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toolbar: show RTK survey-in status

QGC4.4
Beat Küng 8 years ago
parent
5211a7a94b
commit
e3c97d2ee2
12 changed files with 187 additions and 15 deletions
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  1. 2
      qgroundcontrol.pro
  2. 2
      qgroundcontrol.qrc
  3. 4
      src/GPS/GPSManager.cc
  4. 6
      src/GPS/GPSManager.h
  5. 2
      src/GPS/GPSProvider.cc
  6. 2
      src/GPS/GPSProvider.h
  7. 29
      src/QmlControls/QGroundControlQmlGlobal.cc
  8. 11
      src/QmlControls/QGroundControlQmlGlobal.h
  9. 36
      src/Vehicle/GPSRTKFact.json
  10. 35
      src/Vehicle/GPSRTKFactGroup.cc
  11. 50
      src/Vehicle/GPSRTKFactGroup.h
  12. 23
      src/ui/toolbar/GPSRTKIndicator.qml

2
qgroundcontrol.pro
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@ -812,6 +812,7 @@ HEADERS+= \ @@ -812,6 +812,7 @@ HEADERS+= \
src/FirmwarePlugin/FirmwarePlugin.h \
src/FirmwarePlugin/FirmwarePluginManager.h \
src/Vehicle/MultiVehicleManager.h \
src/Vehicle/GPSRTKFactGroup.h \
src/Vehicle/Vehicle.h \
src/VehicleSetup/VehicleComponent.h \
@ -836,6 +837,7 @@ SOURCES += \ @@ -836,6 +837,7 @@ SOURCES += \
src/FirmwarePlugin/FirmwarePlugin.cc \
src/FirmwarePlugin/FirmwarePluginManager.cc \
src/Vehicle/MultiVehicleManager.cc \
src/Vehicle/GPSRTKFactGroup.cc \
src/Vehicle/Vehicle.cc \
src/VehicleSetup/VehicleComponent.cc \

2
qgroundcontrol.qrc
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@ -6,6 +6,7 @@ @@ -6,6 +6,7 @@
<file alias="ArmedIndicator.qml">src/ui/toolbar/ArmedIndicator.qml</file>
<file alias="BatteryIndicator.qml">src/ui/toolbar/BatteryIndicator.qml</file>
<file alias="GPSIndicator.qml">src/ui/toolbar/GPSIndicator.qml</file>
<file alias="GPSRTKIndicator.qml">src/ui/toolbar/GPSRTKIndicator.qml</file>
<file alias="MessageIndicator.qml">src/ui/toolbar/MessageIndicator.qml</file>
<file alias="ModeIndicator.qml">src/ui/toolbar/ModeIndicator.qml</file>
<file alias="RCRSSIIndicator.qml">src/ui/toolbar/RCRSSIIndicator.qml</file>
@ -209,6 +210,7 @@ @@ -209,6 +210,7 @@
<file alias="Vehicle/VehicleFact.json">src/Vehicle/VehicleFact.json</file>
<file alias="Vehicle/BatteryFact.json">src/Vehicle/BatteryFact.json</file>
<file alias="Vehicle/GPSFact.json">src/Vehicle/GPSFact.json</file>
<file alias="Vehicle/GPSRTKFact.json">src/Vehicle/GPSRTKFact.json</file>
<file alias="Vehicle/WindFact.json">src/Vehicle/WindFact.json</file>
<file alias="Vehicle/VibrationFact.json">src/Vehicle/VibrationFact.json</file>
<file alias="Vehicle/TemperatureFact.json">src/Vehicle/TemperatureFact.json</file>

4
src/GPS/GPSManager.cc
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@ -43,7 +43,10 @@ void GPSManager::connectGPS(const QString& device) @@ -43,7 +43,10 @@ void GPSManager::connectGPS(const QString& device)
//test: connect to position update
connect(_gpsProvider, &GPSProvider::positionUpdate, this, &GPSManager::GPSPositionUpdate);
connect(_gpsProvider, &GPSProvider::satelliteInfoUpdate, this, &GPSManager::GPSSatelliteUpdate);
connect(_gpsProvider, &GPSProvider::finished, this, &GPSManager::onDisconnect);
connect(_gpsProvider, &GPSProvider::surveyInStatus, this, &GPSManager::surveyInStatus);
emit onConnect();
}
void GPSManager::GPSPositionUpdate(GPSPositionMessage msg)
@ -53,6 +56,7 @@ void GPSManager::GPSPositionUpdate(GPSPositionMessage msg) @@ -53,6 +56,7 @@ void GPSManager::GPSPositionUpdate(GPSPositionMessage msg)
void GPSManager::GPSSatelliteUpdate(GPSSatelliteMessage msg)
{
qCDebug(RTKGPSLog) << QString("GPS: got satellite info update, %1 satellites").arg((int)msg.satellite_data.count);
emit satelliteUpdate(msg.satellite_data.count);
}
void GPSManager::cleanup()

6
src/GPS/GPSManager.h
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@ -31,6 +31,12 @@ public: @@ -31,6 +31,12 @@ public:
void connectGPS(const QString& device);
bool connected(void) const { return _gpsProvider && _gpsProvider->isRunning(); }
signals:
void onConnect();
void onDisconnect();
void surveyInStatus(float duration, float accuracyMM, bool valid, bool active);
void satelliteUpdate(int numSats);
private slots:
void GPSPositionUpdate(GPSPositionMessage msg);
void GPSSatelliteUpdate(GPSSatelliteMessage msg);

2
src/GPS/GPSProvider.cc
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@ -172,7 +172,7 @@ int GPSProvider::callback(GPSCallbackType type, void *data1, int data2) @@ -172,7 +172,7 @@ int GPSProvider::callback(GPSCallbackType type, void *data1, int data2)
{
SurveyInStatus* status = (SurveyInStatus*)data1;
qCDebug(RTKGPSLog) << QString("Survey-in status: %1s cur accuracy: %2mm valid: %3 active: %4").arg(status->duration).arg(status->mean_accuracy).arg((int)(status->flags & 1)).arg((int)((status->flags>>1) & 1));
emit rtkStatus(status->duration, status->mean_accuracy, (int)(status->flags & 1), (int)((status->flags>>1) & 1));
emit surveyInStatus(status->duration, status->mean_accuracy, (int)(status->flags & 1), (int)((status->flags>>1) & 1));
}
break;

2
src/GPS/GPSProvider.h
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@ -40,7 +40,7 @@ signals: @@ -40,7 +40,7 @@ signals:
void positionUpdate(GPSPositionMessage message);
void satelliteInfoUpdate(GPSSatelliteMessage message);
void RTCMDataUpdate(QByteArray message);
void rtkStatus(float duration, float accuracyMM, bool valid, bool active);
void surveyInStatus(float duration, float accuracyMM, bool valid, bool active);
protected:
void run();

29
src/QmlControls/QGroundControlQmlGlobal.cc
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@ -62,6 +62,14 @@ void QGroundControlQmlGlobal::setToolbox(QGCToolbox* toolbox) @@ -62,6 +62,14 @@ void QGroundControlQmlGlobal::setToolbox(QGCToolbox* toolbox)
_corePlugin = toolbox->corePlugin();
_firmwarePluginManager = toolbox->firmwarePluginManager();
_settingsManager = toolbox->settingsManager();
GPSManager *gpsManager = toolbox->gpsManager();
if (gpsManager) {
connect(gpsManager, &GPSManager::onConnect, this, &QGroundControlQmlGlobal::_onGPSConnect);
connect(gpsManager, &GPSManager::onDisconnect, this, &QGroundControlQmlGlobal::_onGPSDisconnect);
connect(gpsManager, &GPSManager::surveyInStatus, this, &QGroundControlQmlGlobal::_GPSSurveyInStatus);
connect(gpsManager, &GPSManager::satelliteUpdate, this, &QGroundControlQmlGlobal::_GPSNumSatellites);
}
}
void QGroundControlQmlGlobal::saveGlobalSetting (const QString& key, const QString& value)
@ -230,3 +238,24 @@ void QGroundControlQmlGlobal::setFlightMapZoom(double zoom) @@ -230,3 +238,24 @@ void QGroundControlQmlGlobal::setFlightMapZoom(double zoom)
emit flightMapZoomChanged(zoom);
}
}
void QGroundControlQmlGlobal::_onGPSConnect()
{
_gpsRtkFactGroup.connected()->setRawValue(true);
}
void QGroundControlQmlGlobal::_onGPSDisconnect()
{
_gpsRtkFactGroup.connected()->setRawValue(false);
}
void QGroundControlQmlGlobal::_GPSSurveyInStatus(float duration, float accuracyMM, bool valid, bool active)
{
_gpsRtkFactGroup.currentDuration()->setRawValue(duration);
_gpsRtkFactGroup.currentAccuracy()->setRawValue(accuracyMM);
_gpsRtkFactGroup.valid()->setRawValue(valid);
_gpsRtkFactGroup.active()->setRawValue(active);
}
void QGroundControlQmlGlobal::_GPSNumSatellites(int numSatellites)
{
_gpsRtkFactGroup.numSatellites()->setRawValue(numSatellites);
}

11
src/QmlControls/QGroundControlQmlGlobal.h
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@ -22,6 +22,8 @@ @@ -22,6 +22,8 @@
#include "SimulatedPosition.h"
#include "QGCLoggingCategory.h"
#include "AppSettings.h"
#include "GPS/GPSManager.h"
#include "GPSRTKFactGroup.h"
#ifdef QT_DEBUG
#include "MockLink.h"
@ -48,6 +50,7 @@ public: @@ -48,6 +50,7 @@ public:
Q_PROPERTY(MAVLinkLogManager* mavlinkLogManager READ mavlinkLogManager CONSTANT)
Q_PROPERTY(QGCCorePlugin* corePlugin READ corePlugin CONSTANT)
Q_PROPERTY(SettingsManager* settingsManager READ settingsManager CONSTANT)
Q_PROPERTY(FactGroup* gpsRtk READ gpsRtkFactGroup CONSTANT)
Q_PROPERTY(int supportedFirmwareCount READ supportedFirmwareCount CONSTANT)
@ -136,6 +139,7 @@ public: @@ -136,6 +139,7 @@ public:
MAVLinkLogManager* mavlinkLogManager () { return _mavlinkLogManager; }
QGCCorePlugin* corePlugin () { return _corePlugin; }
SettingsManager* settingsManager () { return _settingsManager; }
FactGroup* gpsRtkFactGroup () { return &_gpsRtkFactGroup; }
static QGeoCoordinate flightMapPosition ();
static double flightMapZoom ();
@ -177,6 +181,12 @@ signals: @@ -177,6 +181,12 @@ signals:
void flightMapZoomChanged (double flightMapZoom);
void skipSetupPageChanged ();
private slots:
void _onGPSConnect();
void _onGPSDisconnect();
void _GPSSurveyInStatus(float duration, float accuracyMM, bool valid, bool active);
void _GPSNumSatellites(int numSatellites);
private:
double _flightMapInitialZoom;
LinkManager* _linkManager;
@ -189,6 +199,7 @@ private: @@ -189,6 +199,7 @@ private:
QGCCorePlugin* _corePlugin;
FirmwarePluginManager* _firmwarePluginManager;
SettingsManager* _settingsManager;
GPSRTKFactGroup _gpsRtkFactGroup;
bool _skipSetupPage;

36
src/Vehicle/GPSRTKFact.json
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@ -0,0 +1,36 @@ @@ -0,0 +1,36 @@
[
{
"name": "connected",
"shortDescription": "Connected",
"type": "bool"
},
{
"name": "currentAccuracy",
"shortDescription": "Current Accuracy",
"type": "double",
"decimalPlaces": 0,
"units": "mm"
},
{
"name": "currentDuration",
"shortDescription": "Current Duration",
"type": "double",
"decimalPlaces": 0,
"units": "s"
},
{
"name": "valid",
"shortDescription": "Survey-in Valid",
"type": "bool"
},
{
"name": "active",
"shortDescription": "Survey-in Active",
"type": "bool"
},
{
"name": "numSatellites",
"shortDescription": "Number of Satellites",
"type": "int32"
}
]

35
src/Vehicle/GPSRTKFactGroup.cc
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@ -0,0 +1,35 @@ @@ -0,0 +1,35 @@
/****************************************************************************
*
* (c) 2017 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "GPSRTKFactGroup.h"
const char* GPSRTKFactGroup::_connectedFactName = "connected";
const char* GPSRTKFactGroup::_currentAccuracyFactName = "currentAccuracy";
const char* GPSRTKFactGroup::_currentDurationFactName = "currentDuration";
const char* GPSRTKFactGroup::_validFactName = "valid";
const char* GPSRTKFactGroup::_activeFactName = "active";
const char* GPSRTKFactGroup::_numSatellitesFactName = "numSatellites";
GPSRTKFactGroup::GPSRTKFactGroup(QObject* parent)
: FactGroup(1000, ":/json/Vehicle/GPSRTKFact.json", parent)
, _connected (false, _connectedFactName, FactMetaData::valueTypeBool)
, _currentDuration (0, _currentDurationFactName, FactMetaData::valueTypeDouble)
, _currentAccuracy (0, _currentAccuracyFactName, FactMetaData::valueTypeDouble)
, _valid (false, _validFactName, FactMetaData::valueTypeBool)
, _active (false, _activeFactName, FactMetaData::valueTypeBool)
, _numSatellites (false, _numSatellitesFactName, FactMetaData::valueTypeInt32)
{
_addFact(&_connected, _connectedFactName);
_addFact(&_currentDuration, _currentDurationFactName);
_addFact(&_currentAccuracy, _currentAccuracyFactName);
_addFact(&_valid, _validFactName);
_addFact(&_active, _activeFactName);
_addFact(&_numSatellites, _numSatellitesFactName);
}

50
src/Vehicle/GPSRTKFactGroup.h
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@ -0,0 +1,50 @@ @@ -0,0 +1,50 @@
/****************************************************************************
*
* (c) 2017 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "Vehicle.h"
class GPSRTKFactGroup : public FactGroup
{
Q_OBJECT
public:
GPSRTKFactGroup(QObject* parent = NULL);
Q_PROPERTY(Fact* connected READ connected CONSTANT)
Q_PROPERTY(Fact* currentDuration READ currentDuration CONSTANT)
Q_PROPERTY(Fact* currentAccuracy READ currentAccuracy CONSTANT)
Q_PROPERTY(Fact* valid READ valid CONSTANT)
Q_PROPERTY(Fact* active READ active CONSTANT)
Q_PROPERTY(Fact* numSatellites READ numSatellites CONSTANT)
Fact* connected (void) { return &_connected; }
Fact* currentDuration (void) { return &_currentDuration; }
Fact* currentAccuracy (void) { return &_currentAccuracy; }
Fact* valid (void) { return &_valid; }
Fact* active (void) { return &_active; }
Fact* numSatellites (void) { return &_numSatellites; }
static const char* _connectedFactName;
static const char* _currentDurationFactName;
static const char* _currentAccuracyFactName;
static const char* _validFactName;
static const char* _activeFactName;
static const char* _numSatellitesFactName;
private:
Fact _connected; ///< is an RTK gps connected?
Fact _currentDuration; ///< survey-in status in [s]
Fact _currentAccuracy; ///< survey-in accuracy in [mm]
Fact _valid; ///< survey-in valid?
Fact _active; ///< survey-in active?
Fact _numSatellites; ///< number of satellites
};

23
src/ui/toolbar/GPSRTKIndicator.qml
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@ -1,6 +1,6 @@ @@ -1,6 +1,6 @@
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
* (c) 2017 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
@ -14,7 +14,6 @@ import QtQuick.Layouts 1.2 @@ -14,7 +14,6 @@ import QtQuick.Layouts 1.2
import QGroundControl 1.0
import QGroundControl.Controls 1.0
import QGroundControl.MultiVehicleManager 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.Palette 1.0
@ -45,7 +44,7 @@ Item { @@ -45,7 +44,7 @@ Item {
QGCLabel {
id: gpsLabel
text: (activeVehicle && activeVehicle.gps.count.value >= 0) ? qsTr("GPS Status") : qsTr("GPS Data Unavailable")
text: (QGroundControl.gpsRtk.active.value) ? qsTr("Survey-in Active") : qsTr("RTK Active")
font.family: ScreenTools.demiboldFontFamily
anchors.horizontalCenter: parent.horizontalCenter
}
@ -58,16 +57,14 @@ Item { @@ -58,16 +57,14 @@ Item {
anchors.horizontalCenter: parent.horizontalCenter
columns: 2
QGCLabel { text: qsTr("GPS Count:") }
QGCLabel { text: activeVehicle ? activeVehicle.gps.count.valueString : qsTr("N/A", "No data to display") }
QGCLabel { text: qsTr("GPS Lock:") }
QGCLabel { text: activeVehicle ? activeVehicle.gps.lock.enumStringValue : qsTr("N/A", "No data to display") }
QGCLabel { text: qsTr("HDOP:") }
QGCLabel { text: activeVehicle ? activeVehicle.gps.hdop.valueString : qsTr("--.--", "No data to display") }
QGCLabel { text: qsTr("VDOP:") }
QGCLabel { text: activeVehicle ? activeVehicle.gps.vdop.valueString : qsTr("--.--", "No data to display") }
QGCLabel { text: qsTr("Course Over Ground:") }
QGCLabel { text: activeVehicle ? activeVehicle.gps.courseOverGround.valueString : qsTr("--.--", "No data to display") }
QGCLabel { text: qsTr("GPS connected:") }
QGCLabel { text: QGroundControl.gpsRtk.connected.value }
QGCLabel { text: qsTr("Survey-in Duration:") }
QGCLabel { text: QGroundControl.gpsRtk.currentDuration.value }
QGCLabel { text: qsTr("Survey-in Accuracy:") }
QGCLabel { text: QGroundControl.gpsRtk.currentAccuracy.value }
QGCLabel { text: qsTr("Number of Satellites:") }
QGCLabel { text: QGroundControl.gpsRtk.numSatellites.value }
}
}

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