));
this->setOrganizationDomain("http://qgroundcontrol.org");

34
src/comm/MAVLinkProtocol.cc
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@ -170,16 +170,42 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link) @@ -170,16 +170,42 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link)
{
case MAV_AUTOPILOT_GENERIC:
uas = new UAS(this, message.sysid);
// Connect this robot to the UAS object
connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), uas, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
break;
case MAV_AUTOPILOT_PIXHAWK:
{
// Fixme differentiate between quadrotor and coaxial here
uas = new PxQuadMAV(this, message.sysid);
PxQuadMAV* mav = new PxQuadMAV(this, message.sysid);
// Connect this robot to the UAS object
// it is IMPORTANT here to use the right object type,
// else the slot of the parent object is called (and thus the special
// packets never reach their goal)
connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
uas = mav;
}
break;
case MAV_AUTOPILOT_SLUGS:
uas = new SlugsMAV(this, message.sysid);
{
SlugsMAV* mav = new SlugsMAV(this, message.sysid);
// Connect this robot to the UAS object
// it is IMPORTANT here to use the right object type,
// else the slot of the parent object is called (and thus the special
// packets never reach their goal)
connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
uas = mav;
}
break;
case MAV_AUTOPILOT_ARDUPILOT:
uas = new ArduPilotMAV(this, message.sysid);
{
ArduPilotMAV* mav = new ArduPilotMAV(this, message.sysid);
// Connect this robot to the UAS object
// it is IMPORTANT here to use the right object type,
// else the slot of the parent object is called (and thus the special
// packets never reach their goal)
connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
uas = mav;
}
break;
default:
uas = new UAS(this, message.sysid);
@ -189,8 +215,6 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link) @@ -189,8 +215,6 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link)
// Make UAS aware that this link can be used to communicate with the actual robot
uas->addLink(link);
// Connect this robot to the UAS object
connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), uas, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
// Now add UAS to "official" list, which makes the whole application aware of it
UASManager::instance()->addUAS(uas);
}

16
src/uas/PxQuadMAV.cc
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@ -120,6 +120,22 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message) @@ -120,6 +120,22 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
emit UAS::valueChanged(this, "Load", ((float)status.load)/1000.0f, MG::TIME::getGroundTimeNow());
}
break;
case MAVLINK_MSG_ID_CONTROL_STATUS:
{
mavlink_control_status_t status;
mavlink_msg_control_status_decode(&message, &status);
// Emit control status vector
emit attitudeControlEnabled(static_cast<bool>(status.control_att));
emit positionXYControlEnabled(static_cast<bool>(status.control_pos_xy));
emit positionZControlEnabled(static_cast<bool>(status.control_pos_z));
emit positionYawControlEnabled(static_cast<bool>(status.control_pos_yaw));
// Emit localization status vector
emit localizationChanged(this, status.position_fix);
emit visionLocalizationChanged(this, status.vision_fix);
emit gpsLocalizationChanged(this, status.gps_fix);
}
break;
default:
// Do nothing
break;

24
src/uas/UASInterface.h
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@ -316,6 +316,30 @@ signals: @@ -316,6 +316,30 @@ signals:
void imageDataReceived(int imgid, const unsigned char* imageData, int length, int startIndex);
/** @brief Emit the new system type */
void systemTypeSet(UASInterface* uas, unsigned int type);
/** @brief Attitude control enabled/disabled */
void attitudeControlEnabled(bool enabled);
/** @brief Position 2D control enabled/disabled */
void positionXYControlEnabled(bool enabled);
/** @brief Altitude control enabled/disabled */
void positionZControlEnabled(bool enabled);
/** @brief Heading control enabled/disabled */
void positionYawControlEnabled(bool enabled);
/**
* @brief Localization quality changed
* @param fix 0: lost, 1: 2D local position hold, 2: 2D localization, 3: 3D localization
*/
void localizationChanged(UASInterface* uas, int fix);
/**
* @brief GPS localization quality changed
* @param fix 0: lost, 1: at least one satellite, but no GPS fix, 2: 2D localization, 3: 3D localization
*/
void gpsLocalizationChanged(UASInterface* uas, int fix);
/**
* @brief Vision localization quality changed
* @param fix 0: lost, 1: 2D local position hold, 2: 2D localization, 3: 3D localization
*/
void visionLocalizationChanged(UASInterface* uas, int fix);
};
Q_DECLARE_INTERFACE(UASInterface, "org.qgroundcontrol/1.0");

145
src/ui/HSIDisplay.cc
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@ -84,6 +84,11 @@ HSIDisplay::HSIDisplay(QWidget *parent) : @@ -84,6 +84,11 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
attControlEnabled(false),
xyControlEnabled(false),
zControlEnabled(false),
yawControlEnabled(false),
positionFix(0),
gpsFix(0),
visionFix(0),
laserFix(0),
mavInitialized(false)
{
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
@ -130,31 +135,16 @@ void HSIDisplay::paintDisplay() @@ -130,31 +135,16 @@ void HSIDisplay::paintDisplay()
// Draw background
painter.fillRect(QRect(0, 0, width(), height()), backgroundColor);
// Draw status indicators
QColor statusColor(255, 255, 255);
QString lockStatus;
QString xyContrStatus;
QString zContrStatus;
QString attContrStatus;
// Draw status flags
drawStatusFlag(2, 1, tr("ATT"), attControlEnabled, painter);
drawStatusFlag(22, 1, tr("PXY"), xyControlEnabled, painter);
drawStatusFlag(44, 1, tr("PZ"), zControlEnabled, painter);
QColor lockStatusColor;
// Draw position lock indicators
drawPositionLock(2, 5, tr("POS"), positionFix, painter);
drawPositionLock(22, 5, tr("VIS"), positionFix, painter);
drawPositionLock(44, 5, tr("GPS"), positionFix, painter);
if (positionLock)
{
lockStatus = tr("LOCK");
lockStatusColor = QColor(20, 255, 20);
}
else
{
lockStatus = tr("NO");
lockStatusColor = QColor(255, 20, 20);
}
paintText(tr("POS"), QGC::colorCyan, 1.8f, 2.0f, 2.5f, &painter);
painter.setBrush(lockStatusColor);
painter.setPen(Qt::NoPen);
painter.drawRect(QRect(refToScreenX(9.5f), refToScreenY(2.0f), refToScreenX(7.0f), refToScreenY(4.0f)));
paintText(lockStatus, statusColor, 2.8f, 10.0f, 2.0f, &painter);
// Draw base instrument
// ----------------------
@ -245,6 +235,61 @@ void HSIDisplay::paintDisplay() @@ -245,6 +235,61 @@ void HSIDisplay::paintDisplay()
// bodyYawSet = 0.95 * bodyYawSet + 0.05 * uiYawSet;
}
void HSIDisplay::drawStatusFlag(float x, float y, QString label, bool status, QPainter& painter)
{
paintText(label, QGC::colorCyan, 2.6f, x, y+0.35f, &painter);
QColor statusColor(250, 250, 250);
if(status)
{
painter.setBrush(QGC::colorRed);
}
else
{
painter.setBrush(QGC::colorRed);
}
painter.setPen(Qt::NoPen);
painter.drawRect(QRect(refToScreenX(x+7.3f), refToScreenY(y+0.05), refToScreenX(7.0f), refToScreenY(4.0f)));
paintText((status) ? tr("ON") : tr("OFF"), statusColor, 2.6f, x+7.9f, y+0.35f, &painter);
}
void HSIDisplay::drawPositionLock(float x, float y, QString label, int status, QPainter& painter)
{
paintText(label, QGC::colorCyan, 2.6f, x, y+0.35f, &painter);
QColor negStatusColor(200, 20, 20);
QColor posStatusColor(20, 200, 20);
QColor statusColor(250, 250, 250);
if(status > 0 && status < 4)
{
painter.setBrush(posStatusColor);
}
else
{
painter.setBrush(negStatusColor);
}
// Lock text
QString lockText;
switch (status)
{
case 1:
lockText = tr("LOC");
break;
case 2:
lockText = tr("2D");
break;
case 3:
lockText = tr("3D");
break;
default:
lockText = tr("NO");
break;
}
painter.setPen(Qt::NoPen);
painter.drawRect(QRect(refToScreenX(x+7.3f), refToScreenY(y+0.05), refToScreenX(7.0f), refToScreenY(4.0f)));
paintText(lockText, statusColor, 2.6f, x+7.9f, y+0.35f, &painter);
}
void HSIDisplay::updatePositionLock(UASInterface* uas, bool lock)
{
Q_UNUSED(uas);
@ -372,6 +417,15 @@ void HSIDisplay::setActiveUAS(UASInterface* uas) @@ -372,6 +417,15 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeControlEnabled(bool)), this, SLOT(updateAttitudeControllerEnabled(UASInterface*,bool)));
connect(uas, SIGNAL(positionXYControlEnabled(bool)), this, SLOT(updatePositionXYControllerEnabled(UASInterface*,bool)));
connect(uas, SIGNAL(positionZControlEnabled(bool)), this, SLOT(updatePositionZControllerEnabled(UASInterface*,bool)));
connect(uas, SIGNAL(positionYawControlEnabled(bool)), this, SLOT(updatePositionYawControllerEnabled(UASInterface*,bool)));
connect(uas, SIGNAL(localizationChanged(UASInterface*,int)), this, SLOT(updateLocalization(UASInterface*,int)));
connect(uas, SIGNAL(visionLocalizationChanged(UASInterface*,int)), this, SLOT(updateVisionLocalization(UASInterface*,int)));
connect(uas, SIGNAL(gpsLocalizationChanged(UASInterface*,int)), this, SLOT(updateGpsLocalization(UASInterface*,int)));
// Now connect the new UAS
//if (this->uas != uas)
@ -488,6 +542,36 @@ void HSIDisplay::updateSatellite(int uasid, int satid, float elevation, float az @@ -488,6 +542,36 @@ void HSIDisplay::updateSatellite(int uasid, int satid, float elevation, float az
}
}
void HSIDisplay::updatePositionYawControllerEnabled(bool enabled)
{
yawControlEnabled = enabled;
}
/**
* @param fix 0: lost, 1: 2D local position hold, 2: 2D localization, 3: 3D localization
*/
void HSIDisplay::updateLocalization(UASInterface* uas, int fix)
{
Q_UNUSED(uas);
positionFix = fix;
}
/**
* @param fix 0: lost, 1: at least one satellite, but no GPS fix, 2: 2D localization, 3: 3D localization
*/
void HSIDisplay::updateGpsLocalization(UASInterface* uas, int fix)
{
Q_UNUSED(uas);
gpsFix = fix;
}
/**
* @param fix 0: lost, 1: 2D local position hold, 2: 2D localization, 3: 3D localization
*/
void HSIDisplay::updateVisionLocalization(UASInterface* uas, int fix)
{
Q_UNUSED(uas);
visionFix = fix;
}
QColor HSIDisplay::getColorForSNR(float snr)
{
QColor color;
@ -701,6 +785,19 @@ void HSIDisplay::drawAltitudeSetpoint(float xRef, float yRef, float radius, cons @@ -701,6 +785,19 @@ void HSIDisplay::drawAltitudeSetpoint(float xRef, float yRef, float radius, cons
// paintText(label, color, 4.5f, xRef-7.5f, yRef-2.0f, painter);
}
/**
* @param fix 0: lost, 1: 2D local position hold, 2: 2D localization, 3: 3D localization
*/
void localizationChanged(UASInterface* uas, int fix);
/**
* @param fix 0: lost, 1: at least one satellite, but no GPS fix, 2: 2D localization, 3: 3D localization
*/
void gpsLocalizationChanged(UASInterface* uas, int fix);
/**
* @param fix 0: lost, 1: 2D local position hold, 2: 2D localization, 3: 3D localization
*/
void visionLocalizationChanged(UASInterface* uas, int fix);
void HSIDisplay::updateJoystick(double roll, double pitch, double yaw, double thrust, int xHat, int yHat)
{
@ -710,3 +807,5 @@ void HSIDisplay::pressKey(int key) @@ -710,3 +807,5 @@ void HSIDisplay::pressKey(int key)
{
}

25
src/ui/HSIDisplay.h
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@ -62,6 +62,24 @@ public slots: @@ -62,6 +62,24 @@ public slots:
void updateAttitudeControllerEnabled(UASInterface* uas, bool enabled);
void updatePositionXYControllerEnabled(UASInterface* uas, bool enabled);
void updatePositionZControllerEnabled(UASInterface* uas, bool enabled);
/** @brief Heading control enabled/disabled */
void updatePositionYawControllerEnabled(bool enabled);
/**
* @brief Localization quality changed
* @param fix 0: lost, 1: 2D local position hold, 2: 2D localization, 3: 3D localization
*/
void updateLocalization(UASInterface* uas, int localization);
/**
* @brief GPS localization quality changed
* @param fix 0: lost, 1: at least one satellite, but no GPS fix, 2: 2D localization, 3: 3D localization
*/
void updateGpsLocalization(UASInterface* uas, int localization);
/**
* @brief Vision localization quality changed
* @param fix 0: lost, 1: 2D local position hold, 2: 2D localization, 3: 3D localization
*/
void updateVisionLocalization(UASInterface* uas, int localization);
void paintEvent(QPaintEvent * event);
/** @brief Update state from joystick */
@ -75,6 +93,8 @@ protected slots: @@ -75,6 +93,8 @@ protected slots:
void drawPositionDirection(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
void drawAttitudeDirection(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
void drawAltitudeSetpoint(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
void drawStatusFlag(float x, float y, QString label, bool status, QPainter& painter);
void drawPositionLock(float x, float y, QString label, int status, QPainter& painter);
void setBodySetpointCoordinateXY(double x, double y);
void setBodySetpointCoordinateZ(double z);
/** @brief Send the current ui setpoint coordinates as new setpoint to the MAV */
@ -195,6 +215,11 @@ protected: @@ -195,6 +215,11 @@ protected:
bool attControlEnabled;
bool xyControlEnabled;
bool zControlEnabled;
bool yawControlEnabled;
int positionFix;
int gpsFix;
int visionFix;
int laserFix;
bool mavInitialized; ///< The MAV is initialized once the setpoint has been received
private:

28
standalone/qgroundcontrol-server/qgroundcontrol-server.pro
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@ -0,0 +1,28 @@ @@ -0,0 +1,28 @@
QT += net
TEMPLATE = app
TARGET = qgroundcontrol-server
BASEDIR = ../..
BUILDDIR = $$BASEDIR/build/qgroundcontrol-server
LANGUAGE = C++
CONFIG += release
CONFIG -= debug
OBJECTS_DIR = $$BUILDDIR/qgroundcontrol-server/obj
MOC_DIR = $$BUILDDIR/qgroundcontrol-server/moc
macx:DESTDIR = $$BASEDIR/bin/mac
INCLUDEPATH += $$BASEDIR/. \
$$BASEDIR/src \
$$BASEDIR/src/comm \
$$BASEDIR/standalone/qgroundcontrol-server/src
HEADERS += src/QGroundControlServer.h \
$$BASEDIR/src/comm/MAVLinkProtocol.h
SOURCES += src/main.cc \
src/QGroundControlServer.cc \
$$BASEDIR/src/comm/MAVLinkProtocol.cc
RESOURCES = $$BASEDIR/mavground.qrc

93
standalone/qgroundcontrol-server/src/QGroundControlServer.cc
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@ -0,0 +1,93 @@ @@ -0,0 +1,93 @@
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK 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.
PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Implementation of class MAVLinkGen
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QFile>
#include <QFlags>
#include <QThread>
#include <QSplashScreen>
#include <QPixmap>
#include <QDesktopWidget>
#include <QPainter>
#include <QStyleFactory>
#include <QAction>
#include <QSettings>
#include <QFontDatabase>
#include <QMainWindow>
#include "MAVLinkGen.h"
#include "XMLCommProtocolWidget.h"
/**
* @brief Constructor for the main application.
*
* This constructor initializes and starts the whole application. It takes standard
* command-line parameters
*
* @param argc The number of command-line parameters
* @param argv The string array of parameters
**/
MAVLinkGen::MAVLinkGen(int &argc, char* argv[]) : QApplication(argc, argv)
{
this->setApplicationName("MAVLink Generator");
this->setApplicationVersion("v. 0.1.0 (Beta)");
this->setOrganizationName(QLatin1String("OpenMAV Association"));
this->setOrganizationDomain("http://qgroundcontrol.org");
QSettings::setDefaultFormat(QSettings::IniFormat);
// Exit main application when last window is closed
connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit()));
// Set application font
QFontDatabase fontDatabase = QFontDatabase();
const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
const QString fontFamilyName = "Bitstream Vera Sans";
if(!QFile::exists(fontFileName)) printf("ERROR! font file: %s DOES NOT EXIST!\n", fontFileName.toStdString().c_str());
fontDatabase.addApplicationFont(fontFileName);
setFont(fontDatabase.font(fontFamilyName, "Roman", 12));
// Create main window
QMainWindow* window = new QMainWindow();
window->setCentralWidget(new XMLCommProtocolWidget(window));
window->setWindowTitle(applicationName() + " " + applicationVersion());
window->show();
}
/**
* @brief Destructor for the groundstation. It destroys all loaded instances.
*
**/
MAVLinkGen::~MAVLinkGen()
{
}

58
standalone/qgroundcontrol-server/src/QGroundControlServer.h
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@ -0,0 +1,58 @@ @@ -0,0 +1,58 @@
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK 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.
PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Definition of class MAVLinkGen
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef MAVLINKGEN_H
#define MAVLINKGEN_H
#include <QApplication>
/**
* @brief The main application and management class.
*
* This class is started by the main method and provides
* the central management unit of the groundstation application.
*
**/
class MAVLinkGen : public QApplication
{
Q_OBJECT
public:
MAVLinkGen(int &argc, char* argv[]);
~MAVLinkGen();
protected:
private:
};
#endif /* MAVLINKGEN_H */

46
standalone/qgroundcontrol-server/src/main.cc
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@ -0,0 +1,46 @@ @@ -0,0 +1,46 @@
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK 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.
PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Main executable
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QtGui/QApplication>
#include "MAVLinkGen.h"
/**
* @brief Starts the application
*
* @param argc Number of commandline arguments
* @param argv Commandline arguments
* @return exit code, 0 for normal exit and !=0 for error cases
*/
int main(int argc, char *argv[])
{
MAVLinkGen gen(argc, argv);
return gen.exec();
}
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