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OP-82: Implemented Altimeter on the PFD, some speed/cpu optimizations as well.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@981 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
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Before Width: | Height: | Size: 255 KiB After Width: | Height: | Size: 251 KiB |
@ -128,8 +128,8 @@ void PFDGadgetWidget::updateAttitude(UAVObject *object1) {
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*/
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void PFDGadgetWidget::updateHeading(UAVObject *object1) {
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// Double check that the field exists:
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QString heading = QString("Heading");
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UAVObjectField* field = object1->getField(heading);
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QString fieldname = QString("Heading");
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UAVObjectField* field = object1->getField(fieldname);
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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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@ -138,13 +138,20 @@ void PFDGadgetWidget::updateHeading(UAVObject *object1) {
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} else {
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std::cout << "UpdateHeading: Wrong field, maybe an issue with object disconnection ?" << std::endl;
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}
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heading = QString("Groundspeed");
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field = object1->getField(heading);
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fieldname = QString("Groundspeed");
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field = object1->getField(fieldname);
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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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groundspeedTarget = 3.6*field->getDouble()*speedScaleHeight/(-30);
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groundspeedTarget = 3.6*field->getDouble()*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 = field->getDouble()*altitudeScaleHeight/(30);
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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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@ -196,6 +203,9 @@ void PFDGadgetWidget::setDialFile(QString dfn)
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- Speed rectangle (left side): speed-bg
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- Speed scale: speed-scale.
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- Black speed window: speed-window.
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- Altitude rectangle (right site): altitude-bg.
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- Altitude scale: altitude-scale.
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- Black altitude window: altitude-window.
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*/
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QGraphicsScene *l_scene = scene();
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l_scene->clear(); // Deletes all items contained in the scene as well.
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@ -234,7 +244,9 @@ void PFDGadgetWidget::setDialFile(QString dfn)
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m_foreground->setElementId("foreground");
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l_scene->addItem(m_foreground);
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// Compass:
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////////////////////
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// Compass
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////////////////////
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// Get the default location of the Compass:
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QMatrix compassMatrix = m_renderer->matrixForElement("compass");
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qreal startX = compassMatrix.mapRect(m_renderer->boundsOnElement("compass")).x();
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@ -268,24 +280,27 @@ void PFDGadgetWidget::setDialFile(QString dfn)
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// includes half the width of the letters, which causes errors:
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compassBandWidth = m_renderer->boundsOnElement("compass-scale").width();
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////////////////////
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// Speed
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////////////////////
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// Speedometer on the left hand:
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compassMatrix = m_renderer->matrixForElement("speed-bg");
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startX = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-bg")).x();
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startY = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-bg")).y();
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m_speedbg = new QGraphicsSvgItem();
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m_speedbg->setSharedRenderer(m_renderer);
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m_speedbg->setElementId("speed-bg");
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m_speedbg->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
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QGraphicsSvgItem *verticalbg = new QGraphicsSvgItem();
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verticalbg->setSharedRenderer(m_renderer);
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verticalbg->setElementId("speed-bg");
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verticalbg->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
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QGraphicsItem::ItemClipsToShape);
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l_scene->addItem(m_speedbg);
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l_scene->addItem(verticalbg);
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matrix.reset();
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matrix.translate(startX,startY);
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m_speedbg->setTransform(matrix,false);
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verticalbg->setTransform(matrix,false);
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// Note: speed-scale should contain exactly 6 major ticks
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// for 30km/h
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m_speedscale = new QGraphicsItemGroup();
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m_speedscale->setParentItem(m_speedbg);
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m_speedscale->setParentItem(verticalbg);
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QGraphicsSvgItem *speedscalelines = new QGraphicsSvgItem();
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speedscalelines->setSharedRenderer(m_renderer);
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@ -295,12 +310,12 @@ void PFDGadgetWidget::setDialFile(QString dfn)
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startX = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-bg")).width();
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startX -= m_renderer->matrixForElement("speed-scale").mapRect(
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m_renderer->boundsOnElement("speed-scale")).width();
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//speedscalelines->setParentItem(m_speedbg);
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//speedscalelines->setParentItem(verticalbg);
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matrix.reset();
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matrix.translate(startX,0);
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speedscalelines->setTransform(matrix,false);
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// Quick way to reposition the item before putting it in the group:
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speedscalelines->setParentItem(m_speedbg);
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speedscalelines->setParentItem(verticalbg);
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m_speedscale->addToGroup(speedscalelines); // (reparents the item)
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// Add the scale text elements:
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@ -310,7 +325,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
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matrix.reset();
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matrix.translate(compassMatrix.mapRect(m_renderer->boundsOnElement("speed-bg")).width()/10,-speedScaleHeight/30);
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speed0->setTransform(matrix,false);
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speed0->setParentItem(m_speedbg);
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speed0->setParentItem(verticalbg);
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m_speedscale->addToGroup(speed0);
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for (int i=0; i<6;i++) {
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speed0 = new QGraphicsTextItem("");
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@ -319,13 +334,69 @@ void PFDGadgetWidget::setDialFile(QString dfn)
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speed0->setPlainText(QString().setNum(i*5+1));
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matrix.translate(0,speedScaleHeight/6);
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speed0->setTransform(matrix,false);
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speed0->setParentItem(m_speedbg);
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speed0->setParentItem(verticalbg);
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m_speedscale->addToGroup(speed0);
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}
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// Now vertically center the speed scale on the speed background
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QRectF rectB = m_speedbg->boundingRect();
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QRectF rectB = verticalbg->boundingRect();
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QRectF rectN = speedscalelines->boundingRect();
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m_speedscale->setPos(0,rectB.height()/2-rectN.height()/2);
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m_speedscale->setPos(0,rectB.height()/2-rectN.height()/2-rectN.height()/6);
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////////////////////
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// Altitude
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////////////////////
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// Right hand, very similar to speed
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compassMatrix = m_renderer->matrixForElement("altitude-bg");
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startX = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-bg")).x();
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||||
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-bg")).y();
|
||||
verticalbg = new QGraphicsSvgItem();
|
||||
verticalbg->setSharedRenderer(m_renderer);
|
||||
verticalbg->setElementId("altitude-bg");
|
||||
verticalbg->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
|
||||
QGraphicsItem::ItemClipsToShape);
|
||||
l_scene->addItem(verticalbg);
|
||||
matrix.reset();
|
||||
matrix.translate(startX,startY);
|
||||
verticalbg->setTransform(matrix,false);
|
||||
|
||||
// Note: altitude-scale should contain exactly 6 major ticks
|
||||
// for 30 meters
|
||||
m_altitudescale = new QGraphicsItemGroup();
|
||||
m_altitudescale->setParentItem(verticalbg);
|
||||
|
||||
QGraphicsSvgItem *altitudescalelines = new QGraphicsSvgItem();
|
||||
altitudescalelines->setSharedRenderer(m_renderer);
|
||||
altitudescalelines->setElementId("altitude-scale");
|
||||
altitudeScaleHeight = m_renderer->matrixForElement("altitude-scale").mapRect(
|
||||
m_renderer->boundsOnElement("altitude-scale")).height();
|
||||
// Quick way to reposition the item before putting it in the group:
|
||||
altitudescalelines->setParentItem(verticalbg);
|
||||
m_altitudescale->addToGroup(altitudescalelines); // (reparents the item)
|
||||
|
||||
// Add the scale text elements:
|
||||
speed0 = new QGraphicsTextItem("XXXX");
|
||||
speed0->setDefaultTextColor(QColor("White"));
|
||||
speed0->setFont(QFont("Arial",(int) altitudeScaleHeight/30));
|
||||
matrix.reset();
|
||||
matrix.translate(m_renderer->matrixForElement("altitude-scale").mapRect(m_renderer->boundsOnElement("altitude-scale")).width()
|
||||
+ m_renderer->matrixForElement("altitude-bg").mapRect(m_renderer->boundsOnElement("altitude-bg")).width()/10,-altitudeScaleHeight/30);
|
||||
speed0->setTransform(matrix,false);
|
||||
speed0->setParentItem(verticalbg);
|
||||
m_altitudescale->addToGroup(speed0);
|
||||
for (int i=0; i<6;i++) {
|
||||
speed0 = new QGraphicsTextItem("XXXX");
|
||||
speed0->setDefaultTextColor(QColor("White"));
|
||||
speed0->setFont(QFont("Arial",(int) altitudeScaleHeight/30));
|
||||
speed0->setPlainText(QString().setNum(i*5+1));
|
||||
matrix.translate(0,altitudeScaleHeight/6);
|
||||
speed0->setTransform(matrix,false);
|
||||
speed0->setParentItem(verticalbg);
|
||||
m_altitudescale->addToGroup(speed0);
|
||||
}
|
||||
// Now vertically center the speed scale on the speed background
|
||||
rectB = verticalbg->boundingRect();
|
||||
rectN = altitudescalelines->boundingRect();
|
||||
m_altitudescale->setPos(0,rectB.height()/2-rectN.height()/2-rectN.height()/6);
|
||||
|
||||
l_scene->setSceneRect(m_background->boundingRect());
|
||||
|
||||
@ -357,6 +428,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
|
||||
pitchValue = 0;
|
||||
headingValue = 0;
|
||||
groundspeedValue = 0;
|
||||
altitudeValue = 0;
|
||||
if (!dialTimer.isActive())
|
||||
dialTimer.start(); // Rearm the dial Timer which might be stopped.
|
||||
}
|
||||
@ -402,7 +474,7 @@ void PFDGadgetWidget::moveVerticalScales() {
|
||||
//
|
||||
void PFDGadgetWidget::moveNeedles()
|
||||
{
|
||||
int dialCount = 4; // Gets decreased by one for each element
|
||||
int dialCount = 5; // Gets decreased by one for each element
|
||||
// which has finished moving
|
||||
|
||||
/// TODO: optimize!!!
|
||||
@ -464,31 +536,57 @@ void PFDGadgetWidget::moveNeedles()
|
||||
|
||||
//////
|
||||
// Speed
|
||||
//
|
||||
// TODO: find a way to move the speed scale faster if we are far
|
||||
// from the target, maybe a separate timer would be useful there?
|
||||
// What is the consequence on CPU usage?
|
||||
//////
|
||||
if ((abs((groundspeedValue-groundspeedTarget)*10) > 5)) {
|
||||
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));
|
||||
//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);
|
||||
// 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*ceil(groundspeedValue/speedScaleHeight*6)-15;
|
||||
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;
|
||||
val -= 5;
|
||||
}
|
||||
}
|
||||
|
||||
//////
|
||||
// Altitude
|
||||
//////
|
||||
if (abs(altitudeValue-altitudeTarget) > altitudeScaleHeight/120) {
|
||||
altitudeValue += (altitudeTarget-altitudeValue)/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);
|
||||
// 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;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -96,14 +96,10 @@ private:
|
||||
QGraphicsSvgItem *m_homepointbearing;
|
||||
// Next point bearing:
|
||||
QGraphicsSvgItem *m_nextpointbearing;
|
||||
// Vertical speed frame:
|
||||
QGraphicsSvgItem *m_speedbg;
|
||||
// Vertical Speed scale:
|
||||
QGraphicsItemGroup *m_speedscale;
|
||||
// Vertical altitude frame:
|
||||
QGraphicsSvgItem *m_altitudebg;
|
||||
// Vertical altitude scale:
|
||||
QGraphicsSvgItem *m_altitudescale;
|
||||
QGraphicsItemGroup *m_altitudescale;
|
||||
|
||||
double n1MinValue;
|
||||
double n1MaxValue;
|
||||
@ -130,6 +126,7 @@ private:
|
||||
|
||||
qreal compassBandWidth;
|
||||
qreal speedScaleHeight;
|
||||
qreal altitudeScaleHeight;
|
||||
|
||||
// Name of the fields to read when an update is received:
|
||||
UAVDataObject* attitudeObj;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user