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Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into next

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This commit is contained in:
PT_Dreamer 2012-09-25 10:44:32 +01:00
commit 43f85d9617
22 changed files with 3019 additions and 2751 deletions
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4
ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
View File

@ -2500,9 +2500,9 @@
<type>splitter</type>
</side0>
<side1>
<classId>PFDGadget</classId>
<classId>PfdQmlGadget</classId>
<gadget>
<activeConfiguration>raw</activeConfiguration>
<activeConfiguration>NoTerrain</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>

4
ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
View File

@ -2494,9 +2494,9 @@
<type>splitter</type>
</side0>
<side1>
<classId>PFDGadget</classId>
<classId>PfdQmlGadget</classId>
<gadget>
<activeConfiguration>raw</activeConfiguration>
<activeConfiguration>NoTerrain</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>

26
ground/openpilotgcs/share/openpilotgcs/pfd/default/AltitudeScale.qml
View File

@ -2,26 +2,24 @@ import Qt 4.7
Item {
id: sceneItem
property variant sourceSize
property variant sceneSize
Image {
SvgElementImage {
id: altitude_bg
source: "image://svg/pfd.svg!altitude-bg"
sourceSize: sceneItem.sourceSize
elementName: "altitude-bg"
sceneSize: sceneItem.sceneSize
clip: true
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "altitude-bg")
x: scaledBounds.x * sceneItem.width
y: scaledBounds.y * sceneItem.height
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
Image {
SvgElementImage {
id: altitude_scale
source: "image://svg/pfd.svg!altitude-scale"
sourceSize: sceneItem.sourceSize
elementName: "altitude-scale"
sceneSize: sceneItem.sceneSize
anchors.verticalCenter: parent.verticalCenter
// The altitude scale represents 30 meters,
@ -55,12 +53,12 @@ Item {
}
Image {
SvgElementImage {
id: altitude_window
clip: true
source: "image://svg/pfd.svg!altitude-window"
sourceSize: sceneItem.sourceSize
elementName: "altitude-window"
sceneSize: sceneItem.sceneSize
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "altitude-window")

37
ground/openpilotgcs/share/openpilotgcs/pfd/default/Compass.qml Normal file
View File

@ -0,0 +1,37 @@
import Qt 4.7
import "."
Item {
id: sceneItem
property variant sceneSize
SvgElementImage {
id: compass
elementName: "compass"
sceneSize: sceneItem.sceneSize
clip: true
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
//anchors.horizontalCenter: parent.horizontalCenter
//split compass band to 8 parts to ensure it doesn't exceed the max texture size
Row {
anchors.centerIn: parent
//the band is 540 degrees wide, AttitudeActual.Yaw is converted to -180..180 range
anchors.horizontalCenterOffset: -1*((AttitudeActual.Yaw+180+720) % 360 - 180)/540*width
Repeater {
model: 5
SvgElementImage {
id: compass_band
elementName: "compass-band"
sceneSize: background.sceneSize
hSliceCount: 5
hSlice: index
}
}
}
}
}

86
ground/openpilotgcs/share/openpilotgcs/pfd/default/Pfd.qml
View File

@ -4,15 +4,13 @@ import "."
Rectangle {
color: "#666666"
Image {
SvgElementImage {
id: background
source: "image://svg/pfd.svg!background"
elementName: "background"
fillMode: Image.PreserveAspectFit
anchors.fill: parent
sourceSize.width: width
sourceSize.height: height
sceneSize: Qt.size(width, height)
Item {
id: sceneItem
@ -27,60 +25,74 @@ Rectangle {
source: qmlWidget.terrainEnabled ? "PfdTerrainView.qml" : "PfdWorldView.qml"
}
Image {
SvgElementImage {
id: rollscale
source: "image://svg/pfd.svg!rollscale"
sourceSize: background.sourceSize
elementName: "rollscale"
sceneSize: background.sceneSize
smooth: true
anchors.centerIn: parent
//rotate it around the center of scene
transform: Rotation {
angle: -AttitudeActual.Roll
origin.x : sceneItem.width/2 - x
origin.y : sceneItem.height/2 - y
}
anchors.centerIn: parent
//rotate it around the center of scene
transform: Rotation {
angle: -AttitudeActual.Roll
origin.x : sceneItem.width/2 - x
origin.y : sceneItem.height/2 - y
}
}
Image {
SvgElementImage {
id: foreground
source: "image://svg/pfd.svg!foreground"
sourceSize: background.sourceSize
elementName: "foreground"
sceneSize: background.sceneSize
anchors.centerIn: parent
}
Image {
id: compass
source: "image://svg/pfd.svg!compass"
sourceSize: background.sourceSize
clip: true
SvgElementImage {
id: side_slip
elementName: "sideslip"
sceneSize: background.sceneSize
smooth: true
y: 12
anchors.horizontalCenter: parent.horizontalCenter
Image {
id: compass_band
source: "image://svg/pfd.svg!compass-band"
sourceSize: background.sourceSize
anchors.centerIn: parent
//the band is 540 degrees wide
anchors.horizontalCenterOffset: -1*AttitudeActual.Yaw/540*width
property real sideSlip: Accels.y
//smooth side slip changes, a low pass filter replacement
//accels are updated once per second
Behavior on sideSlip {
SmoothedAnimation {
duration: 1000
velocity: -1
}
}
anchors.horizontalCenter: foreground.horizontalCenter
//0.5 coefficient is empirical to limit indicator movement
anchors.horizontalCenterOffset: -sideSlip*width*0.5
y: scaledBounds.y * sceneItem.height
}
Compass {
anchors.fill: parent
sceneSize: background.sceneSize
}
SpeedScale {
anchors.fill: parent
sourceSize: background.sourceSize
sceneSize: background.sceneSize
}
AltitudeScale {
anchors.fill: parent
sourceSize: background.sourceSize
sceneSize: background.sourceSize
}
VsiScale {
anchors.fill: parent
sceneSize: background.sourceSize
}
PfdIndicators {
anchors.fill: parent
sourceSize: background.sourceSize
sceneSize: background.sourceSize
}
}
}

25
ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdIndicators.qml
View File

@ -2,21 +2,19 @@ import Qt 4.7
Item {
id: sceneItem
property variant sourceSize
property variant sceneSize
//telemetry status arrow
Image {
SvgElementImage {
id: telemetry_status
source: "image://svg/pfd.svg!gcstelemetry-"+statusName
sourceSize: sceneItem.sourceSize
elementName: "gcstelemetry-"+statusName
sceneSize: sceneItem.sceneSize
property string statusName : ["Disconnected","HandshakeReq","HandshakeAck","Connected"][GCSTelemetryStats.Status]
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "gcstelemetry-Disconnected")
x: scaledBounds.x * sceneItem.width
y: scaledBounds.y * sceneItem.height
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "gcstelemetry-Disconnected")
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
}
//telemetry rate text
@ -41,8 +39,8 @@ Item {
visible: GPSPosition.Satellites > 0
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "gps-txt")
x: scaledBounds.x * sceneItem.width
y: scaledBounds.y * sceneItem.height
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
}
Text {
@ -63,8 +61,7 @@ Item {
visible: FlightBatteryState.Voltage > 0 || FlightBatteryState.Current > 0
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "battery-txt")
x: scaledBounds.x * sceneItem.width
y: scaledBounds.y * sceneItem.height
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
}
}

45
ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml
View File

@ -1,23 +1,29 @@
import Qt 4.7
Item {
//worldView should fill the source size of svg document
id: worldView
Image {
Rectangle {
id: world
source: "image://svg/pfd.svg!world"
sourceSize.width: worldView.width
sourceSize.height: worldView.height
smooth: true
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "world")
width: Math.round(sceneItem.width*scaledBounds.width/2)*2
height: Math.round(sceneItem.height*scaledBounds.height/2)*2
gradient: Gradient {
GradientStop { position: 0.3; color: "#6589E2" }
GradientStop { position: 0.4999; color: "#AFC2F0" }
GradientStop { position: 0.5; color: "#A46933" }
GradientStop { position: 0.8; color: "black" }
}
transform: [
Translate {
id: pitchTranslate
x: (world.parent.width - world.width)/2
y: (world.parent.height - world.height)/2 + AttitudeActual.Pitch*world.parent.height/94
x: Math.round((world.parent.width - world.width)/2)
y: Math.round((world.parent.height - world.height)/2 +
AttitudeActual.Pitch*world.parent.height/94)
},
Rotation {
angle: -AttitudeActual.Roll
@ -25,5 +31,26 @@ Item {
origin.y : world.parent.height/2
}
]
SvgElementImage {
id: pitch_scale
elementName: "pitch_scale"
//worldView is loaded with Loader, so background element is visible
sceneSize: background.sceneSize
anchors.centerIn: parent
border: 64 //sometimes numbers are excluded from bounding rect
smooth: true
}
SvgElementImage {
id: horizont_line
elementName: "world-centerline"
//worldView is loaded with Loader, so background element is visible
sceneSize: background.sceneSize
anchors.centerIn: parent
border: 1
smooth: true
}
}
}

30
ground/openpilotgcs/share/openpilotgcs/pfd/default/SpeedScale.qml
View File

@ -2,28 +2,24 @@ import Qt 4.7
Item {
id: sceneItem
property variant sourceSize
property variant sceneSize
property real groundSpeed : 3.6 * Math.sqrt(Math.pow(VelocityActual.North,2)+
Math.pow(VelocityActual.East,2))
Image {
SvgElementImage {
id: speed_bg
source: "image://svg/pfd.svg!speed-bg"
sourceSize: sceneItem.sourceSize
elementName: "speed-bg"
sceneSize: sceneItem.sceneSize
clip: true
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "speed-bg")
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
x: scaledBounds.x * sceneItem.width
y: scaledBounds.y * sceneItem.height
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
Image {
SvgElementImage {
id: speed_scale
source: "image://svg/pfd.svg!speed-scale"
sourceSize: sceneItem.sourceSize
elementName: "speed-scale"
sceneSize: sceneItem.sceneSize
anchors.verticalCenter: parent.verticalCenter
// The speed scale represents 30 meters,
@ -63,14 +59,12 @@ Item {
}
Image {
SvgElementImage {
id: speed_window
clip: true
source: "image://svg/pfd.svg!speed-window"
sourceSize: sceneItem.sourceSize
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd.svg", "speed-window")
elementName: "speed-window"
sceneSize: sceneItem.sceneSize
x: scaledBounds.x * sceneItem.width
y: scaledBounds.y * sceneItem.height

34
ground/openpilotgcs/share/openpilotgcs/pfd/default/SvgElementImage.qml Normal file
View File

@ -0,0 +1,34 @@
import Qt 4.7
Image {
id: sceneItem
property variant sceneSize
property string elementName
property string svgFileName: "pfd.svg"
property int vSlice: 0
property int vSliceCount: 0
property int hSlice: 0
property int hSliceCount: 0
//border property is useful to extent the area of image e bit,
//so it looks well antialiased when rotated
property int border: 0
property variant scaledBounds: svgRenderer.scaledElementBounds(svgFileName, elementName)
sourceSize.width: Math.round(sceneSize.width*scaledBounds.width)
sourceSize.height: Math.round(sceneSize.height*scaledBounds.height)
Component.onCompleted: {
var params = ""
if (hSliceCount > 1)
params += "hslice="+hSlice+":"+hSliceCount+";"
if (vSliceCount > 1)
params += "vslice="+vSlice+":"+vSliceCount+";"
if (border > 0)
params += "border="+border+";"
if (params != "")
params = "?" + params
source = "image://svg/"+svgFileName+"!"+elementName+params
}
}

77
ground/openpilotgcs/share/openpilotgcs/pfd/default/VsiScale.qml Normal file
View File

@ -0,0 +1,77 @@
import Qt 4.7
Item {
id: sceneItem
property variant sceneSize
SvgElementImage {
id: vsi_bg
elementName: "vsi-bg"
sceneSize: sceneItem.sceneSize
clip: true
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
SvgElementImage {
id: vsi_bar
elementName: "vsi-bar"
sceneSize: sceneItem.sceneSize
//the scale in 1000 ft/min with height == 5200 ft/min
height: (-VelocityActual.Down*3.28*60/1000)*(vsi_scale.height/5.2)
anchors.bottom: parent.verticalCenter
anchors.left: parent.left
}
SvgElementImage {
id: vsi_scale
elementName: "vsi-scale"
sceneSize: sceneItem.sceneSize
anchors.verticalCenter: parent.verticalCenter
anchors.left: parent.left
//Text labels
Column {
anchors.verticalCenter: parent.verticalCenter
anchors.left: parent.right
Repeater {
model: [2, 1, 0, 1, 2]
Item {
height: vsi_scale.height / 5.2 //the scale height is 5200
width: vsi_bg.width - vsi_scale.width //fill area right to scale
Text {
text: modelData
visible: modelData !== 0 //hide "0" label
color: "white"
font.pixelSize: parent.height / 4
font.family: "Arial"
anchors.centerIn: parent
}
}
}
}
}
}
SvgElementImage {
id: vsi_window
clip: true
smooth: true
elementName: "vsi-window"
sceneSize: sceneItem.sceneSize
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
}
}

5127
ground/openpilotgcs/share/openpilotgcs/pfd/default/pfd.svg
View File

@ -15,11 +15,11 @@
id="svg2"
version="1.1"
inkscape:version="0.48.3.1 r9886"
sodipodi:docname="pfd.svg"
sodipodi:docname="pfd-6.svg"
style="display:inline"
inkscape:export-filename="H:\Documents\Hobbies\OpenPilot\SVN\artwork\PFD-2.png"
inkscape:export-xdpi="269.53"
inkscape:export-ydpi="269.53">
inkscape:export-filename="C:\Users\Nuno\Desktop\OpenPilot\PFD\PFD-4.png"
inkscape:export-xdpi="71.993568"
inkscape:export-ydpi="71.993568">
<defs
id="defs4">
<marker
@ -1615,18 +1615,18 @@
borderopacity="1.0"
inkscape:pageopacity="0.0"
inkscape:pageshadow="2"
inkscape:zoom="0.73067675"
inkscape:cx="431.15187"
inkscape:cy="372.16908"
inkscape:zoom="1"
inkscape:cx="568.94653"
inkscape:cy="247.78161"
inkscape:document-units="px"
inkscape:current-layer="layer3"
inkscape:current-layer="layer41"
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inkscape:window-width="1440"
inkscape:window-height="838"
inkscape:window-x="-8"
inkscape:window-y="-8"
inkscape:window-width="1680"
inkscape:window-height="987"
inkscape:window-x="-4"
inkscape:window-y="-4"
inkscape:window-maximized="1"
showguides="true"
showguides="false"
inkscape:guide-bbox="true"
inkscape:snap-grids="false"
inkscape:snap-to-guides="true"
@ -1680,6 +1680,38 @@
orientation="0,1"
position="-378.30213,170.71578"
id="guide5917" />
<sodipodi:guide
orientation="0,1"
position="481.5,752.75"
id="guide7197" />
<sodipodi:guide
position="669.44526,613.50294"
orientation="519.61524,-300"
id="guide5032" />
<sodipodi:guide
position="779.25288,503.69532"
orientation="300,-519.61524"
id="guide5034" />
<sodipodi:guide
position="622.0513,635.6031"
orientation="563.81557,-205.21208"
id="guide5036" />
<sodipodi:guide
position="571.53971,649.13764"
orientation="590.88465,-104.1889"
id="guide5038" />
<sodipodi:guide
orientation="1,0"
position="450.8125,483.4375"
id="guide4007" />
<sodipodi:guide
orientation="1,0"
position="589,485.5"
id="guide4009" />
<sodipodi:guide
orientation="0,1"
position="-504.5,799.5"
id="guide5119" />
</sodipodi:namedview>
<metadata
id="metadata7">
@ -1689,14 +1721,14 @@
<dc:format>image/svg+xml</dc:format>
<dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
<dc:title />
<dc:title></dc:title>
</cc:Work>
</rdf:RDF>
</metadata>
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inkscape:groupmode="layer"
id="layer7"
inkscape:label="Background"
inkscape:label="background"
style="display:none"
transform="translate(230.4171,-2.5493479)"
sodipodi:insensitive="true">
@ -1711,301 +1743,218 @@
inkscape:label="#rect6231" />
</g>
<g
inkscape:label="World"
inkscape:label="world"
inkscape:groupmode="layer"
id="layer1"
transform="translate(230.4171,-254.91153)"
style="display:none"
style="display:inline"
sodipodi:insensitive="true">
<g
id="world"
inkscape:label="#g3042">
<g
transform="matrix(4.6362185,0,0,1.5267412,-1475.4746,-169.05952)"
id="g4280">
transform="matrix(4.6362185,0,0,1.9084264,-1475.4746,-363.49767)"
id="world-bg"
inkscape:label="#g4280">
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y="509.42014"
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height="654.98987"
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inkscape:label="#rect3724" />
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id="sky"
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inkscape:connector-curvature="0"
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Width:  |  Height:  |  Size: 320 KiB

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35
ground/openpilotgcs/share/openpilotgcs/pfd/default/readymap.earth Normal file
View File

@ -0,0 +1,35 @@
<!--
osgEarth Sample - ReadyMap.ORG Server - http://readymap.org
ReadyMap.ORG provides free global base map data for osgEarth developers!
This tiled, worldwide dataset of imagery, elevation, and street map data
is a great base map that provides global context for your own local datasets.
It works "out of the box" with osgEarth applications.
**** NOTICE ****
YOU ARE RESPONSIBLE for abiding by the TERMS AND CONDITIONS outlined at:
http://readymap.org
-->
<map name="readymap.org" type="geocentric" version="2">
<image name="ReadyMap.org - Imagery" driver="tms">
<url>http://readymap.org/readymap/tiles/1.0.0/7/</url>
</image>
<image name="ReadyMap.org - Street Map" driver="tms">
<url>http://readymap.org/readymap/tiles/1.0.0/35/</url>
</image>
<elevation name="ReadyMap.org - Elevation" driver="tms">
<url>http://readymap.org/readymap/tiles/1.0.0/9/</url>
</elevation>
<options>
<terrain>
<lighting>false</lighting>
<lod_fall_off>6.0</lod_fall_off>
</terrain>
</options>
</map>

25
ground/openpilotgcs/share/openpilotgcs/pfd/default/yahoo_readymap.earth Normal file
View File

@ -0,0 +1,25 @@
<!--
osgEarth Sample - SRTM global elevation
This sample demonstrates the use of a global SRTM TMS data source for world-wide elevation.
The heightfield is draped with the NASA Blue Marble imagery.
-->
<map name="srtm sample" type="globe" version="2">
<image name="yahoo aerial" driver="yahoo">
<dataset>satellite</dataset>
</image>
<elevation name="ReadyMap.org - Elevation" driver="tms">
<url>http://readymap.org/readymap/tiles/1.0.0/9/</url>
</elevation>
<options>
<terrain>
<lighting>false</lighting>
<lod_fall_off>6.0</lod_fall_off>
</terrain>
</options>
</map>

92
ground/openpilotgcs/src/libs/utils/svgimageprovider.cpp
View File

@ -67,12 +67,24 @@ QSvgRenderer *SvgImageProvider::loadRenderer(const QString &svgFile)
}
/**
requestedSize is realted to the whole svg file, not to specific element
*/
Supported id format: fileName[!elementName[?parameters]]
where parameters may be:
vslice=1:2;hslice=2:4 - use the 3rd horizontal slice of total 4 slices, slice numbering starts from 0
borders=1 - 1 pixel wide transparent border
requestedSize is related to the whole element size, even if slice is requested.
usage:
Image {
source: "image://svg/pfd.svg!world"
}
*/
QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSize &requestedSize)
{
QString svgFile = id;
QString element;
QString parameters;
int separatorPos = id.indexOf('!');
if (separatorPos != -1) {
@ -80,6 +92,34 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
element = id.mid(separatorPos+1);
}
int parametersPos = element.indexOf('?');
if (parametersPos != -1) {
parameters = element.mid(parametersPos+1);
element = element.left(parametersPos);
}
int hSlicesCount = 0;
int hSlice = 0;
int vSlicesCount = 0;
int vSlice = 0;
int border = 0;
if (!parameters.isEmpty()) {
QRegExp hSliceRx("hslice=(\\d+):(\\d+)");
if (hSliceRx.indexIn(parameters) != -1) {
hSlice = hSliceRx.cap(1).toInt();
hSlicesCount = hSliceRx.cap(2).toInt();
}
QRegExp vSliceRx("vslice=(\\d+):(\\d+)");
if (vSliceRx.indexIn(parameters) != -1) {
vSlice = vSliceRx.cap(1).toInt();
vSlicesCount = vSliceRx.cap(2).toInt();
}
QRegExp borderRx("border=(\\d+)");
if (borderRx.indexIn(parameters) != -1) {
border = borderRx.cap(1).toInt();
}
}
if (size)
*size = QSize();
@ -92,9 +132,15 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
QSize docSize = renderer->defaultSize();
if (!requestedSize.isEmpty() && !docSize.isEmpty()) {
xScale = qreal(requestedSize.width())/docSize.width();
yScale = qreal(requestedSize.height())/docSize.height();
if (!requestedSize.isEmpty()) {
if (!element.isEmpty()) {
QRectF elementBounds = renderer->boundsOnElement(element);
xScale = qreal(requestedSize.width())/elementBounds.width();
yScale = qreal(requestedSize.height())/elementBounds.height();
} else if (!docSize.isEmpty()) {
xScale = qreal(requestedSize.width())/docSize.width();
yScale = qreal(requestedSize.height())/docSize.height();
}
}
//keep the aspect ratio
@ -108,16 +154,37 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
}
QRectF elementBounds = renderer->boundsOnElement(element);
int w = qRound(elementBounds.width() * xScale);
int h = qRound(elementBounds.height() * yScale);
int elementWidth = qRound(elementBounds.width() * xScale);
int elementHeigh = qRound(elementBounds.height() * yScale);
int w = elementWidth;
int h = elementHeigh;
int x = 0;
int y = 0;
QImage img(w, h, QImage::Format_ARGB32_Premultiplied);
if (hSlicesCount > 1) {
x = (w*hSlice)/hSlicesCount;
w = (w*(hSlice+1))/hSlicesCount - x;
}
if (vSlicesCount > 1) {
y = (h*(vSlice))/vSlicesCount;
h = (h*(vSlice+1))/vSlicesCount - y;
}
QImage img(w+border*2, h+border*2, QImage::Format_ARGB32_Premultiplied);
img.fill(0);
QPainter p(&img);
renderer->render(&p, element);
p.setRenderHints(QPainter::TextAntialiasing |
QPainter::Antialiasing |
QPainter::SmoothPixmapTransform);
p.translate(-x+border,-y+border);
renderer->render(&p, element, QRectF(0, 0, elementWidth, elementHeigh));
if (size)
*size = QSize(w, h);
//img.save(element+parameters+".png");
return img;
} else {
//render the whole svg file
@ -127,7 +194,12 @@ QImage SvgImageProvider::requestImage(const QString &id, QSize *size, const QSiz
QImage img(w, h, QImage::Format_ARGB32_Premultiplied);
img.fill(0);
QPainter p(&img);
renderer->render(&p);
p.setRenderHints(QPainter::TextAntialiasing |
QPainter::Antialiasing |
QPainter::SmoothPixmapTransform);
p.scale(xScale, yScale);
renderer->render(&p, QRectF(QPointF(), QSizeF(docSize)));
if (size)
*size = QSize(w, h);

9
ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadget.cpp
View File

@ -38,6 +38,7 @@ PfdQmlGadget::~PfdQmlGadget()
void PfdQmlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
{
PfdQmlGadgetConfiguration *m = qobject_cast<PfdQmlGadgetConfiguration*>(config);
m_widget->setOpenGLEnabled(m->openGLEnabled());
m_widget->setQmlFile(m->qmlFile());
m_widget->setEarthFile(m->earthFile());
m_widget->setTerrainEnabled(m->terrainEnabled());
@ -51,8 +52,10 @@ void PfdQmlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
if (m->cacheOnly()) {
qputenv("OSGEARTH_CACHE_ONLY", "true");
} else {
//how portable it is?
//unsetenv("OSGEARTH_CACHE_ONLY");
qputenv("OSGEARTH_CACHE_ONLY", "false");
#ifdef Q_OS_WIN32
qputenv("OSGEARTH_CACHE_ONLY", "");
#else
unsetenv("OSGEARTH_CACHE_ONLY");
#endif
}
}

6
ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.cpp
View File

@ -25,7 +25,8 @@ PfdQmlGadgetConfiguration::PfdQmlGadgetConfiguration(QString classId, QSettings
IUAVGadgetConfiguration(classId, parent),
m_qmlFile("Unknown"),
m_earthFile("Unknown"),
m_terrainEnabled(true),
m_openGLEnabled(true),
m_terrainEnabled(false),
m_actualPositionUsed(false),
m_latitude(0),
m_longitude(0),
@ -40,6 +41,7 @@ PfdQmlGadgetConfiguration::PfdQmlGadgetConfiguration(QString classId, QSettings
m_earthFile = qSettings->value("earthFile").toString();
m_earthFile=Utils::PathUtils().InsertDataPath(m_earthFile);
m_openGLEnabled = qSettings->value("openGLEnabled", true).toBool();
m_terrainEnabled = qSettings->value("terrainEnabled").toBool();
m_actualPositionUsed = qSettings->value("actualPositionUsed").toBool();
m_latitude = qSettings->value("latitude").toDouble();
@ -57,6 +59,7 @@ IUAVGadgetConfiguration *PfdQmlGadgetConfiguration::clone()
{
PfdQmlGadgetConfiguration *m = new PfdQmlGadgetConfiguration(this->classId());
m->m_qmlFile = m_qmlFile;
m->m_openGLEnabled = m_openGLEnabled;
m->m_earthFile = m_earthFile;
m->m_terrainEnabled = m_terrainEnabled;
m->m_actualPositionUsed = m_actualPositionUsed;
@ -78,6 +81,7 @@ void PfdQmlGadgetConfiguration::saveConfig(QSettings* qSettings) const {
QString earthFile = Utils::PathUtils().RemoveDataPath(m_earthFile);
qSettings->setValue("earthFile", earthFile);
qSettings->setValue("openGLEnabled", m_openGLEnabled);
qSettings->setValue("terrainEnabled", m_terrainEnabled);
qSettings->setValue("actualPositionUsed", m_actualPositionUsed);
qSettings->setValue("latitude", m_latitude);

3
ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.h
View File

@ -29,6 +29,7 @@ public:
void setQmlFile(const QString &fileName) { m_qmlFile=fileName; }
void setEarthFile(const QString &fileName) { m_earthFile=fileName; }
void setOpenGLEnabled(bool flag) { m_openGLEnabled = flag; }
void setTerrainEnabled(bool flag) { m_terrainEnabled = flag; }
void setActualPositionUsed(bool flag) { m_actualPositionUsed = flag; }
void setLatitude(double value) { m_latitude = value; }
@ -38,6 +39,7 @@ public:
QString qmlFile() const { return m_qmlFile; }
QString earthFile() const { return m_earthFile; }
bool openGLEnabled() const { return m_openGLEnabled; }
bool terrainEnabled() const { return m_terrainEnabled; }
bool actualPositionUsed() const { return m_actualPositionUsed; }
double latitude() const { return m_latitude; }
@ -51,6 +53,7 @@ public:
private:
QString m_qmlFile; // The name of the dial's SVG source file
QString m_earthFile; // The name of osgearth terrain file
bool m_openGLEnabled;
bool m_terrainEnabled;
bool m_actualPositionUsed;
double m_latitude;

7
ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp
View File

@ -53,6 +53,7 @@ QWidget *PfdQmlGadgetOptionsPage::createPage(QWidget *parent)
options_page->earthFile->setPromptDialogTitle(tr("Choose OsgEarth terrain file"));
options_page->earthFile->setPath(m_config->earthFile());
options_page->useOpenGL->setChecked(m_config->openGLEnabled());
options_page->showTerrain->setChecked(m_config->terrainEnabled());
options_page->useActualLocation->setChecked(m_config->actualPositionUsed());
@ -80,7 +81,13 @@ void PfdQmlGadgetOptionsPage::apply()
{
m_config->setQmlFile(options_page->qmlSourceFile->path());
m_config->setEarthFile(options_page->earthFile->path());
m_config->setOpenGLEnabled(options_page->useOpenGL->isChecked());
#ifdef USE_OSG
m_config->setTerrainEnabled(options_page->showTerrain->isChecked());
#else
m_config->setTerrainEnabled(false);
#endif
m_config->setActualPositionUsed(options_page->useActualLocation->isChecked());
m_config->setLatitude(options_page->latitude->text().toDouble());

62
ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.ui
View File

@ -20,12 +20,6 @@
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout_4">
<property name="margin">
<number>0</number>
</property>
<property name="spacing">
<number>0</number>
</property>
<item row="0" column="0">
<widget class="QScrollArea" name="scrollArea">
<property name="frameShape">
@ -42,8 +36,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>457</width>
<height>436</height>
<width>439</width>
<height>418</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_3">
@ -78,6 +72,16 @@
</layout>
</item>
<item row="1" column="0" colspan="2">
<widget class="QCheckBox" name="useOpenGL">
<property name="text">
<string>Use OpenGL</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0" colspan="2">
<widget class="QGroupBox" name="showTerrain">
<property name="title">
<string>Show Terrain:</string>
@ -213,7 +217,7 @@
</layout>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
@ -249,12 +253,12 @@
<slot>setEnabled(bool)</slot>
<hints>
<hint type="sourcelabel">
<x>150</x>
<y>138</y>
<x>167</x>
<y>188</y>
</hint>
<hint type="destinationlabel">
<x>142</x>
<y>172</y>
<x>260</x>
<y>222</y>
</hint>
</hints>
</connection>
@ -265,12 +269,12 @@
<slot>setEnabled(bool)</slot>
<hints>
<hint type="sourcelabel">
<x>164</x>
<y>141</y>
<x>181</x>
<y>188</y>
</hint>
<hint type="destinationlabel">
<x>164</x>
<y>202</y>
<x>282</x>
<y>255</y>
</hint>
</hints>
</connection>
@ -281,12 +285,28 @@
<slot>setEnabled(bool)</slot>
<hints>
<hint type="sourcelabel">
<x>190</x>
<y>141</y>
<x>207</x>
<y>188</y>
</hint>
<hint type="destinationlabel">
<x>190</x>
<y>237</y>
<x>308</x>
<y>288</y>
</hint>
</hints>
</connection>
<connection>
<sender>useOpenGL</sender>
<signal>toggled(bool)</signal>
<receiver>showTerrain</receiver>
<slot>setEnabled(bool)</slot>
<hints>
<hint type="sourcelabel">
<x>99</x>
<y>57</y>
</hint>
<hint type="destinationlabel">
<x>99</x>
<y>89</y>
</hint>
</hints>
</connection>

30
ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
View File

@ -34,6 +34,7 @@
PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWidget *parent) :
QDeclarativeView(parent),
m_openGLEnabled(false),
m_terrainEnabled(false),
m_actualPositionUsed(false),
m_latitude(46.671478),
@ -44,12 +45,16 @@ PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWidget *parent) :
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
setResizeMode(SizeRootObjectToView);
setViewport(new QGLWidget(QGLFormat(QGL::SampleBuffers)));
//setViewport(new QGLWidget(QGLFormat(QGL::SampleBuffers)));
QStringList objectsToExport;
objectsToExport << "VelocityActual" <<
"PositionActual" <<
"AttitudeActual" <<
"Accels" <<
"VelocityDesired" <<
"PositionDesired" <<
"AttitudeHoldDesired" <<
"GPSPosition" <<
"GCSTelemetryStats" <<
"FlightBatteryState";
@ -106,9 +111,26 @@ void PfdQmlGadgetWidget::setEarthFile(QString arg)
void PfdQmlGadgetWidget::setTerrainEnabled(bool arg)
{
if (m_terrainEnabled != arg) {
m_terrainEnabled = arg;
emit terrainEnabledChanged(arg);
bool wasEnabled = terrainEnabled();
m_terrainEnabled = arg;
if (wasEnabled != terrainEnabled())
emit terrainEnabledChanged(terrainEnabled());
}
void PfdQmlGadgetWidget::setOpenGLEnabled(bool arg)
{
if (m_openGLEnabled != arg) {
m_openGLEnabled = arg;
qDebug() << Q_FUNC_INFO << "Set OPENGL" << m_openGLEnabled;
if (m_openGLEnabled)
setViewport(new QGLWidget(QGLFormat(QGL::SampleBuffers)));
else
setViewport(new QWidget);
//update terrainEnabled status with opengl status chaged
setTerrainEnabled(m_terrainEnabled);
}
}

4
ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.h
View File

@ -39,7 +39,7 @@ public:
void setQmlFile(QString fn);
QString earthFile() const { return m_earthFile; }
bool terrainEnabled() const { return m_terrainEnabled; }
bool terrainEnabled() const { return m_terrainEnabled && m_openGLEnabled; }
bool actualPositionUsed() const { return m_actualPositionUsed; }
double latitude() const { return m_latitude; }
@ -49,6 +49,7 @@ public:
public slots:
void setEarthFile(QString arg);
void setTerrainEnabled(bool arg);
void setOpenGLEnabled(bool arg);
void setLatitude(double arg);
void setLongitude(double arg);
@ -68,6 +69,7 @@ signals:
private:
QString m_qmlFileName;
QString m_earthFile;
bool m_openGLEnabled;
bool m_terrainEnabled;
bool m_actualPositionUsed;

2
shared/uavobjectdefinition/relaytuning.xml
View File

@ -3,7 +3,7 @@
<description>The input to the relay tuning.</description>
<field name="Period" units="ms" type="float" elementnames="Roll,Pitch,Yaw"/>
<field name="Gain" units="(deg/s)/output" type="float" elementnames="Roll,Pitch,Yaw"/>
<access gcs="readwrite" flight="readwrite"/>
<access gcs="readonly" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="manual" period="0"/>