mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
OP-102: fix for the compass 'jump': rotation now takes the shorter path, no jump anymore - testers welcome.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1146 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard
edouard
parent
bcbd89167a
commit
6ef51b0c4d
@ -33,14 +33,12 @@
|
||||
|
||||
PFDGadgetWidget::PFDGadgetWidget(QWidget *parent) : QGraphicsView(parent)
|
||||
{
|
||||
// TODO: create a proper "needle" object instead of hardcoding all this
|
||||
// which is ugly (but easy).
|
||||
|
||||
setMinimumSize(64,64);
|
||||
setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
|
||||
setScene(new QGraphicsScene(this));
|
||||
//setRenderHints(QPainter::Antialiasing || QPainter::TextAntialiasing);
|
||||
setRenderHints(QPainter::TextAntialiasing);
|
||||
//setRenderHints(QPainter::TextAntialiasing);
|
||||
|
||||
m_renderer = new QSvgRenderer();
|
||||
|
||||
@ -60,7 +58,6 @@ PFDGadgetWidget::PFDGadgetWidget(QWidget *parent) : QGraphicsView(parent)
|
||||
altitudeTarget = 0;
|
||||
altitudeValue = 0;
|
||||
|
||||
|
||||
// This timer mechanism makes needles rotate smoothly
|
||||
connect(&dialTimer, SIGNAL(timeout()), this, SLOT(moveNeedles()));
|
||||
dialTimer.start(20);
|
||||
@ -134,6 +131,8 @@ void PFDGadgetWidget::connectNeedles() {
|
||||
\brief Updates the link stats
|
||||
*/
|
||||
void PFDGadgetWidget::updateLinkStatus(UAVObject *object1) {
|
||||
// TODO: find a way to avoid updating the graphics if the value
|
||||
// has not changed since the last update
|
||||
// Double check that the field exists:
|
||||
QString st = QString("Status");
|
||||
QString tdr = QString("TxDataRate");
|
||||
@ -199,7 +198,17 @@ void PFDGadgetWidget::updateHeading(UAVObject *object1) {
|
||||
// These factors assume some things about the PFD SVG, namely:
|
||||
// - Heading value in degrees
|
||||
// - Scale is 540 degrees large
|
||||
headingTarget = field->getDouble()*compassBandWidth/(-540);
|
||||
|
||||
// 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);
|
||||
if ((headingValue - headingTarget)/fac > 180) {
|
||||
headingTarget += 360*fac;
|
||||
} else if (((headingValue - headingTarget)/fac < -180)) {
|
||||
headingTarget -= 360*fac;
|
||||
}
|
||||
} else {
|
||||
qDebug() << "UpdateHeading: Wrong field, maybe an issue with object disconnection ?";
|
||||
}
|
||||
@ -239,12 +248,15 @@ void PFDGadgetWidget::updateHeading(UAVObject *object1) {
|
||||
\brief Called by the UAVObject which got updated
|
||||
*/
|
||||
void PFDGadgetWidget::updateAirspeed(UAVObject *object3) {
|
||||
Q_UNUSED(object3);
|
||||
|
||||
}
|
||||
|
||||
/*!
|
||||
\brief Called by the UAVObject which got updated
|
||||
*/
|
||||
void PFDGadgetWidget::updateAltitude(UAVObject *object3) {
|
||||
Q_UNUSED(object3);
|
||||
}
|
||||
|
||||
|
||||
@ -252,6 +264,8 @@ void PFDGadgetWidget::updateAltitude(UAVObject *object3) {
|
||||
\brief Called by the UAVObject which got updated
|
||||
*/
|
||||
void PFDGadgetWidget::updateBattery(UAVObject *object1) {
|
||||
// TODO: find a way to avoid updating the graphics if the value
|
||||
// has not changed since the last update
|
||||
// Double check that the field exists:
|
||||
QString voltage = QString("Voltage");
|
||||
QString current = QString("Current");
|
||||
@ -702,6 +716,7 @@ void PFDGadgetWidget::paint()
|
||||
|
||||
void PFDGadgetWidget::paintEvent(QPaintEvent *event)
|
||||
{
|
||||
Q_UNUSED(event);
|
||||
// Skip painting until the dial file is loaded
|
||||
if (! m_renderer->isValid()) {
|
||||
qDebug() << "Dial file not loaded, not rendering";
|
||||
@ -715,6 +730,7 @@ void PFDGadgetWidget::paintEvent(QPaintEvent *event)
|
||||
// nature of SVG dials.
|
||||
void PFDGadgetWidget::resizeEvent(QResizeEvent *event)
|
||||
{
|
||||
Q_UNUSED(event);
|
||||
fitInView(m_background, Qt::KeepAspectRatio );
|
||||
}
|
||||
|
||||
@ -745,124 +761,147 @@ void PFDGadgetWidget::moveNeedles()
|
||||
//////
|
||||
// Roll
|
||||
//////
|
||||
double rollDiff;
|
||||
if ((abs((rollValue-rollTarget)*10) > 5)) {
|
||||
rollDiff =(rollTarget - rollValue)/5;
|
||||
if (rollValue != rollTarget) {
|
||||
double rollDiff;
|
||||
if ((abs((rollValue-rollTarget)*10) > 5)) {
|
||||
rollDiff =(rollTarget - rollValue)/5;
|
||||
} else {
|
||||
rollDiff = rollTarget - rollValue;
|
||||
dialCount--;
|
||||
}
|
||||
m_world->setRotation(m_world->rotation()+rollDiff);
|
||||
m_rollscale->setRotation(m_rollscale->rotation()+rollDiff);
|
||||
rollValue += rollDiff;
|
||||
} else {
|
||||
rollDiff = rollTarget - rollValue;
|
||||
dialCount--;
|
||||
}
|
||||
m_world->setRotation(m_world->rotation()+rollDiff);
|
||||
m_rollscale->setRotation(m_rollscale->rotation()+rollDiff);
|
||||
rollValue += rollDiff;
|
||||
|
||||
//////
|
||||
// Pitch
|
||||
//////
|
||||
double pitchDiff;
|
||||
if ((abs((pitchValue-pitchTarget)*10) > 5)) {
|
||||
pitchDiff = (pitchTarget - pitchValue)/5;
|
||||
if (pitchValue != pitchTarget) {
|
||||
double pitchDiff;
|
||||
if ((abs((pitchValue-pitchTarget)*10) > 5)) {
|
||||
pitchDiff = (pitchTarget - pitchValue)/5;
|
||||
} else {
|
||||
pitchDiff = pitchTarget - pitchValue;
|
||||
dialCount--;
|
||||
}
|
||||
QPointF opd = QPointF(0,pitchDiff);
|
||||
m_world->setTransform(QTransform::fromTranslate(opd.x(),opd.y()), true);
|
||||
QPointF oop = m_world->transformOriginPoint();
|
||||
m_world->setTransformOriginPoint((oop.x()-opd.x()),(oop.y()-opd.y()));
|
||||
pitchValue += pitchDiff;
|
||||
} else {
|
||||
pitchDiff = pitchTarget - pitchValue;
|
||||
dialCount--;
|
||||
}
|
||||
QPointF opd = QPointF(0,pitchDiff);
|
||||
m_world->setTransform(QTransform::fromTranslate(opd.x(),opd.y()), true);
|
||||
QPointF oop = m_world->transformOriginPoint();
|
||||
m_world->setTransformOriginPoint((oop.x()-opd.x()),(oop.y()-opd.y()));
|
||||
pitchValue += pitchDiff;
|
||||
|
||||
//////
|
||||
// Heading
|
||||
//
|
||||
// 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 headingOffset = 0;
|
||||
double headingDiff;
|
||||
if ((abs((headingValue-headingTarget)*10) > 5)) {
|
||||
headingDiff = (headingTarget - headingValue)/5;
|
||||
} else {
|
||||
headingDiff = headingTarget-headingValue;
|
||||
if (headingValue != headingTarget) {
|
||||
double headingOffset = 0;
|
||||
double headingDiff;
|
||||
if ((abs((headingValue-headingTarget)*10) > 5)) {
|
||||
headingDiff = (headingTarget - headingValue)/5;
|
||||
} else {
|
||||
headingDiff = headingTarget-headingValue;
|
||||
dialCount--;
|
||||
}
|
||||
double threshold = -180*compassBandWidth/540;
|
||||
// Note: rendering can jump oh so very slightly when crossing the 180 degree
|
||||
// boundary, should not impact actual useability of the display.
|
||||
if ((headingValue < threshold) && ((headingValue+headingDiff)>=threshold)) {
|
||||
// We went over 180°: activate a -360 degree offset
|
||||
headingOffset = 2*threshold;
|
||||
} else if ((headingValue >= threshold) && ((headingValue+headingDiff)<threshold)) {
|
||||
// We went under 180°: remove the -360 degree offset
|
||||
headingOffset = -2*threshold;
|
||||
}
|
||||
QPointF opd = QPointF(headingDiff+headingOffset,0);
|
||||
m_compassband->setTransform(QTransform::fromTranslate(opd.x(),opd.y()), true);
|
||||
headingValue += headingDiff;
|
||||
} else {
|
||||
dialCount--;
|
||||
}
|
||||
double threshold = -180*compassBandWidth/540;
|
||||
// Note: rendering can jump oh so very slightly when crossing the 180 degree
|
||||
// boundary, should not impact actual useability of the display.
|
||||
if ((headingValue < threshold) && ((headingValue+headingDiff)>=threshold)) {
|
||||
// We went over 180<38>: activate a -360 degree offset
|
||||
headingOffset = 2*threshold;
|
||||
} else if ((headingValue >= threshold) && ((headingValue+headingDiff)<threshold)) {
|
||||
// We went under 180<38>: remove the -360 degree offset
|
||||
headingOffset = -2*threshold;
|
||||
}
|
||||
opd = QPointF(headingDiff+headingOffset,0);
|
||||
m_compassband->setTransform(QTransform::fromTranslate(opd.x(),opd.y()), true);
|
||||
headingValue += headingDiff;
|
||||
|
||||
//////
|
||||
// Speed
|
||||
//////
|
||||
if (abs(groundspeedValue-groundspeedTarget) > speedScaleHeight/120) {
|
||||
groundspeedValue += (groundspeedTarget-groundspeedValue)/5;
|
||||
} else {
|
||||
groundspeedValue = groundspeedTarget;
|
||||
dialCount--;
|
||||
}
|
||||
qreal x = m_speedscale->transform().dx();
|
||||
//opd = QPointF(x,fmod(groundspeedValue,speedScaleHeight/6));
|
||||
// fmod does rounding errors!! the formula below works better:
|
||||
opd = QPointF(x,groundspeedValue-floor(groundspeedValue/speedScaleHeight*6)*speedScaleHeight/6);
|
||||
m_speedscale->setTransform(QTransform::fromTranslate(opd.x(),opd.y()), false);
|
||||
|
||||
double speedText = groundspeedValue/speedScaleHeight*30;
|
||||
QString s = QString().sprintf("%.0f",speedText);
|
||||
m_speedtext->setPlainText(s);
|
||||
|
||||
// TODO: optimize this by skipping if not necessary...
|
||||
// Now update the text elements inside the scale:
|
||||
// (Qt documentation states that the list has the same order
|
||||
// as the item add order in the QGraphicsItemGroup)
|
||||
QList <QGraphicsItem *> textList = m_speedscale->childItems();
|
||||
qreal val = 5*floor(groundspeedValue/speedScaleHeight*6)+20;
|
||||
foreach( QGraphicsItem * item, textList) {
|
||||
if (QGraphicsTextItem *text = qgraphicsitem_cast<QGraphicsTextItem *>(item)) {
|
||||
QString s = (val<0) ? QString() : QString().sprintf("%.0f",val);
|
||||
text->setPlainText(s);
|
||||
val -= 5;
|
||||
if (groundspeedValue != groundspeedTarget) {
|
||||
if (abs(groundspeedValue-groundspeedTarget) > speedScaleHeight/120) {
|
||||
groundspeedValue += (groundspeedTarget-groundspeedValue)/5;
|
||||
} else {
|
||||
groundspeedValue = groundspeedTarget;
|
||||
dialCount--;
|
||||
}
|
||||
qreal x = m_speedscale->transform().dx();
|
||||
//opd = QPointF(x,fmod(groundspeedValue,speedScaleHeight/6));
|
||||
// fmod does rounding errors!! the formula below works better:
|
||||
QPointF opd = QPointF(x,groundspeedValue-floor(groundspeedValue/speedScaleHeight*6)*speedScaleHeight/6);
|
||||
m_speedscale->setTransform(QTransform::fromTranslate(opd.x(),opd.y()), false);
|
||||
|
||||
double speedText = groundspeedValue/speedScaleHeight*30;
|
||||
QString s = QString().sprintf("%.0f",speedText);
|
||||
m_speedtext->setPlainText(s);
|
||||
|
||||
// TODO: optimize this by skipping if not necessary...
|
||||
// Now update the text elements inside the scale:
|
||||
// (Qt documentation states that the list has the same order
|
||||
// as the item add order in the QGraphicsItemGroup)
|
||||
QList <QGraphicsItem *> textList = m_speedscale->childItems();
|
||||
qreal val = 5*floor(groundspeedValue/speedScaleHeight*6)+20;
|
||||
foreach( QGraphicsItem * item, textList) {
|
||||
if (QGraphicsTextItem *text = qgraphicsitem_cast<QGraphicsTextItem *>(item)) {
|
||||
QString s = (val<0) ? QString() : QString().sprintf("%.0f",val);
|
||||
text->setPlainText(s);
|
||||
val -= 5;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
dialCount--;
|
||||
}
|
||||
|
||||
//////
|
||||
// Altitude
|
||||
//////
|
||||
if (abs(altitudeValue-altitudeTarget) > altitudeScaleHeight/120) {
|
||||
altitudeValue += (altitudeTarget-altitudeValue)/5;
|
||||
if (altitudeValue != altitudeTarget) {
|
||||
if (abs(altitudeValue-altitudeTarget) > altitudeScaleHeight/120) {
|
||||
altitudeValue += (altitudeTarget-altitudeValue)/5;
|
||||
} else {
|
||||
altitudeValue = altitudeTarget;
|
||||
dialCount--;
|
||||
}
|
||||
qreal x = m_altitudescale->transform().dx();
|
||||
//opd = QPointF(x,fmod(altitudeValue,altitudeScaleHeight/6));
|
||||
// fmod does rounding errors!! the formula below works better:
|
||||
QPointF opd = QPointF(x,altitudeValue-floor(altitudeValue/altitudeScaleHeight*6)*altitudeScaleHeight/6);
|
||||
m_altitudescale->setTransform(QTransform::fromTranslate(opd.x(),opd.y()), false);
|
||||
double altitudeText = altitudeValue/altitudeScaleHeight*30;
|
||||
QString s = QString().sprintf("%.0f",altitudeText);
|
||||
m_altitudetext->setPlainText(s);
|
||||
|
||||
// TODO: optimize this by skipping if not necessary...
|
||||
// Now update the text elements inside the scale:
|
||||
// (Qt documentation states that the list has the same order
|
||||
// as the item add order in the QGraphicsItemGroup)
|
||||
QList <QGraphicsItem *> textList = m_altitudescale->childItems();
|
||||
qreal val = 5*floor(altitudeValue/altitudeScaleHeight*6)+20;
|
||||
foreach( QGraphicsItem * item, textList) {
|
||||
if (QGraphicsTextItem *text = qgraphicsitem_cast<QGraphicsTextItem *>(item)) {
|
||||
QString s = (val<0) ? QString() : QString().sprintf("%.0f",val);
|
||||
text->setPlainText(s);
|
||||
val -= 5;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
altitudeValue = altitudeTarget;
|
||||
dialCount--;
|
||||
}
|
||||
x = m_altitudescale->transform().dx();
|
||||
//opd = QPointF(x,fmod(altitudeValue,altitudeScaleHeight/6));
|
||||
// fmod does rounding errors!! the formula below works better:
|
||||
opd = QPointF(x,altitudeValue-floor(altitudeValue/altitudeScaleHeight*6)*altitudeScaleHeight/6);
|
||||
m_altitudescale->setTransform(QTransform::fromTranslate(opd.x(),opd.y()), false);
|
||||
double altitudeText = altitudeValue/altitudeScaleHeight*30;
|
||||
s = QString().sprintf("%.0f",altitudeText);
|
||||
m_altitudetext->setPlainText(s);
|
||||
|
||||
// TODO: optimize this by skipping if not necessary...
|
||||
// Now update the text elements inside the scale:
|
||||
// (Qt documentation states that the list has the same order
|
||||
// as the item add order in the QGraphicsItemGroup)
|
||||
textList = m_altitudescale->childItems();
|
||||
val = 5*floor(altitudeValue/altitudeScaleHeight*6)+20;
|
||||
foreach( QGraphicsItem * item, textList) {
|
||||
if (QGraphicsTextItem *text = qgraphicsitem_cast<QGraphicsTextItem *>(item)) {
|
||||
QString s = (val<0) ? QString() : QString().sprintf("%.0f",val);
|
||||
text->setPlainText(s);
|
||||
val -= 5;
|
||||
}
|
||||
}
|
||||
|
||||
//update();
|
||||
if (!dialCount)
|
||||
dialTimer.stop();
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user