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OP-123 Corrected issue with PFD (was not a pitch but a roll issue). Should handle aerobatics now! Also new attempts to lower CPU usage, PFD should use less CPU than before (reports appreciated)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1364 ebee16cc-31ac-478f-84a7-5cbb03baadba
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@ -180,9 +180,10 @@ void PFDGadgetWidget::updateLinkStatus(UAVObject *object1) {
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/*!
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\brief Reads the updated attitude and computes the new display position
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Resolution is 1 degree roll & 1/7.5 degree pitch.
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*/
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void PFDGadgetWidget::updateAttitude(UAVObject *object1) {
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//qDebug() << "UpdateAttitude -";
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UAVObjectField* field = object1->getField(QString("Roll"));
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UAVObjectField* field2 = object1->getField(QString("Pitch"));
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// Double check that the field exists:
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@ -193,9 +194,14 @@ void PFDGadgetWidget::updateAttitude(UAVObject *object1) {
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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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// Also: truncate to 2 decimals, to avoid unnecessary redraws
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rollTarget = -floor(field->getDouble()*100)/100;
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pitchTarget = floor(field2->getDouble()*750)/100;
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// Also: keep the integer value only, to avoid unnecessary redraws
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rollTarget = -floor(field->getDouble()*10)/10;
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if ((rollTarget - rollValue) > 180) {
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rollValue += 360;
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} else if (((rollTarget - rollValue) < -180)) {
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rollValue -= 360;
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}
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pitchTarget = floor(field2->getDouble()*7.5);
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// if (!skyDialTimer.isActive())
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// skyDialTimer.start(); // Rearm the dial Timer which might be stopped.
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} else {
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@ -219,7 +225,7 @@ void PFDGadgetWidget::updateHeading(UAVObject *object1) {
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if (field) {
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// These factors assume some things about the PFD SVG, namely:
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// - Heading value in degrees
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// - Scale is 540 degrees large
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// - "Scale" element is 540 degrees wide
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// Corvus Corax: "If you want a smooth transition between two angles, It is usually solved that by substracting
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// one from another, and if the result is >180 or <-180 I substract (respectively add) 360 degrees
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@ -240,22 +246,20 @@ void PFDGadgetWidget::updateHeading(UAVObject *object1) {
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if (field) {
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// The speed scale represents 30km/h (6 * 5)
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// 3.6 : convert m/s to km/h
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double val = floor(field->getDouble()*100)/100;
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double val = floor(field->getDouble()*10)/10;
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groundspeedTarget = 3.6*val*speedScaleHeight/30;
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}
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fieldname = QString("Altitude");
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field = object1->getField(fieldname);
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if (field) {
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// The altitude scale represents 30 meters
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altitudeTarget = floor(field->getDouble()*100)/100*altitudeScaleHeight/30;
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altitudeTarget = floor(field->getDouble()*10)/10*altitudeScaleHeight/30;
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}
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// GPS Stats
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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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field = object1->getField(QString("Satellites"));
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UAVObjectField* field1 = object1->getField(QString("HDOP"));
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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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@ -290,8 +294,6 @@ void PFDGadgetWidget::updateAltitude(UAVObject *object3) {
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\brief Called by the UAVObject which got updated
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*/
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void PFDGadgetWidget::updateBattery(UAVObject *object1) {
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// TODO: find a way to avoid updating the graphics if the value
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// has not changed since the last update
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// Double check that the field exists:
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QString voltage = QString("Voltage");
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QString current = QString("Current");
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@ -793,8 +795,7 @@ void PFDGadgetWidget::moveSky() {
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if (rollValue != rollTarget) {
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double rollDiff;
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if ((abs((rollValue-rollTarget)*10) > 5)) {
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// if (0) {
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rollDiff =(rollTarget - rollValue)/5;
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rollDiff =(rollTarget - rollValue)/2;
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} else {
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rollDiff = rollTarget - rollValue;
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dialCount--;
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@ -813,7 +814,7 @@ void PFDGadgetWidget::moveSky() {
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double pitchDiff;
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if ((abs((pitchValue-pitchTarget)*10) > 5)) {
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// if (0) {
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pitchDiff = (pitchTarget - pitchValue)/5;
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pitchDiff = (pitchTarget - pitchValue)/2;
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} else {
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pitchDiff = pitchTarget - pitchValue;
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dialCount--;
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@ -890,8 +891,8 @@ void PFDGadgetWidget::moveNeedles()
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// Speed
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//////
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if (groundspeedValue != groundspeedTarget) {
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if (abs(groundspeedValue-groundspeedTarget) > speedScaleHeight/120) {
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groundspeedValue += (groundspeedTarget-groundspeedValue)/5;
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if (abs(groundspeedValue-groundspeedTarget) > speedScaleHeight/100) {
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groundspeedValue += (groundspeedTarget-groundspeedValue)/2;
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} else {
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groundspeedValue = groundspeedTarget;
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dialCount--;
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@ -906,7 +907,6 @@ void PFDGadgetWidget::moveNeedles()
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QString s = QString().sprintf("%.0f",speedText);
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m_speedtext->setPlainText(s);
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// TODO: optimize this by skipping if not necessary...
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// Now update the text elements inside the scale:
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// (Qt documentation states that the list has the same order
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// as the item add order in the QGraphicsItemGroup)
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@ -915,6 +915,9 @@ void PFDGadgetWidget::moveNeedles()
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foreach( QGraphicsItem * item, textList) {
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if (QGraphicsTextItem *text = qgraphicsitem_cast<QGraphicsTextItem *>(item)) {
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QString s = (val<0) ? QString() : QString().sprintf("%.0f",val);
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if (text->toPlainText() == s)
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break; // This should happen at element one if is has not changed, indicating
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// that it's not necessary to do the rest of the list
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text->setPlainText(s);
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val -= 5;
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}
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@ -927,8 +930,8 @@ void PFDGadgetWidget::moveNeedles()
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// Altitude
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//////
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if (altitudeValue != altitudeTarget) {
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if (abs(altitudeValue-altitudeTarget) > altitudeScaleHeight/120) {
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altitudeValue += (altitudeTarget-altitudeValue)/5;
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if (abs(altitudeValue-altitudeTarget) > altitudeScaleHeight/100) {
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altitudeValue += (altitudeTarget-altitudeValue)/2;
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} else {
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altitudeValue = altitudeTarget;
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dialCount--;
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@ -942,7 +945,6 @@ void PFDGadgetWidget::moveNeedles()
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QString s = QString().sprintf("%.0f",altitudeText);
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m_altitudetext->setPlainText(s);
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// TODO: optimize this by skipping if not necessary...
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// Now update the text elements inside the scale:
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// (Qt documentation states that the list has the same order
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// as the item add order in the QGraphicsItemGroup)
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@ -951,6 +953,9 @@ void PFDGadgetWidget::moveNeedles()
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foreach( QGraphicsItem * item, textList) {
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if (QGraphicsTextItem *text = qgraphicsitem_cast<QGraphicsTextItem *>(item)) {
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QString s = (val<0) ? QString() : QString().sprintf("%.0f",val);
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if (text->toPlainText() == s)
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break; // This should happen at element one if is has not changed, indicating
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// that it's not necessary to do the rest of the list
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text->setPlainText(s);
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val -= 5;
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}
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@ -964,3 +969,8 @@ void PFDGadgetWidget::moveNeedles()
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else
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scene()->update(sceneRect());
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}
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/**
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@}
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@}
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*/
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