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Code Issues Releases Activity

Ground/PFD: Reconnected right data to PFD. Edouard - heading doesn't seem to scale between degrees and transform on the compass correctly, but I don't know the right constant.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1519 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-09-04 03:20:40 +00:00 committed by peabody124
parent b4ff14b725
commit 544f15eadf
2 changed files with 70 additions and 65 deletions
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117
ground/src/plugins/pfd/pfdgadgetwidget.cpp
View File

@ -118,6 +118,20 @@ void PFDGadgetWidget::connectNeedles() {
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
airspeedObj = dynamic_cast<UAVDataObject*>(objManager->getObject("PositionActual"));
if (attitudeObj != NULL ) {
connect(airspeedObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateAirspeed(UAVObject*)));
} else {
qDebug() << "Error: Object is unknown (PositionActual).";
}
altitudeObj = dynamic_cast<UAVDataObject*>(objManager->getObject("PositionActual"));
if (attitudeObj != NULL ) {
connect(altitudeObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateAltitude(UAVObject*)));
} else {
qDebug() << "Error: Object is unknown (PositionActual).";
}
attitudeObj = dynamic_cast<UAVDataObject*>(objManager->getObject("AttitudeActual"));
if (attitudeObj != NULL ) {
connect(attitudeObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateAttitude(UAVObject*)));
@ -214,95 +228,83 @@ void PFDGadgetWidget::updateLinkStatus(UAVObject *object1) {
Resolution is 1 degree roll & 1/7.5 degree pitch.
*/
void PFDGadgetWidget::updateAttitude(UAVObject *object1) {
UAVObjectField* field = object1->getField(QString("Roll"));
UAVObjectField* field2 = object1->getField(QString("Pitch"));
// Double check that the field exists:
if (field && field2) {
UAVObjectField * rollField = object1->getField(QString("Roll"));
UAVObjectField * yawField = object1->getField(QString("Yaw"));
UAVObjectField * pitchField = object1->getField(QString("Pitch"));
if(rollField && yawField && pitchField) {
// These factors assume some things about the PFD SVG, namely:
// - Roll value in degrees
// - Roll, Pitch and Heading value in degrees
// - Pitch lines are 300px high for a +20/-20 range, which means
// 7.5 pixels per pitch degree.
// TODO: loosen this constraint and only require a +/- 20 deg range,
// and compute the height from the SVG element.
// Also: keep the integer value only, to avoid unnecessary redraws
rollTarget = -floor(field->getDouble()*10)/10;
rollTarget = -floor(pitchField->getDouble()*10)/10;
if ((rollTarget - rollValue) > 180) {
rollValue += 360;
} else if (((rollTarget - rollValue) < -180)) {
rollValue -= 360;
}
pitchTarget = floor(field2->getDouble()*7.5);
// if (!skyDialTimer.isActive())
// skyDialTimer.start(); // Rearm the dial Timer which might be stopped.
} else {
qDebug() << "UpdateAttitude: Wrong field, maybe an issue with object disconnection ?";
}
}
/*!
\brief Updates the compass reading and speed dial.
This also updates speed & altitude according to GPS data.
Note: the speed dial shows the ground speed at the moment, because
there is no airspeed by default. Should become configurable in a future
gadget release (TODO)
*/
void PFDGadgetWidget::updateHeading(UAVObject *object1) {
// Double check that the field exists:
QString fieldname = QString("Heading");
UAVObjectField* field = object1->getField(fieldname);
if (field) {
// These factors assume some things about the PFD SVG, namely:
// - Heading value in degrees
// - "Scale" element is 540 degrees wide
pitchTarget = floor(object1->getField(QString("Pitch"))->getDouble()*7.5);
// Corvus Corax: "If you want a smooth transition between two angles, It is usually solved that by substracting
// one from another, and if the result is >180 or <-180 I substract (respectively add) 360 degrees
// to it. That way you always get the "shorter difference" to turn in."
double fac = compassBandWidth/540;
headingTarget = field->getDouble()*(-fac);
headingTarget = yawField->getDouble();
if ((headingValue - headingTarget)/fac > 180) {
headingTarget += 360*fac;
} else if (((headingValue - headingTarget)/fac < -180)) {
headingTarget -= 360*fac;
}
headingTarget = floor(headingTarget*10)/10; // Avoid stupid redraws
} else {
qDebug() << "UpdateHeading: Wrong field, maybe an issue with object disconnection ?";
}
fieldname = QString("Groundspeed");
field = object1->getField(fieldname);
if (field) {
// The speed scale represents 30km/h (6 * 5)
// 3.6 : convert m/s to km/h
double val = floor(field->getDouble()*10)/10;
groundspeedTarget = 3.6*val*speedScaleHeight/30;
}
fieldname = QString("Altitude");
field = object1->getField(fieldname);
if (field) {
// The altitude scale represents 30 meters
altitudeTarget = floor(field->getDouble()*10)/10*altitudeScaleHeight/30;
}
if (!dialTimer.isActive())
dialTimer.start(); // Rearm the dial Timer which might be stopped.
} else {
qDebug() << "Unable to get one of the fields for attitude update";
}
}
/*!
\brief Called by the UAVObject which got updated
*/
void PFDGadgetWidget::updateAirspeed(UAVObject *object3) {
Q_UNUSED(object3);
\brief Updates the compass reading and speed dial.
This also updates speed & altitude according to PositionActual data.
Note: the speed dial shows the ground speed at the moment, because
there is no airspeed by default. Should become configurable in a future
gadget release (TODO)
*/
void PFDGadgetWidget::updateHeading(UAVObject *object) {
Q_UNUSED(object);
}
/*!
\brief Called by the UAVObject which got updated
\brief Called by updates to @PositionActual to compute airspeed from velocity
*/
void PFDGadgetWidget::updateAltitude(UAVObject *object3) {
Q_UNUSED(object3);
void PFDGadgetWidget::updateAirspeed(UAVObject *object) {
UAVObjectField* velField = object->getField("Vel");
if (velField) {
double val = floor(sqrt(pow(velField->getDouble(0),2) + pow(velField->getDouble(1),2))*10)/10;
groundspeedTarget = 3.6*val*speedScaleHeight/30;
} else {
qDebug() << "UpdateHeading: Wrong field, maybe an issue with object disconnection ?";
}
}
/*!
\brief Called by the @ref PositionActual updates to show altitude
*/
void PFDGadgetWidget::updateAltitude(UAVObject *object) {
UAVObjectField* posField = object->getField("NED");
if (posField) {
// The altitude scale represents 30 meters
altitudeTarget = floor(posField->getDouble(3)*10)/10*altitudeScaleHeight/30;
} else {
qDebug() << "Unable to get field for altitude update. Obj: " << object->getName();
}
}
@ -903,7 +905,8 @@ void PFDGadgetWidget::moveNeedles()
headingDiff += 2*threshold;
headingTarget += 2*threshold;
}
QPointF opd = QPointF(headingDiff,0);
qDebug() << headingDiff << " " << headingValue;
QPointF opd = QPointF(-headingDiff*2.65,0);
m_compassband->setTransform(QTransform::fromTranslate(opd.x(),opd.y()), true);
headingValue += headingDiff;
} else {

2
ground/src/plugins/pfd/pfdgadgetwidget.h
View File

@ -125,6 +125,8 @@ private:
qreal altitudeScaleHeight;
// Name of the fields to read when an update is received:
UAVDataObject* airspeedObj;
UAVDataObject* altitudeObj;
UAVDataObject* attitudeObj;
UAVDataObject* headingObj;
UAVDataObject* gpsObj;