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https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-17 02:52:12 +01:00
OP-82: GPS info includes HDOP as well. PFD plugin is now pretty much ready feature-wise. Additional features such as waypoint/home display will be added then OpenPilot supports this too.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1094 ebee16cc-31ac-478f-84a7-5cbb03baadba
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@ -47,17 +47,22 @@ PFDGadgetWidget::PFDGadgetWidget(QWidget *parent) : QGraphicsView(parent)
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headingObj = NULL;
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gcsBatteryObj = NULL;
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compassBandWidth = 0;
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/*
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obj2 = NULL;
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obj3 = NULL;
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*/
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pfdError = true;
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rollTarget = 0;
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rollValue = 0;
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pitchTarget = 0;
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pitchValue = 0;
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headingTarget = 0;
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headingValue = 0;
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groundspeedTarget = 0;
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groundspeedValue = 0;
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altitudeTarget = 0;
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altitudeValue = 0;
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// This timer mechanism makes needles rotate smoothly
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connect(&dialTimer, SIGNAL(timeout()), this, SLOT(moveNeedles()));
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dialTimer.start(20);
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/*
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connect(&dialTimer2,SIGNAL(timeout()), this, SLOT(moveVerticalScales()));
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dialTimer2.start(20);
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*/
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}
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@ -69,7 +74,8 @@ PFDGadgetWidget::~PFDGadgetWidget()
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/*!
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\brief Connects the widget to the relevant UAVObjects
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We want: AttitudeActual, FlightBattery, Location
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Should only be called after the PFD artwork is loaded.
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We want: AttitudeActual, FlightBattery, Location.
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*/
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void PFDGadgetWidget::connectNeedles() {
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@ -102,18 +108,23 @@ void PFDGadgetWidget::connectNeedles() {
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qDebug() << "Error: Object is unknown (PositionActual).";
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}
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gcsTelemetryObj = dynamic_cast<UAVDataObject*>(objManager->getObject("GCSTelemetryStats"));
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if (gcsTelemetryObj != NULL ) {
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connect(gcsTelemetryObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateLinkStatus(UAVObject*)));
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} else {
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qDebug() << "Error: Object is unknown (GCSTelemetryStats).";
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}
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if (gcsTelemetryArrow || gcsTelemetryStats ) {
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// Only register if the PFD wants link stats/status
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gcsTelemetryObj = dynamic_cast<UAVDataObject*>(objManager->getObject("GCSTelemetryStats"));
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if (gcsTelemetryObj != NULL ) {
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connect(gcsTelemetryObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateLinkStatus(UAVObject*)));
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} else {
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qDebug() << "Error: Object is unknown (GCSTelemetryStats).";
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}
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}
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gcsBatteryObj = dynamic_cast<UAVDataObject*>(objManager->getObject("FlightBatteryState"));
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if (gcsBatteryObj != NULL ) {
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connect(gcsBatteryObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateBattery(UAVObject*)));
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} else {
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qDebug() << "Error: Object is unknown (FlightBatteryState).";
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if (gcsBatteryStats) { // Only register if the PFD wants battery display
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gcsBatteryObj = dynamic_cast<UAVDataObject*>(objManager->getObject("FlightBatteryState"));
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if (gcsBatteryObj != NULL ) {
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connect(gcsBatteryObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateBattery(UAVObject*)));
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} else {
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qDebug() << "Error: Object is unknown (FlightBatteryState).";
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}
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}
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}
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@ -131,7 +142,7 @@ void PFDGadgetWidget::updateLinkStatus(UAVObject *object1) {
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UAVObjectField* field3 = object1->getField(rdr);
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if (field && field2 && field3) {
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QString s = field->getValue().toString();
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if (m_renderer->elementExists("gcstelemetry-" + s)) {
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if (m_renderer->elementExists("gcstelemetry-" + s) && gcsTelemetryArrow) {
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gcsTelemetryArrow->setElementId("gcstelemetry-" + s);
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} else { // Safeguard
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gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected");
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@ -139,7 +150,7 @@ void PFDGadgetWidget::updateLinkStatus(UAVObject *object1) {
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double v1 = field2->getDouble();
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double v2 = field3->getDouble();
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s.sprintf("%.0f/%.0f",v1,v2);
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gcsTelemetryStats->setPlainText(s);
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if (gcsTelemetryStats) gcsTelemetryStats->setPlainText(s);
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} else {
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qDebug() << "UpdateLinkStatus: Wrong field, maybe an issue with object disconnection ?";
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}
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@ -159,6 +170,8 @@ void PFDGadgetWidget::updateAttitude(UAVObject *object1) {
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// - Roll value in degrees
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// - Pitch lines are 300px high for a +20/-20 range, which means
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// 7.5 pixels per pitch degree.
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// TODO: loosen this constraint and only require a +/- 20 deg range,
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// and compute the height from the SVG element.
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rollTarget = field->getDouble()*(-1);
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pitchTarget = field2->getDouble()*7.5;
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if (!dialTimer.isActive())
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@ -205,16 +218,20 @@ void PFDGadgetWidget::updateHeading(UAVObject *object1) {
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}
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// GPS Stats
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fieldname = QString("Satellites");
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field = object1->getField(fieldname);
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if (field) {
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QString s = QString("GPS: ") + field->getValue().toString();
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gcsGPSStats->setPlainText(s);
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if (gcsGPSStats) {
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fieldname = QString("Satellites");
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field = object1->getField(fieldname);
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fieldname = QString("HDOP");
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UAVObjectField* field1 = object1->getField(fieldname);
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if (field && field1) {
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QString s = QString("GPS: ") + field->getValue().toString() + "\nHDP: "
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+ field1->getValue().toString();
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gcsGPSStats->setPlainText(s);
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}
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}
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if (!dialTimer.isActive())
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dialTimer.start(); // Rearm the dial Timer which might be stopped.
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}
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/*!
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@ -530,28 +547,37 @@ void PFDGadgetWidget::setDialFile(QString dfn)
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////////////////
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// GCS Telemetry Indicator
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////////////////
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compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected");
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startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x();
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startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y();
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gcsTelemetryArrow = new QGraphicsSvgItem();
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gcsTelemetryArrow->setSharedRenderer(m_renderer);
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gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected");
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l_scene->addItem(gcsTelemetryArrow);
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matrix.reset();
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matrix.translate(startX,startY);
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gcsTelemetryArrow->setTransform(matrix,false);
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if (m_renderer->elementExists("gcstelemetry-Disconnected")) {
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compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected");
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startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x();
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startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y();
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gcsTelemetryArrow = new QGraphicsSvgItem();
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gcsTelemetryArrow->setSharedRenderer(m_renderer);
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gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected");
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l_scene->addItem(gcsTelemetryArrow);
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matrix.reset();
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matrix.translate(startX,startY);
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gcsTelemetryArrow->setTransform(matrix,false);
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} else {
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gcsTelemetryArrow = NULL;
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}
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if (m_renderer->elementExists("linkrate")) {
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compassMatrix = m_renderer->matrixForElement("linkrate");
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startX = compassMatrix.mapRect(m_renderer->boundsOnElement("linkrate")).x();
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startY = compassMatrix.mapRect(m_renderer->boundsOnElement("linkrate")).y();
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qreal linkRateHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("linkrate")).height();
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gcsTelemetryStats = new QGraphicsTextItem();
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gcsTelemetryStats->setDefaultTextColor(QColor("White"));
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gcsTelemetryStats->setFont(QFont("Arial",(int) linkRateHeight));
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l_scene->addItem(gcsTelemetryStats);
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matrix.reset();
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matrix.translate(startX,startY-linkRateHeight/2);
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gcsTelemetryStats->setTransform(matrix,false);
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} else {
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gcsTelemetryStats = NULL;
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}
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compassMatrix = m_renderer->matrixForElement("linkrate");
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startX = compassMatrix.mapRect(m_renderer->boundsOnElement("linkrate")).x();
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startY = compassMatrix.mapRect(m_renderer->boundsOnElement("linkrate")).y();
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qreal linkRateHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("linkrate")).height();
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gcsTelemetryStats = new QGraphicsTextItem();
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gcsTelemetryStats->setDefaultTextColor(QColor("White"));
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gcsTelemetryStats->setFont(QFont("Arial",(int) linkRateHeight));
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l_scene->addItem(gcsTelemetryStats);
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matrix.reset();
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matrix.translate(startX,startY-linkRateHeight/2);
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gcsTelemetryStats->setTransform(matrix,false);
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////////////////
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// GCS Battery Indicator
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@ -569,17 +595,21 @@ void PFDGadgetWidget::setDialFile(QString dfn)
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gcsTelemetryArrow->setTransform(matrix,false);
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*/
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compassMatrix = m_renderer->matrixForElement("battery-txt");
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startX = compassMatrix.mapRect(m_renderer->boundsOnElement("battery-txt")).x();
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startY = compassMatrix.mapRect(m_renderer->boundsOnElement("battery-txt")).y();
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qreal batStatHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("battery-txt")).height();
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gcsBatteryStats = new QGraphicsTextItem();
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gcsBatteryStats->setDefaultTextColor(QColor("White"));
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gcsBatteryStats->setFont(QFont("Arial",(int) batStatHeight));
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l_scene->addItem(gcsBatteryStats);
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matrix.reset();
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matrix.translate(startX,startY-batStatHeight/2);
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gcsBatteryStats->setTransform(matrix,false);
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if (m_renderer->elementExists("battery-txt")) {
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compassMatrix = m_renderer->matrixForElement("battery-txt");
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startX = compassMatrix.mapRect(m_renderer->boundsOnElement("battery-txt")).x();
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startY = compassMatrix.mapRect(m_renderer->boundsOnElement("battery-txt")).y();
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qreal batStatHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("battery-txt")).height();
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gcsBatteryStats = new QGraphicsTextItem();
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gcsBatteryStats->setDefaultTextColor(QColor("White"));
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gcsBatteryStats->setFont(QFont("Arial",(int) batStatHeight));
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l_scene->addItem(gcsBatteryStats);
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matrix.reset();
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matrix.translate(startX,startY-batStatHeight/2);
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gcsBatteryStats->setTransform(matrix,false);
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} else {
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gcsBatteryStats = NULL;
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}
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////////////////
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// GCS GPS Indicator
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@ -597,19 +627,21 @@ void PFDGadgetWidget::setDialFile(QString dfn)
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gcsTelemetryArrow->setTransform(matrix,false);
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*/
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compassMatrix = m_renderer->matrixForElement("gps-txt");
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startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gps-txt")).x();
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startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gps-txt")).y();
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qreal gpsStatHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("gps-txt")).height();
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gcsGPSStats = new QGraphicsTextItem();
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gcsGPSStats->setDefaultTextColor(QColor("White"));
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gcsGPSStats->setFont(QFont("Arial",(int) gpsStatHeight));
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l_scene->addItem(gcsGPSStats);
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matrix.reset();
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matrix.translate(startX,startY-gpsStatHeight/2);
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gcsGPSStats->setTransform(matrix,false);
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if (m_renderer->elementExists("gps-txt")) {
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compassMatrix = m_renderer->matrixForElement("gps-txt");
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startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gps-txt")).x();
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startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gps-txt")).y();
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qreal gpsStatHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("gps-txt")).height();
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gcsGPSStats = new QGraphicsTextItem();
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gcsGPSStats->setDefaultTextColor(QColor("White"));
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gcsGPSStats->setFont(QFont("Arial",(int) gpsStatHeight));
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l_scene->addItem(gcsGPSStats);
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matrix.reset();
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matrix.translate(startX,startY-gpsStatHeight/2);
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gcsGPSStats->setTransform(matrix,false);
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} else {
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gcsGPSStats = NULL;
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}
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l_scene->setSceneRect(m_background->boundingRect());
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