zhaohuwei
/
QG4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Merge branch 'master' of github.com:gefink/qgroundcontrol

QGC4.4
Geoff Fink 12 years ago
parent
b3f2af3c3a e991326e38
commit
ea8b11f524
4 changed files with 61 additions and 39 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 67
      src/uas/UAS.cc
  2. 4
      src/uas/UAS.h
  3. 12
      src/ui/QGCParamWidget.cc
  4. 17
      src/ui/uas/UASControlWidget.cc

67
src/uas/UAS.cc
Unescape View File

@ -38,7 +38,10 @@ @@ -38,7 +38,10 @@
* as the previous one created unless one calls deleteSettings in the code after
* creating the UAS.
*/
UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
lipoFull(4.2f),
lipoEmpty(3.5f),
uasId(id),
links(new QList<LinkInterface*>()),
unknownPackets(),
@ -3329,41 +3332,51 @@ QString UAS::getAudioModeTextFor(int id) @@ -3329,41 +3332,51 @@ QString UAS::getAudioModeTextFor(int id)
* The mode returned can be auto, stabilized, test, manual, preflight or unknown.
* @return the short text of the mode for the id given.
*/
/**
* The mode returned can be auto, stabilized, test, manual, preflight or unknown.
* @return the short text of the mode for the id given.
*/
QString UAS::getShortModeTextFor(int id)
{
QString mode;
QString mode = "";
uint8_t modeid = id;
qDebug() << "MODE:" << modeid;
// BASE MODE DECODING
if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_AUTO)
{
mode += "|AUTO";
}
else if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED)
{
mode += "|VECTOR";
}
if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE)
{
mode += "|STABILIZED";
}
else if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_TEST)
{
mode += "|TEST";
}
else if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL)
{
mode += "|MANUAL";
}
else if (modeid == 0)
if (modeid == 0)
{
mode = "|PREFLIGHT";
}
else
else {
if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_AUTO){
mode += "|AUTO";
}
if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL){
mode += "|MANUAL";
}
if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED){
mode += "|VECTOR";
}
if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE){
mode += "|STABILIZED";
}
if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_TEST){
mode += "|TEST";
}
}
if (mode.length() == 0)
{
mode = "|UNKNOWN";
qDebug() << __FILE__ << __LINE__ << " Unknown modeid: " << modeid;
}
// ARMED STATE DECODING
@ -3382,6 +3395,8 @@ QString UAS::getShortModeTextFor(int id) @@ -3382,6 +3395,8 @@ QString UAS::getShortModeTextFor(int id)
mode.prepend("HIL:");
}
qDebug() << "MODE: " << modeid << " " << mode;
return mode;
}
@ -3445,8 +3460,8 @@ void UAS::setBattery(BatteryType type, int cells) @@ -3445,8 +3460,8 @@ void UAS::setBattery(BatteryType type, int cells)
case LIION:
break;
case LIPOLY:
fullVoltage = this->cells * UAS::lipoFull;
emptyVoltage = this->cells * UAS::lipoEmpty;
fullVoltage = this->cells * lipoFull;
emptyVoltage = this->cells * lipoEmpty;
break;
case LIFE:
break;

4
src/uas/UAS.h
Unescape View File

@ -56,8 +56,8 @@ public: @@ -56,8 +56,8 @@ public:
UAS(MAVLinkProtocol* protocol, int id = 0);
~UAS();
static const float lipoFull = 4.2f; ///< 100% charged voltage
static const float lipoEmpty = 3.5f; ///< Discharged voltage
float lipoFull; ///< 100% charged voltage
float lipoEmpty; ///< Discharged voltage
/* MANAGEMENT */

12
src/ui/QGCParamWidget.cc
Unescape View File

@ -705,7 +705,7 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column) @@ -705,7 +705,7 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column)
current->setBackground(1, QBrush(QColor(QGC::colorOrange)));
}
switch (parameters.value(key)->value(str).type())
switch ((int)parameters.value(key)->value(str).type())
{
case QVariant::Int:
{
@ -766,7 +766,7 @@ void QGCParamWidget::saveParameters() @@ -766,7 +766,7 @@ void QGCParamWidget::saveParameters()
{
QString paramValue("%1");
QString paramType("%1");
switch (j.value().type())
switch ((int)j.value().type())
{
case QVariant::Int:
paramValue = paramValue.arg(j.value().toInt());
@ -777,7 +777,9 @@ void QGCParamWidget::saveParameters() @@ -777,7 +777,9 @@ void QGCParamWidget::saveParameters()
paramType = paramType.arg(MAV_PARAM_TYPE_UINT32);
break;
case QMetaType::Float:
paramValue = paramValue.arg(j.value().toDouble(), 25, 'g', 12);
// We store parameters as floats, with only 6 digits of precision guaranteed for decimal string conversion
// (see IEEE 754, 32 bit single-precision)
paramValue = paramValue.arg((double)j.value().toFloat(), 25, 'g', 6);
paramType = paramType.arg(MAV_PARAM_TYPE_REAL32);
break;
default:
@ -955,7 +957,7 @@ void QGCParamWidget::retransmissionGuardTick() @@ -955,7 +957,7 @@ void QGCParamWidget::retransmissionGuardTick()
if (count < retransmissionBurstRequestSize) {
// Re-request write operation
QVariant value = missingParams->value(key);
switch (parameters.value(component)->value(key).type())
switch ((int)parameters.value(component)->value(key).type())
{
case QVariant::Int:
{
@ -1020,7 +1022,7 @@ void QGCParamWidget::setParameter(int component, QString parameterName, QVariant @@ -1020,7 +1022,7 @@ void QGCParamWidget::setParameter(int component, QString parameterName, QVariant
return;
}
switch (parameters.value(component)->value(parameterName).type())
switch ((int)parameters.value(component)->value(parameterName).type())
{
case QVariant::Char:
{

17
src/ui/uas/UASControlWidget.cc
Unescape View File

@ -51,12 +51,17 @@ UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent), @@ -51,12 +51,17 @@ UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
ui.modeComboBox->clear();
ui.modeComboBox->insertItem(0, UAS::getShortModeTextFor(MAV_MODE_PREFLIGHT).remove(0, 2), MAV_MODE_PREFLIGHT);
ui.modeComboBox->insertItem(1, UAS::getShortModeTextFor((MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED)).remove(0, 2), (MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED));
ui.modeComboBox->insertItem(2, UAS::getShortModeTextFor(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED).remove(0, 2), MAV_MODE_FLAG_MANUAL_INPUT_ENABLED);
ui.modeComboBox->insertItem(3, UAS::getShortModeTextFor((MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED)).remove(0, 2), (MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED));
ui.modeComboBox->insertItem(4, UAS::getShortModeTextFor((MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED)).remove(0, 2), (MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED));
ui.modeComboBox->insertItem(5, UAS::getShortModeTextFor((MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_TEST_ENABLED)).remove(0, 2), (MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_TEST_ENABLED));
int modes[] = {
MAV_MODE_PREFLIGHT,
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED,
MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED,
MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED,
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_TEST_ENABLED,
};
for (int i = 0; i < sizeof(modes) / sizeof(int); i++) {
int mode = modes[i];
ui.modeComboBox->insertItem(i, UAS::getShortModeTextFor(mode).remove(0, 2), mode);
}
connect(ui.modeComboBox, SIGNAL(activated(int)), this, SLOT(setMode(int)));
connect(ui.setModeButton, SIGNAL(clicked()), this, SLOT(transmitMode()));

Write Preview
Loading…
Cancel
Save