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Code Issues Releases Activity

Merge remote-tracking branch 'origin/LP-183_more_qml_friendly_gcs_uav_object_generator' into filnet/LP-29_osgearth_integration

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This commit is contained in:
Philippe Renon 2015-11-29 19:38:57 +01:00
commit 9b100bea4a
56 changed files with 1063 additions and 942 deletions
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159
ground/gcs/src/libs/utils/cachedsvgitem.cpp
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@ -1,159 +0,0 @@
/**
******************************************************************************
*
* @file cachedsvgitem.h
* @author Dmytro Poplavskiy Copyright (C) 2011.
* @{
* @brief OpenGL texture cached SVG item
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "cachedsvgitem.h"
#include <QDebug>
#ifndef GL_CLAMP_TO_EDGE
#define GL_CLAMP_TO_EDGE 0x812F
#endif
CachedSvgItem::CachedSvgItem(QGraphicsItem *parent) :
QGraphicsSvgItem(parent),
m_context(0),
m_texture(0),
m_scale(1.0)
{
setCacheMode(NoCache);
}
CachedSvgItem::CachedSvgItem(const QString & fileName, QGraphicsItem *parent) :
QGraphicsSvgItem(fileName, parent),
m_context(0),
m_texture(0),
m_scale(1.0)
{
setCacheMode(NoCache);
}
CachedSvgItem::~CachedSvgItem()
{
if (m_context && m_texture) {
m_context->makeCurrent();
glDeleteTextures(1, &m_texture);
}
}
void CachedSvgItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
if (painter->paintEngine()->type() != QPaintEngine::OpenGL &&
painter->paintEngine()->type() != QPaintEngine::OpenGL2) {
// Fallback to direct painting
QGraphicsSvgItem::paint(painter, option, widget);
return;
}
QRectF br = boundingRect();
QTransform transform = painter->worldTransform();
qreal sceneScale = transform.map(QLineF(0, 0, 1, 0)).length();
bool stencilTestEnabled = glIsEnabled(GL_STENCIL_TEST);
bool scissorTestEnabled = glIsEnabled(GL_SCISSOR_TEST);
painter->beginNativePainting();
if (stencilTestEnabled) {
glEnable(GL_STENCIL_TEST);
}
if (scissorTestEnabled) {
glEnable(GL_SCISSOR_TEST);
}
bool dirty = false;
if (!m_texture) {
glGenTextures(1, &m_texture);
m_context = const_cast<QGLContext *>(QGLContext::currentContext());
dirty = true;
}
if (!qFuzzyCompare(sceneScale, m_scale)) {
m_scale = sceneScale;
dirty = true;
}
int textureWidth = (int(br.width() * m_scale) + 3) & ~3;
int textureHeight = (int(br.height() * m_scale) + 3) & ~3;
if (dirty) {
// qDebug() << "re-render image";
QImage img(textureWidth, textureHeight, QImage::Format_ARGB32);
{
img.fill(Qt::transparent);
QPainter p;
p.begin(&img);
p.setRenderHints(painter->renderHints());
p.translate(br.topLeft());
p.scale(m_scale, m_scale);
QGraphicsSvgItem::paint(&p, option, 0);
p.end();
img = img.rgbSwapped();
}
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D, m_texture);
glTexImage2D(
GL_TEXTURE_2D,
0,
GL_RGBA,
textureWidth,
textureHeight,
0,
GL_RGBA,
GL_UNSIGNED_BYTE,
img.bits());
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
glDisable(GL_TEXTURE_2D);
dirty = false;
}
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D, m_texture);
// texture may be slightly large than svn image, ensure only used area is rendered
qreal tw = br.width() * m_scale / textureWidth;
qreal th = br.height() * m_scale / textureHeight;
glBegin(GL_QUADS);
glTexCoord2d(0, 0); glVertex3d(br.left(), br.top(), -1);
glTexCoord2d(tw, 0); glVertex3d(br.right(), br.top(), -1);
glTexCoord2d(tw, th); glVertex3d(br.right(), br.bottom(), -1);
glTexCoord2d(0, th); glVertex3d(br.left(), br.bottom(), -1);
glEnd();
glDisable(GL_TEXTURE_2D);
painter->endNativePainting();
}

54
ground/gcs/src/libs/utils/cachedsvgitem.h
View File

@ -1,54 +0,0 @@
/**
******************************************************************************
*
* @file cachedsvgitem.h
* @author Dmytro Poplavskiy Copyright (C) 2011.
* @{
* @brief OpenGL texture cached SVG item
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef CACHEDSVGITEM_H
#define CACHEDSVGITEM_H
#include <QGraphicsSvgItem>
#include <QtOpenGL>
#include <QtOpenGL/QGLContext>
#include "utils_global.h"
class QGLContext;
// Cache Svg item as GL Texture.
// Texture is regenerated each time item is scaled
// but it's reused during rotation, unlike DeviceCoordinateCache mode
class QTCREATOR_UTILS_EXPORT CachedSvgItem : public QGraphicsSvgItem {
Q_OBJECT
public:
CachedSvgItem(QGraphicsItem *parent = 0);
CachedSvgItem(const QString & fileName, QGraphicsItem *parent = 0);
~CachedSvgItem();
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
private:
QGLContext *m_context;
GLuint m_texture;
qreal m_scale;
};
#endif // ifndef CACHEDSVGITEM_H

1
ground/gcs/src/libs/utils/textbubbleslider.h
View File

@ -31,7 +31,6 @@
#include "utils_global.h"
#include <QSlider>
#include <QtDesigner/QDesignerExportWidget>
class QTCREATOR_UTILS_EXPORT TextBubbleSlider : public QSlider {
Q_OBJECT

4
ground/gcs/src/libs/utils/utils.pro
View File

@ -1,7 +1,7 @@
TEMPLATE = lib
TARGET = Utils
QT += network xml svg opengl gui widgets qml quick quickwidgets
QT += network xml svg gui widgets qml quick quickwidgets
DEFINES += QTCREATOR_UTILS_LIB
@ -52,7 +52,6 @@ SOURCES += \
mytabbedstackwidget.cpp \
mytabwidget.cpp \
quickwidgetproxy.cpp \
cachedsvgitem.cpp \
svgimageprovider.cpp \
hostosinfo.cpp \
logfile.cpp \
@ -116,7 +115,6 @@ HEADERS += \
mytabbedstackwidget.h \
mytabwidget.h \
quickwidgetproxy.h \
cachedsvgitem.h \
svgimageprovider.h \
hostosinfo.h \
logfile.h \

1
ground/gcs/src/plugins/config/calibration/levelcalibrationmodel.cpp
View File

@ -28,6 +28,7 @@
#include "levelcalibrationmodel.h"
#include "extensionsystem/pluginmanager.h"
#include "calibration/calibrationuiutils.h"
#include "uavobjectmanager.h"
#include <attitudestate.h>
#include <attitudesettings.h>

1
ground/gcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp
View File

@ -28,6 +28,7 @@
#include "sixpointcalibrationmodel.h"
#include "extensionsystem/pluginmanager.h"
#include "calibration/calibrationuiutils.h"
#include "uavobjectmanager.h"
#include <math.h>
#include <QThread>

4
ground/gcs/src/plugins/hitl/aerosimrc/src/udpconnect.cpp
View File

@ -210,8 +210,8 @@ void UdpReceiver::onReadyRead()
while (inSocket->hasPendingDatagrams()) {
QByteArray datagram;
datagram.resize(inSocket->pendingDatagramSize());
quint64 datagramSize;
datagramSize = inSocket->readDatagram(datagram.data(), datagram.size());
// quint64 datagramSize;
/*datagramSize =*/ inSocket->readDatagram(datagram.data(), datagram.size());
processDatagram(datagram);
}

14
ground/gcs/src/plugins/hitl/il2simulator.cpp
View File

@ -65,7 +65,7 @@
#include "extensionsystem/pluginmanager.h"
#include <coreplugin/icore.h>
#include <coreplugin/threadmanager.h>
#include <math.h>
#include <cmath>
const float IL2Simulator::FT2M = 12 * .254;
const float IL2Simulator::KT2MPS = 0.514444444;
@ -194,13 +194,13 @@ void IL2Simulator::processUpdate(const QByteArray & inp)
current.Y = old.Y + (current.dY * current.dT);
// accelerations (filtered)
if (isnan(old.ddX) || isinf(old.ddX)) {
if (std::isnan(old.ddX) || std::isinf(old.ddX)) {
old.ddX = 0;
}
if (isnan(old.ddY) || isinf(old.ddY)) {
if (std::isnan(old.ddY) || std::isinf(old.ddY)) {
old.ddY = 0;
}
if (isnan(old.ddZ) || isinf(old.ddZ)) {
if (std::isnan(old.ddZ) || std::isinf(old.ddZ)) {
old.ddZ = 0;
}
#define SPEED_FILTER 10
@ -210,13 +210,13 @@ void IL2Simulator::processUpdate(const QByteArray & inp)
#define TURN_FILTER 10
// turn speeds (filtered)
if (isnan(old.dAzimuth) || isinf(old.dAzimuth)) {
if (std::isnan(old.dAzimuth) || std::isinf(old.dAzimuth)) {
old.dAzimuth = 0;
}
if (isnan(old.dPitch) || isinf(old.dPitch)) {
if (std::isnan(old.dPitch) || std::isinf(old.dPitch)) {
old.dPitch = 0;
}
if (isnan(old.dRoll) || isinf(old.dRoll)) {
if (std::isnan(old.dRoll) || std::isinf(old.dRoll)) {
old.dRoll = 0;
}
current.dAzimuth = (angleDifference(current.azimuth, old.azimuth) / current.dT + TURN_FILTER * (old.dAzimuth)) / (TURN_FILTER + 1);

6
ground/gcs/src/plugins/opmap/modelmapproxy.cpp
View File

@ -293,10 +293,8 @@ void modelMapProxy::rowsInserted(const QModelIndex &parent, int first, int last)
{
Q_UNUSED(parent);
for (int x = first; x < last + 1; x++) {
QModelIndex index;
WayPointItem *item;
internals::PointLatLng latlng;
distBearingAltitude distBearing;
double altitude;
@ -318,9 +316,9 @@ void modelMapProxy::rowsInserted(const QModelIndex &parent, int first, int last)
index = model->index(x, flightDataModel::ALTITUDE);
altitude = index.data(Qt::DisplayRole).toDouble();
if (relative) {
item = myMap->WPInsert(distBearing, desc, x);
myMap->WPInsert(distBearing, desc, x);
} else {
item = myMap->WPInsert(latlng, altitude, desc, x);
myMap->WPInsert(latlng, altitude, desc, x);
}
}

1
ground/gcs/src/plugins/opmap/modeluavoproxy.cpp
View File

@ -27,6 +27,7 @@
#include "modeluavoproxy.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjecthelper.h"
#include "uavobjectmanager.h"
#include <QProgressDialog>
#include <math.h>

7
ground/gcs/src/plugins/pathactioneditor/pathactioneditorgadgetwidget.cpp
View File

@ -25,6 +25,10 @@
*/
#include "pathactioneditorgadgetwidget.h"
#include "ui_pathactioneditor.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "browseritemdelegate.h"
#include <QDebug>
#include <QString>
@ -33,9 +37,6 @@
#include <QTextEdit>
#include <QVBoxLayout>
#include <QPushButton>
#include "browseritemdelegate.h"
#include "extensionsystem/pluginmanager.h"
PathActionEditorGadgetWidget::PathActionEditorGadgetWidget(QWidget *parent) : QLabel(parent)
{

33
ground/gcs/src/plugins/pfdqml/pfdqmlcontext.cpp
View File

@ -35,6 +35,36 @@
#include <QQmlContext>
#include <QDebug>
/*
* Convert a string to lower camel case.
* Handles following cases :
* - Property -> property
* - MyProperty -> myProperty
* - MYProperty -> myProperty
* - MY_Property -> my_Property
* - MY -> my
*/
// TODO move to some utility class
QString toLowerCamelCase(const QString & name)
{
QString str = name;
for (int i = 0; i < str.length(); ++i) {
if (str[i].isLower() || !str[i].isLetter()) {
break;
}
if (i > 0 && i < str.length() - 1) {
// after first, look ahead one
if (str[i + 1].isLower()) {
break;
}
}
str[i] = str[i].toLower();
}
return str;
}
PfdQmlContext::PfdQmlContext(QObject *parent) : QObject(parent),
m_speedUnit("m/s"),
m_speedFactor(1.0),
@ -319,7 +349,8 @@ void PfdQmlContext::apply(QQmlContext *context)
UAVObject *object = objManager->getObject(objectName);
if (object) {
context->setContextProperty(objectName, object);
// expose object with lower camel case name
context->setContextProperty(toLowerCamelCase(objectName), object);
} else {
qWarning() << "PfdQmlContext::apply - failed to load object" << objectName;
}

20
ground/gcs/src/plugins/uavobjects/uavobject.cpp.template
View File

@ -33,6 +33,9 @@
#include "$(NAMELC).h"
#include "uavobjectfield.h"
#include "uavobjectmanager.h"
#include <QtQml>
const QString $(NAME)::NAME = QString("$(NAME)");
const QString $(NAME)::DESCRIPTION = QString("$(DESCRIPTION)");
@ -47,7 +50,7 @@ $(NAME)::$(NAME)(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
QList<UAVObjectField *> fields;
$(FIELDSINIT)
// Initialize object
initializeFields(fields, (quint8 *)&data, NUMBYTES);
initializeFields(fields, (quint8 *)&data_, NUMBYTES);
// Set the default field values
setDefaultFieldValues();
// Set the object description
@ -86,7 +89,7 @@ UAVObject::Metadata $(NAME)::getDefaultMetadata()
*/
void $(NAME)::setDefaultFieldValues()
{
$(INITFIELDS)
$(FIELDSDEFAULT)
}
/**
@ -95,7 +98,7 @@ $(INITFIELDS)
$(NAME)::DataFields $(NAME)::getData()
{
QMutexLocker locker(mutex);
return data;
return data_;
}
/**
@ -108,7 +111,7 @@ void $(NAME)::setData(const DataFields& data)
Metadata mdata = getMetadata();
// Update object if the access mode permits
if (UAVObject::GetGcsAccess(mdata) == ACCESS_READWRITE) {
this->data = data;
this->data_ = data;
emit objectUpdatedAuto(this); // trigger object updated event
emit objectUpdated(this);
}
@ -116,7 +119,7 @@ void $(NAME)::setData(const DataFields& data)
void $(NAME)::emitNotifications()
{
$(NOTIFY_PROPERTIES_CHANGED)
$(NOTIFY_PROPERTIES_CHANGED)
}
/**
@ -148,4 +151,11 @@ $(NAME) *$(NAME)::GetInstance(UAVObjectManager *objMngr, quint32 instID)
return dynamic_cast<$(NAME) *>(objMngr->getObject($(NAME)::OBJID, instID));
}
/**
* Static function to register QML types.
*/
void $(NAME)::registerQMLTypes() {
$(REGISTER_QML_TYPES)
}
$(PROPERTIES_IMPL)

6
ground/gcs/src/plugins/uavobjects/uavobject.h
View File

@ -37,9 +37,6 @@
#include <QList>
#include <QFile>
#include <stdint.h>
#include <QXmlStreamWriter>
#include <QXmlStreamReader>
#include <QJsonObject>
#include "uavobjectfield.h"
@ -53,6 +50,9 @@
#define UAVOBJ_UPDATE_MODE_MASK 0x3
class UAVObjectField;
class QXmlStreamWriter;
class QXmlStreamReader;
class QJsonObject;
class UAVOBJECTS_EXPORT UAVObject : public QObject {
Q_OBJECT

20
ground/gcs/src/plugins/uavobjects/uavobject.h.template
View File

@ -34,13 +34,19 @@
#define $(NAMEUC)_H
#include "uavdataobject.h"
#include "uavobjectmanager.h"
class UAVObjectManager;
$(ENUMS)
class UAVOBJECTS_EXPORT $(NAME): public UAVDataObject
{
Q_OBJECT
$(PROPERTIES)
// Deprecated properties
$(DEPRECATED_PROPERTIES)
public:
// Field structure
typedef struct {
@ -49,7 +55,7 @@ $(DATAFIELDS)
// Field information
$(DATAFIELDINFO)
// Constants
static const quint32 OBJID = $(OBJIDHEX);
static const QString NAME;
@ -66,10 +72,12 @@ $(DATAFIELDINFO)
void setData(const DataFields& data);
Metadata getDefaultMetadata();
UAVDataObject* clone(quint32 instID);
UAVDataObject* dirtyClone();
UAVDataObject* dirtyClone();
static $(NAME)* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
static void registerQMLTypes();
$(PROPERTY_GETTERS)
public slots:
@ -80,9 +88,9 @@ $(PROPERTY_NOTIFICATIONS)
private slots:
void emitNotifications();
private:
DataFields data;
DataFields data_;
void setDefaultFieldValues();

6
ground/gcs/src/plugins/uavobjects/uavobjectfield.cpp
View File

@ -26,9 +26,13 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "uavobjectfield.h"
#include <QtEndian>
#include <QDebug>
#include <QtWidgets>
#include <QXmlStreamWriter>
#include <QXmlStreamReader>
#include <QJsonObject>
#include <QJsonArray>
UAVObjectField::UAVObjectField(const QString & name, const QString & description, const QString & units, FieldType type, quint32 numElements, const QStringList & options, const QString &limits)
{

8
ground/gcs/src/plugins/uavobjects/uavobjectfield.h
View File

@ -30,16 +30,18 @@
#include "uavobjects_global.h"
#include "uavobject.h"
#include <QStringList>
#include <QVariant>
#include <QList>
#include <QMap>
#include <QXmlStreamWriter>
#include <QXmlStreamReader>
#include <QJsonObject>
class UAVObject;
class QXmlStreamWriter;
class QXmlStreamReader;
class QJsonObject;
class UAVOBJECTS_EXPORT UAVObjectField : public QObject {
Q_OBJECT

2
ground/gcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -3,6 +3,8 @@ TARGET = UAVObjects
DEFINES += UAVOBJECTS_LIBRARY
QT += qml
include(../../plugin.pri)
include(uavobjects_dependencies.pri)

1
ground/gcs/src/plugins/uavobjects/uavobjectsplugin.cpp
View File

@ -27,6 +27,7 @@
*/
#include "uavobjectsplugin.h"
#include "uavobjectsinit.h"
#include "uavobjectmanager.h"
UAVObjectsPlugin::UAVObjectsPlugin()
{}

2
ground/gcs/src/plugins/uavobjects/uavobjectsplugin.h
View File

@ -30,8 +30,8 @@
#include "uavobjects_global.h"
#include <extensionsystem/iplugin.h>
#include <QtPlugin>
#include "uavobjectmanager.h"
class UAVOBJECTS_EXPORT UAVObjectsPlugin :
public ExtensionSystem::IPlugin {

30
ground/gcs/src/share/qml/model/ModelTerrainView.qml
View File

@ -2,6 +2,10 @@ import QtQuick 2.4
import Pfd 1.0
import OsgQtQuick 1.0
import UAVTalk.AttitudeState 1.0
import UAVTalk.HomeLocation 1.0
import UAVTalk.GPSPositionSensor 1.0
OSGViewport {
anchors.fill: parent
focus: true
@ -46,33 +50,33 @@ OSGViewport {
position: uavPosition()
function uavAttitude() {
return Qt.vector3d(AttitudeState.Pitch, AttitudeState.Roll, -AttitudeState.Yaw);
return Qt.vector3d(attitudeState.pitch, attitudeState.roll, -attitudeState.yaw);
}
function uavPosition() {
switch(GPSPositionSensor.Status) {
case 2: // Fix2D
case 3: // Fix3D
switch(gpsPositionSensor.status) {
case Status.Fix2D:
case Status.Fix3D:
return uavGPSPosition();
case 0: // NoGPS
case 1: // NoFix
case Status.NoFix:
case Status.NoGPS:
default:
return (HomeLocation.Set == 1) ? uavHomePosition() : uavDefaultPosition();
return (homeLocation.set == Set.True) ? uavHomePosition() : uavDefaultPosition();
}
}
function uavGPSPosition() {
return Qt.vector3d(
GPSPositionSensor.Longitude / 10000000.0,
GPSPositionSensor.Latitude / 10000000.0,
GPSPositionSensor.Altitude);
gpsPositionSensor.longitude / 10000000.0,
gpsPositionSensor.latitude / 10000000.0,
gpsPositionSensor.altitude);
}
function uavHomePosition() {
return Qt.vector3d(
HomeLocation.Longitude / 10000000.0,
HomeLocation.Latitude / 10000000.0,
HomeLocation.Altitude);
homeLocation.longitude / 10000000.0,
homeLocation.latitude / 10000000.0,
homeLocation.altitude);
}
function uavDefaultPosition() {

4
ground/gcs/src/share/qml/model/ModelView.qml
View File

@ -1,6 +1,8 @@
import QtQuick 2.4
import OsgQtQuick 1.0
import UAVTalk.AttitudeState 1.0
Item {
OSGViewport {
@ -25,7 +27,7 @@ Item {
OSGTransformNode {
id: transformNode
modelData: fileNode
rotate: Qt.vector3d(AttitudeState.Pitch, AttitudeState.Roll, -AttitudeState.Yaw)
rotate: Qt.vector3d(attitudeState.pitch, attitudeState.roll, -attitudeState.yaw)
//scale: Qt.vector3d(0.001, 0.001, 0.001)
}

12
ground/gcs/src/share/qml/pfd/AltitudeScale.qml
View File

@ -1,10 +1,14 @@
import QtQuick 2.4
import UAVTalk.PositionState 1.0
import UAVTalk.NedAccel 1.0
import UAVTalk.PathDesired 1.0
Item {
id: sceneItem
property variant sceneSize
property real altitude : -qmlWidget.altitudeFactor * PositionState.Down
property real altitude : -qmlWidget.altitudeFactor * positionState.down
SvgElementImage {
id: altitude_window
@ -60,7 +64,7 @@ Item {
elementName: "altitude-vector"
sceneSize: sceneItem.sceneSize
height: -NedAccel.Down * altitude_scale.height/10
height: -nedAccel.down * altitude_scale.height / 10
anchors.left: parent.left
anchors.bottom: parent.verticalCenter
@ -70,12 +74,12 @@ Item {
id: altitude_waypoint
elementName: "altitude-waypoint"
sceneSize: sceneItem.sceneSize
visible: PathDesired.End_Down !== 0.0
visible: (pathDesired.endDown != 0.0)
anchors.left: parent.left
anchors.verticalCenter: parent.verticalCenter
anchors.verticalCenterOffset: -altitude_scale.height/10 * (PositionState.Down - PathDesired.End_Down) * qmlWidget.altitudeFactor
anchors.verticalCenterOffset: -altitude_scale.height / 10 * (positionState.Down - pathDesired.endDown) * qmlWidget.altitudeFactor
}
}

24
ground/gcs/src/share/qml/pfd/Compass.qml
View File

@ -1,5 +1,12 @@
import QtQuick 2.4
import UAVTalk.AttitudeState 1.0
import UAVTalk.PositionState 1.0
import UAVTalk.PathDesired 1.0
import UAVTalk.TakeOffLocation 1.0
import "common.js" as Utils
Item {
id: sceneItem
property variant sceneSize
@ -31,7 +38,7 @@ Item {
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
rotation: -AttitudeState.Yaw
rotation: -attitudeState.yaw
transformOrigin: Item.Center
}
@ -44,12 +51,12 @@ Item {
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
property real home_degrees: 180/3.1415 * Math.atan2(TakeOffLocation.East - PositionState.East, TakeOffLocation.North - PositionState.North)
property real home_degrees: 180 / 3.1415 * Math.atan2(takeOffLocation.east - positionState.east, takeOffLocation.north - positionState.north)
rotation: -AttitudeState.Yaw + home_degrees
rotation: -attitudeState.yaw + home_degrees
transformOrigin: Item.Bottom
visible: TakeOffLocation.Status == 0
visible: (takeOffLocation.status == Status.Valid)
}
SvgElementImage {
@ -61,12 +68,13 @@ Item {
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
property real course_degrees: 180/3.1415 * Math.atan2(PathDesired.End_East - PositionState.East, PathDesired.End_North - PositionState.North)
property real course_degrees: 180 / 3.1415 * Math.atan2(pathDesired.endEast - positionState.east, pathDesired.endNorth - positionState.north)
rotation: -AttitudeState.Yaw + course_degrees
rotation: -attitudeState.yaw + course_degrees
transformOrigin: Item.Center
visible: PathDesired.End_East !== 0.0 && PathDesired.End_East !== 0.0
// FIXME : why test endEast twice?
visible: ((pathDesired.endEast != 0.0) && (pathDesired.endEast != 0.0))
}
Item {
@ -81,7 +89,7 @@ Item {
Text {
id: compass_text
text: Math.floor(AttitudeState.Yaw).toFixed()
text: Math.floor(attitudeState.yaw).toFixed()
color: "white"
font {
family: pt_bold.name

144
ground/gcs/src/share/qml/pfd/Info.qml
View File

@ -1,5 +1,18 @@
import QtQuick 2.4
import UAVTalk.HwSettings 1.0
import UAVTalk.SystemAlarms 1.0
import UAVTalk.VelocityState 1.0
import UAVTalk.TakeOffLocation 1.0
import UAVTalk.PathDesired 1.0
import UAVTalk.WaypointActive 1.0
import UAVTalk.GPSPositionSensor 1.0 as GPSPositionSensor
import UAVTalk.GPSSatellites 1.0
import UAVTalk.FlightBatterySettings 1.0
import UAVTalk.FlightBatteryState 1.0
import "common.js" as Utils
Item {
id: info
property variant sceneSize
@ -18,29 +31,29 @@ Item {
property bool init_dist: false
property real home_heading: 180/3.1415 * Math.atan2(TakeOffLocation.East - PositionState.East,
TakeOffLocation.North - PositionState.North)
property real home_heading: 180 / 3.1415 * Math.atan2(takeOffLocation.east - positionState.east,
takeOffLocation.north - positionState.north)
property real home_distance: Math.sqrt(Math.pow((TakeOffLocation.East - PositionState.East),2) +
Math.pow((TakeOffLocation.North - PositionState.North),2))
property real home_distance: Math.sqrt(Math.pow((takeOffLocation.east - positionState.east), 2) +
Math.pow((takeOffLocation.north - positionState.north), 2))
property real wp_heading: 180/3.1415 * Math.atan2(PathDesired.End_East - PositionState.East,
PathDesired.End_North - PositionState.North)
property real wp_heading: 180 / 3.1415 * Math.atan2(pathDesired.endEast - positionState.east,
pathDesired.endNorth - positionState.north)
property real wp_distance: Math.sqrt(Math.pow((PathDesired.End_East - PositionState.East),2) +
Math.pow(( PathDesired.End_North - PositionState.North),2))
property real wp_distance: Math.sqrt(Math.pow((pathDesired.endEast - positionState.east), 2) +
Math.pow((pathDesired.endNorth - positionState.north), 2))
property real current_velocity: Math.sqrt(Math.pow(VelocityState.North,2)+Math.pow(VelocityState.East,2))
property real current_velocity: Math.sqrt(Math.pow(velocityState.north, 2) + Math.pow(velocityState.east, 2))
property real home_eta: (home_distance > 0 && current_velocity > 0 ? Math.round(home_distance/current_velocity) : 0)
property real home_eta: (home_distance > 0 && current_velocity > 0 ? Math.round(home_distance / current_velocity) : 0)
property real home_eta_h: (home_eta > 0 ? Math.floor(home_eta / 3600) : 0 )
property real home_eta_m: (home_eta > 0 ? Math.floor((home_eta - home_eta_h*3600)/60) : 0)
property real home_eta_s: (home_eta > 0 ? Math.floor(home_eta - home_eta_h*3600 - home_eta_m*60) : 0)
property real home_eta_m: (home_eta > 0 ? Math.floor((home_eta - home_eta_h * 3600) / 60) : 0)
property real home_eta_s: (home_eta > 0 ? Math.floor(home_eta - home_eta_h * 3600 - home_eta_m * 60) : 0)
property real wp_eta: (wp_distance > 0 && current_velocity > 0 ? Math.round(wp_distance/current_velocity) : 0)
property real wp_eta_h: (wp_eta > 0 ? Math.floor(wp_eta / 3600) : 0 )
property real wp_eta_m: (wp_eta > 0 ? Math.floor((wp_eta - wp_eta_h*3600)/60) : 0)
property real wp_eta_s: (wp_eta > 0 ? Math.floor(wp_eta - wp_eta_h*3600 - wp_eta_m*60) : 0)
property real wp_eta_m: (wp_eta > 0 ? Math.floor((wp_eta - wp_eta_h * 3600) / 60) : 0)
property real wp_eta_s: (wp_eta > 0 ? Math.floor(wp_eta - wp_eta_h * 3600 - wp_eta_m * 60) : 0)
function reset_distance() {
total_distance = 0;
@ -48,8 +61,8 @@ Item {
function compute_distance(posEast,posNorth) {
if (total_distance == 0 && !init_dist) { init_dist = "true"; posEast_old = posEast; posNorth_old = posNorth; }
if (posEast > posEast_old+3 || posEast < posEast_old-3 || posNorth > posNorth_old+3 || posNorth < posNorth_old-3) {
total_distance += Math.sqrt(Math.pow((posEast - posEast_old ),2) + Math.pow((posNorth - posNorth_old),2));
if (posEast > posEast_old+3 || posEast < posEast_old - 3 || posNorth > posNorth_old + 3 || posNorth < posNorth_old - 3) {
total_distance += Math.sqrt(Math.pow((posEast - posEast_old ), 2) + Math.pow((posNorth - posNorth_old), 2));
total_distance_km = total_distance / 1000;
posEast_old = posEast;
@ -58,15 +71,6 @@ Item {
}
}
function formatTime(time) {
if (time == 0)
return "00"
if (time < 10)
return "0" + time;
else
return time.toString();
}
// End Functions
//
// Start Drawing
@ -84,16 +88,14 @@ Item {
//
property real bar_width: (info_bg.height + info_bg.width) / 110
property int satsInView: String(GPSSatellites.SatsInView).charCodeAt(0)
property variant gps_tooltip: "Altitude : "+GPSPositionSensor.Altitude.toFixed(2) +"m\n"+
"H/V/P DOP : "+GPSPositionSensor.HDOP.toFixed(2)+"/"+GPSPositionSensor.VDOP.toFixed(2)+"/"+GPSPositionSensor.PDOP.toFixed(2)+"m\n"+
satsInView+" Sats in view"
property int satsInView: gpsSatellites.satsInView
property variant gps_tooltip: "Altitude : " + gpsPositionSensor.altitude.toFixed(2) + "m\n" +
"H/V/P DOP : " + gpsPositionSensor.hdop.toFixed(2) + "/" + gpsPositionSensor.vdop.toFixed(2) + "/" + gpsPositionSensor.pdop.toFixed(2) + "m\n" +
satsInView + " Sats in view"
Repeater {
id: satNumberBar
//smooth: true
// hack, qml/js treats qint8 as a char, necessary to convert it back to integer value
property int satNumber : String(GPSPositionSensor.Satellites).charCodeAt(0)
property int satNumber : gpsPositionSensor.satellites
model: 13
Rectangle {
@ -105,9 +107,9 @@ Item {
text: gps_tooltip
}
x: Math.round((bar_width*4.5) + (bar_width * 1.6 * index))
x: Math.round((bar_width * 4.5) + (bar_width * 1.6 * index))
height: bar_width * index * 0.6
y: (bar_width*8) - height
y: (bar_width * 8) - height
color: "green"
opacity: satNumberBar.satNumber >= minSatNumber ? 1 : 0.4
}
@ -122,10 +124,10 @@ Item {
}
Text {
property int satNumber : String(GPSPositionSensor.Satellites).charCodeAt(0)
property int satNumber : gpsPositionSensor.satellites
text: [satNumber > 5 ? " " + satNumber.toString() + " sats - " : ""] +
["NO GPS", "NO FIX", "2D", "3D"][GPSPositionSensor.Status]
text: [satNumber > 5 ? " " + satNumber.toString() + " sats - " : ""] +
["NO GPS", "NO FIX", "2D", "3D"][gpsPositionSensor.status]
anchors.centerIn: parent
font.pixelSize: parent.height*1.3
font.family: pt_bold.name
@ -154,7 +156,7 @@ Item {
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
y: Math.floor(scaledBounds.y * sceneItem.height)
visible: SystemAlarms.Alarm_PathPlan == 1
visible: (systemAlarms.alarmPathPlan == Alarm.OK)
}
SvgElementPositionItem {
@ -163,7 +165,7 @@ Item {
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
y: Math.floor(scaledBounds.y * sceneItem.height)
visible: SystemAlarms.Alarm_PathPlan == 1
visible: (systemAlarms.alarmPathPlan == Alarm.OK)
Text {
text: " "+wp_heading.toFixed(1)+"°"
@ -184,7 +186,7 @@ Item {
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
y: Math.floor(scaledBounds.y * sceneItem.height)
visible: SystemAlarms.Alarm_PathPlan == 1
visible: (systemAlarms.alarmPathPlan == Alarm.OK)
Text {
text: " "+wp_distance.toFixed(0)+" m"
@ -205,7 +207,7 @@ Item {
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
y: Math.floor(scaledBounds.y * sceneItem.height)
visible: SystemAlarms.Alarm_PathPlan == 1
visible: (systemAlarms.alarmPathPlan == Alarm.OK)
MouseArea { id: total_dist_mouseArea; anchors.fill: parent; cursorShape: Qt.PointingHandCursor; onClicked: reset_distance()}
@ -223,7 +225,7 @@ Item {
Timer {
interval: 1000; running: true; repeat: true;
onTriggered: {if (GPSPositionSensor.Status == 3) compute_distance(PositionState.East,PositionState.North)}
onTriggered: { if (gpsPositionSensor.status == GPSPositionSensor.Status.Fix3D) compute_distance(positionState.east, positionState.north) }
}
}
@ -233,10 +235,10 @@ Item {
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
y: Math.floor(scaledBounds.y * sceneItem.height)
visible: SystemAlarms.Alarm_PathPlan == 1
visible: (systemAlarms.alarmPathPlan == Alarm.OK)
Text {
text: formatTime(wp_eta_h) + ":" + formatTime(wp_eta_m) + ":" + formatTime(wp_eta_s)
text: Utils.formatTime(wp_eta_h) + ":" + Utils.formatTime(wp_eta_m) + ":" + Utils.formatTime(wp_eta_s)
anchors.centerIn: parent
color: "cyan"
@ -254,10 +256,10 @@ Item {
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
y: Math.floor(scaledBounds.y * sceneItem.height)
visible: SystemAlarms.Alarm_PathPlan == 1
visible: (systemAlarms.alarmPathPlan == Alarm.OK)
Text {
text: (WaypointActive.Index+1)+" / "+PathPlan.WaypointCount
text: (waypointActive.index + 1) + " / " + pathPlan.waypointCount
anchors.centerIn: parent
color: "cyan"
@ -275,10 +277,10 @@ Item {
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
y: Math.floor(scaledBounds.y * sceneItem.height)
visible: SystemAlarms.Alarm_PathPlan == 1
visible: (systemAlarms.alarmPathPlan == Alarm.OK)
Text {
text: ["GOTO ENDPOINT","FOLLOW VECTOR","CIRCLE RIGHT","CIRCLE LEFT","FIXED ATTITUDE","SET ACCESSORY","DISARM ALARM","LAND","BRAKE","VELOCITY","AUTO TAKEOFF"][PathDesired.Mode]
text: ["GOTO ENDPOINT","FOLLOW VECTOR","CIRCLE RIGHT","CIRCLE LEFT","FIXED ATTITUDE","SET ACCESSORY","DISARM ALARM","LAND","BRAKE","VELOCITY","AUTO TAKEOFF"][pathDesired.mode]
anchors.centerIn: parent
color: "cyan"
@ -301,11 +303,11 @@ Item {
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
y: scaledBounds.y * sceneItem.height
visible: (SystemAlarms.Alarm_PathPlan != 1) && (HwSettings.OptionalModules_Battery == 1)
visible: ((systemAlarms.alarmPathPlan != Alarm.OK) && (hwSettings.optionalModulesBattery == OptionalModules.Enabled))
Rectangle {
anchors.fill: parent
color: FlightBatterySettings.NbCells > 0 ? info.batColors[SystemAlarms.Alarm_Battery] : "black"
color: (flightBatterySettings.nbCells > 0) ? info.batColors[systemAlarms.alarmBattery] : "black"
}
}
@ -316,7 +318,7 @@ Item {
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
y: Math.floor(scaledBounds.y * sceneItem.height)
visible: (SystemAlarms.Alarm_PathPlan != 1) && (HwSettings.OptionalModules_Battery == 1)
visible: ((systemAlarms.alarmPathPlan != Alarm.OK) && (hwSettings.optionalModulesBattery == OptionalModules.Enabled))
}
SvgElementPositionItem {
@ -327,14 +329,14 @@ Item {
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
y: scaledBounds.y * sceneItem.height
visible: (SystemAlarms.Alarm_PathPlan != 1) && (HwSettings.OptionalModules_Battery == 1)
visible: ((systemAlarms.alarmPathPlan != Alarm.OK) && (hwSettings.optionalModulesBattery == OptionalModules.Enabled))
Rectangle {
anchors.fill: parent
color: "transparent"
Text {
text: FlightBatteryState.Voltage.toFixed(2)
text: flightBatteryState.voltage.toFixed(2)
anchors.centerIn: parent
color: "white"
font {
@ -354,14 +356,14 @@ Item {
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
y: scaledBounds.y * sceneItem.height
visible: (SystemAlarms.Alarm_PathPlan != 1) && (HwSettings.OptionalModules_Battery == 1)
visible: ((systemAlarms.alarmPathPlan != Alarm.OK) && (hwSettings.optionalModulesBattery == OptionalModules.Enabled))
Rectangle {
anchors.fill: parent
color: "transparent"
Text {
text: FlightBatteryState.Current.toFixed(2)
text: flightBatteryState.current.toFixed(2)
anchors.centerIn: parent
color: "white"
font {
@ -381,7 +383,7 @@ Item {
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
y: scaledBounds.y * sceneItem.height
visible: (SystemAlarms.Alarm_PathPlan != 1) && (HwSettings.OptionalModules_Battery == 1)
visible: ((systemAlarms.alarmPathPlan != Alarm.OK) && (hwSettings.optionalModulesBattery == OptionalModules.Enabled))
Rectangle {
anchors.fill: parent
@ -390,23 +392,23 @@ Item {
text: "Reset consumed energy"
}
MouseArea {
id: reset_consumed_energy_mouseArea;
MouseArea {
id: reset_consumed_energy_mouseArea;
anchors.fill: parent;
cursorShape: Qt.PointingHandCursor;
cursorShape: Qt.PointingHandCursor;
onClicked: qmlWidget.resetConsumedEnergy();
}
// Alarm based on FlightBatteryState.EstimatedFlightTime < 120s orange, < 60s red
color: (FlightBatteryState.EstimatedFlightTime <= 120 && FlightBatteryState.EstimatedFlightTime > 60 ? "orange" :
(FlightBatteryState.EstimatedFlightTime <= 60 ? "red": info.batColors[SystemAlarms.Alarm_Battery]))
// Alarm based on flightBatteryState.estimatedFlightTime < 120s orange, < 60s red
color: ((flightBatteryState.estimatedFlightTime <= 120) && (flightBatteryState.estimatedFlightTime > 60)) ? "orange" :
(flightBatteryState.estimatedFlightTime <= 60) ? "red" : info.batColors[systemAlarms.alarmBattery]
border.color: "white"
border.width: topbattery_volt.width * 0.01
radius: border.width * 4
Text {
text: FlightBatteryState.ConsumedEnergy.toFixed(0)
text: flightBatteryState.consumedEnergy.toFixed(0)
anchors.centerIn: parent
color: "white"
font {
@ -427,7 +429,7 @@ Item {
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
y: Math.floor(scaledBounds.y * sceneItem.height)
visible: SystemAlarms.Alarm_PathPlan != 1
visible: (systemAlarms.alarmPathPlan != Alarm.OK)
}
SvgElementPositionItem {
@ -436,7 +438,7 @@ Item {
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
y: Math.floor(scaledBounds.y * sceneItem.height)
visible: SystemAlarms.Alarm_PathPlan != 1
visible: (systemAlarms.alarmPathPlan != Alarm.OK)
TooltipArea {
text: "Reset distance counter"
@ -458,7 +460,7 @@ Item {
Timer {
interval: 1000; running: true; repeat: true;
onTriggered: {if (GPSPositionSensor.Status == 3) compute_distance(PositionState.East,PositionState.North)}
onTriggered: { if (gpsPositionSensor.status == GPSPositionSensor.Status.Fix3D) compute_distance(positionState.east, positionState.north) }
}
}
@ -477,7 +479,7 @@ Item {
states: State {
name: "fading"
when: TakeOffLocation.Status == 0
when: (takeOffLocation.status == Status.Valid)
PropertyChanges { target: home_bg; x: Math.floor(scaledBounds.x * sceneItem.width) - home_bg.width; }
}
@ -498,7 +500,7 @@ Item {
states: State {
name: "fading_heading"
when: TakeOffLocation.Status == 0
when: (takeOffLocation.status == Status.Valid)
PropertyChanges { target: home_heading_text; x: Math.floor(scaledBounds.x * sceneItem.width) - home_bg.width; }
}
@ -529,7 +531,7 @@ Item {
states: State {
name: "fading_distance"
when: TakeOffLocation.Status == 0
when: (takeOffLocation.status == Status.Valid)
PropertyChanges { target: home_distance_text; x: Math.floor(scaledBounds.x * sceneItem.width) - home_bg.width; }
}
@ -560,7 +562,7 @@ Item {
states: State {
name: "fading_distance"
when: TakeOffLocation.Status == 0
when: (takeOffLocation.status == Status.Valid)
PropertyChanges { target: home_eta_text; x: Math.floor(scaledBounds.x * sceneItem.width) - home_bg.width; }
}
@ -571,7 +573,7 @@ Item {
}
Text {
text: formatTime(home_eta_h) + ":" + formatTime(home_eta_m) + ":" + formatTime(home_eta_s)
text: Utils.formatTime(home_eta_h) + ":" + Utils.formatTime(home_eta_m) + ":" + Utils.formatTime(home_eta_s)
anchors.centerIn: parent
color: "cyan"
font {

191
ground/gcs/src/share/qml/pfd/Panels.qml
View File

@ -1,22 +1,25 @@
import QtQuick 2.4
import UAVTalk.SystemSettings 1.0
import UAVTalk.RevoSettings 1.0
import UAVTalk.SystemAlarms 1.0
import UAVTalk.FlightBatteryState 1.0
import UAVTalk.GPSPositionSensor 1.0
import UAVTalk.ManualControlCommand 1.0
import UAVTalk.MagState 1.0
import UAVTalk.ReceiverStatus 1.0
import UAVTalk.OPLinkStatus 1.0
import "common.js" as Utils
Item {
id: panels
property variant sceneSize
property real est_flight_time: Math.round(FlightBatteryState.EstimatedFlightTime)
property real est_time_h: (est_flight_time > 0 ? Math.floor(est_flight_time / 3600) : 0 )
property real est_time_m: (est_flight_time > 0 ? Math.floor((est_flight_time - est_time_h*3600)/60) : 0)
property real est_time_s: (est_flight_time > 0 ? Math.floor(est_flight_time - est_time_h*3600 - est_time_m*60) : 0)
function formatTime(time) {
if (time == 0)
return "00"
if (time < 10)
return "0" + time;
else
return time.toString();
}
property real est_flight_time: Math.round(flightBatteryState.estimatedFlightTime)
property real est_time_h: (est_flight_time > 0) ? Math.floor(est_flight_time / 3600) : 0
property real est_time_m: (est_flight_time > 0) ? Math.floor((est_flight_time - est_time_h * 3600) / 60) : 0
property real est_time_s: (est_flight_time > 0) ? Math.floor(est_flight_time - est_time_h * 3600 - est_time_m * 60) : 0
//
// Panel functions
@ -80,16 +83,16 @@ Item {
property real smeter_angle
property real memory_free : SystemStats.HeapRemaining > 1024 ? SystemStats.HeapRemaining / 1024 : SystemStats.HeapRemaining
property real memory_free : (systemStats.heapRemaining > 1024) ? systemStats.heapRemaining / 1024 : systemStats.heapRemaining
// Needed to get correctly int8 value
property int cpuTemp : SystemStats.CPUTemp
property int cpuTemp : systemStats.cpuTemp
// Needed to get correctly int8 value, reset value (-127) on disconnect
property int oplm0_db: telemetry_link == 1 ? OPLinkStatus.PairSignalStrengths_0 : -127
property int oplm1_db: telemetry_link == 1 ? OPLinkStatus.PairSignalStrengths_1 : -127
property int oplm2_db: telemetry_link == 1 ? OPLinkStatus.PairSignalStrengths_2 : -127
property int oplm3_db: telemetry_link == 1 ? OPLinkStatus.PairSignalStrengths_3 : -127
property int oplm0_db: (telemetry_link == 1) ? opLinkStatus.pairSignalStrengths0 : -127
property int oplm1_db: (telemetry_link == 1) ? opLinkStatus.pairSignalStrengths1 : -127
property int oplm2_db: (telemetry_link == 1) ? opLinkStatus.pairSignalStrengths2 : -127
property int oplm3_db: (telemetry_link == 1) ? opLinkStatus.pairSignalStrengths3 : -127
property real telemetry_sum
property real telemetry_sum_old
@ -98,9 +101,10 @@ Item {
// Hack : check if telemetry is active. Works with real link and log replay
function telemetry_check() {
telemetry_sum = OPLinkStatus.RXRate + OPLinkStatus.RXRate
// FIXME : why rxRate + rxRate?
telemetry_sum = opLinkStatus.rxRate + opLinkStatus.rxRate
if (telemetry_sum != telemetry_sum_old || OPLinkStatus.LinkState == 4) {
if (telemetry_sum != telemetry_sum_old || (opLinkStatus.linkState == LinkState.Connected)) {
telemetry_link = 1
} else {
telemetry_link = 0
@ -141,7 +145,7 @@ Item {
}
property int smeter_filter
property variant oplm_pair_id : OPLinkStatus.PairIDs_0
property variant oplm_pair_id : opLinkStatus.pairIDs0
function select_oplm(index){
smeter_filter0.running = false;
@ -153,22 +157,22 @@ Item {
case 0:
smeter_filter0.running = true;
smeter_filter = 0;
oplm_pair_id = OPLinkStatus.PairIDs_0
oplm_pair_id = opLinkStatus.pairIDs0
break;
case 1:
smeter_filter1.running = true;
smeter_filter = 1;
oplm_pair_id = OPLinkStatus.PairIDs_1
oplm_pair_id = opLinkStatus.pairIDs1
break;
case 2:
smeter_filter2.running = true;
smeter_filter = 2;
oplm_pair_id = OPLinkStatus.PairIDs_2
oplm_pair_id = opLinkStatus.pairIDs2
break;
case 3:
smeter_filter3.running = true;
smeter_filter = 3;
oplm_pair_id = OPLinkStatus.PairIDs_3
oplm_pair_id = opLinkStatus.pairIDs3
break;
}
}
@ -218,7 +222,7 @@ Item {
elementName: "panel-open-icon"
sceneSize: panels.sceneSize
y: Math.floor(scaledBounds.y * sceneItem.height)
z: close_bg.z+1
z: close_bg.z + 1
opacity: show_panels == true ? 0 : 1
states: State {
@ -241,7 +245,7 @@ Item {
elementName: "close-panel-mousearea"
sceneSize: panels.sceneSize
y: Math.floor(scaledBounds.y * sceneItem.height)
z: close_bg.z+100
z: close_bg.z + 100
TooltipArea {
text: show_panels == true ? "Close panels" : "Open panels"
@ -250,7 +254,7 @@ Item {
MouseArea {
id: hidedisp_close;
anchors.fill: parent;
cursorShape: Qt.PointingHandCursor
cursorShape: Qt.PointingHandCursor
onClicked: close_panels()
}
@ -297,7 +301,7 @@ Item {
elementName: "rc-input-labels"
sceneSize: panels.sceneSize
y: Math.floor(scaledBounds.y * sceneItem.height)
z: rc_input_bg.z+1
z: rc_input_bg.z + 1
states: State {
name: "fading"
@ -306,9 +310,9 @@ Item {
}
transitions: Transition {
SequentialAnimation {
PropertyAnimation { property: "x"; easing.type: anim_type; easing.amplitude: anim_amplitude; easing.period: anim_period; duration: duration_value }
}
SequentialAnimation {
PropertyAnimation { property: "x"; easing.type: anim_type; easing.amplitude: anim_amplitude; easing.period: anim_period; duration: duration_value }
}
}
}
@ -317,7 +321,7 @@ Item {
elementName: "rc-input-panel-mousearea"
sceneSize: panels.sceneSize
y: Math.floor(scaledBounds.y * sceneItem.height)
z: rc_input_bg.z+1
z: rc_input_bg.z + 1
TooltipArea {
text: "RC panel"
@ -337,9 +341,9 @@ Item {
}
transitions: Transition {
SequentialAnimation {
PropertyAnimation { property: "x"; easing.type: anim_type; easing.amplitude: anim_amplitude; easing.period: anim_period; duration: duration_value }
}
SequentialAnimation {
PropertyAnimation { property: "x"; easing.type: anim_type; easing.amplitude: anim_amplitude; easing.period: anim_period; duration: duration_value }
}
}
}
@ -350,7 +354,7 @@ Item {
z: rc_input_bg.z+2
width: scaledBounds.width * sceneItem.width
height: (scaledBounds.height * sceneItem.height) * (ManualControlCommand.Throttle)
height: (scaledBounds.height * sceneItem.height) * (manualControlCommand.throttle)
x: scaledBounds.x * sceneItem.width
y: (scaledBounds.y * sceneItem.height) - rc_throttle.height + (scaledBounds.height * sceneItem.height)
@ -364,9 +368,9 @@ Item {
}
transitions: Transition {
SequentialAnimation {
PropertyAnimation { property: "x"; easing.type: anim_type; easing.amplitude: anim_amplitude; easing.period: anim_period; duration: duration_value }
}
SequentialAnimation {
PropertyAnimation { property: "x"; easing.type: anim_type; easing.amplitude: anim_amplitude; easing.period: anim_period; duration: duration_value }
}
}
}
@ -379,13 +383,13 @@ Item {
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
y: (scaledBounds.y * sceneItem.height) + (ManualControlCommand.Pitch * rc_stick.width * 2.5)
y: (scaledBounds.y * sceneItem.height) + (manualControlCommand.pitch * rc_stick.width * 2.5)
smooth: true
//rotate it around his center
transform: Rotation {
angle: ManualControlCommand.Yaw * 90
angle: manualControlCommand.yaw * 90
origin.y : rc_stick.height / 2
origin.x : rc_stick.width / 2
}
@ -393,13 +397,13 @@ Item {
states: State {
name: "fading"
when: show_panels == true
PropertyChanges { target: rc_stick; x: Math.floor(scaledBounds.x * sceneItem.width) + (ManualControlCommand.Roll * rc_stick.width * 2.5) + offset_value; }
PropertyChanges { target: rc_stick; x: Math.floor(scaledBounds.x * sceneItem.width) + (manualControlCommand.roll * rc_stick.width * 2.5) + offset_value; }
}
transitions: Transition {
SequentialAnimation {
PropertyAnimation { property: "x"; easing.type: anim_type; easing.amplitude: anim_amplitude; easing.period: anim_period; duration: duration_value }
}
SequentialAnimation {
PropertyAnimation { property: "x"; easing.type: anim_type; easing.amplitude: anim_amplitude; easing.period: anim_period; duration: duration_value }
}
}
}
@ -421,9 +425,9 @@ Item {
}
transitions: Transition {
SequentialAnimation {
PropertyAnimation { property: "x"; easing.type: anim_type; easing.amplitude: anim_amplitude; easing.period: anim_period; duration: duration_value }
}
SequentialAnimation {
PropertyAnimation { property: "x"; easing.type: anim_type; easing.amplitude: anim_amplitude; easing.period: anim_period; duration: duration_value }
}
}
}
@ -431,7 +435,7 @@ Item {
id: battery_volt
sceneSize: panels.sceneSize
elementName: "battery-volt-text"
z: battery_bg.z+1
z: battery_bg.z + 1
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
@ -451,13 +455,13 @@ Item {
Rectangle {
anchors.fill: parent
color: panels.batColors[SystemAlarms.Alarm_Battery]
color: panels.batColors[systemAlarms.alarmBattery]
border.color: "white"
border.width: battery_volt.width * 0.01
radius: border.width * 4
Text {
text: FlightBatteryState.Voltage.toFixed(2)
text: flightBatteryState.voltage.toFixed(2)
anchors.centerIn: parent
color: "white"
font {
@ -492,13 +496,13 @@ Item {
Rectangle {
anchors.fill: parent
color: panels.batColors[SystemAlarms.Alarm_Battery]
color: panels.batColors[systemAlarms.alarmBattery]
border.color: "white"
border.width: battery_volt.width * 0.01
radius: border.width * 4
Text {
text: FlightBatteryState.Current.toFixed(2)
text: flightBatteryState.current.toFixed(2)
anchors.centerIn: parent
color: "white"
font {
@ -539,24 +543,24 @@ Item {
visible: display_bat == true ? 1 : 0
}
MouseArea {
id: reset_panel_consumed_energy_mouseArea;
MouseArea {
id: reset_panel_consumed_energy_mouseArea;
anchors.fill: parent;
cursorShape: Qt.PointingHandCursor;
visible: display_bat == true ? 1 : 0
onClicked: qmlWidget.resetConsumedEnergy();
}
// Alarm based on FlightBatteryState.EstimatedFlightTime < 120s orange, < 60s red
color: (FlightBatteryState.EstimatedFlightTime <= 120 && FlightBatteryState.EstimatedFlightTime > 60 ? "orange" :
(FlightBatteryState.EstimatedFlightTime <= 60 ? "red": panels.batColors[SystemAlarms.Alarm_Battery]))
// Alarm based on flightBatteryState.estimatedFlightTime < 120s orange, < 60s red
color: (flightBatteryState.estimatedFlightTime <= 120 && flightBatteryState.estimatedFlightTime > 60 ? "orange" :
(flightBatteryState.estimatedFlightTime <= 60 ? "red": panels.batColors[systemAlarms.alarmBattery]))
border.color: "white"
border.width: battery_volt.width * 0.01
radius: border.width * 4
Text {
text: FlightBatteryState.ConsumedEnergy.toFixed(0)
text: flightBatteryState.consumedEnergy.toFixed(0)
anchors.centerIn: parent
color: "white"
font {
@ -591,31 +595,31 @@ Item {
Rectangle {
anchors.fill: parent
//color: panels.batColors[SystemAlarms.Alarm_Battery]
//color: panels.batColors[systemAlarms.alarmBattery]
TooltipArea {
text: "Reset consumed energy"
visible: display_bat == true ? 1 : 0
}
MouseArea {
id: reset_panel_consumed_energy_mouseArea2;
MouseArea {
id: reset_panel_consumed_energy_mouseArea2;
anchors.fill: parent;
cursorShape: Qt.PointingHandCursor;
cursorShape: Qt.PointingHandCursor;
visible: display_bat == true ? 1 : 0
onClicked: qmlWidget.resetConsumedEnergy();
}
// Alarm based on FlightBatteryState.EstimatedFlightTime < 120s orange, < 60s red
color: (FlightBatteryState.EstimatedFlightTime <= 120 && FlightBatteryState.EstimatedFlightTime > 60 ? "orange" :
(FlightBatteryState.EstimatedFlightTime <= 60 ? "red": panels.batColors[SystemAlarms.Alarm_Battery]))
// Alarm based on flightBatteryState.estimatedFlightTime < 120s orange, < 60s red
color: (flightBatteryState.estimatedFlightTime <= 120) && (flightBatteryState.estimatedFlightTime > 60) ? "orange" :
(flightBatteryState.estimatedFlightTime <= 60) ? "red" : panels.batColors[systemAlarms.alarmBattery]
border.color: "white"
border.width: battery_volt.width * 0.01
radius: border.width * 4
Text {
text: formatTime(est_time_h) + ":" + formatTime(est_time_m) + ":" + formatTime(est_time_s)
text: Utils.formatTime(est_time_h) + ":" + Utils.formatTime(est_time_m) + ":" + Utils.formatTime(est_time_s)
anchors.centerIn: parent
color: "white"
font {
@ -706,7 +710,7 @@ Item {
elementName: "smeter-bg"
sceneSize: panels.sceneSize
y: Math.floor(scaledBounds.y * sceneItem.height)
z: oplm_bg.z+1
z: oplm_bg.z + 1
states: State {
name: "fading"
@ -726,7 +730,7 @@ Item {
elementName: "smeter-scale"
sceneSize: panels.sceneSize
y: Math.floor(scaledBounds.y * sceneItem.height)
z: oplm_bg.z+2
z: oplm_bg.z + 2
states: State {
name: "fading"
@ -746,7 +750,7 @@ Item {
elementName: "smeter-needle"
sceneSize: panels.sceneSize
y: Math.floor(scaledBounds.y * sceneItem.height)
z: oplm_bg.z+3
z: oplm_bg.z + 3
states: State {
name: "fading"
@ -774,7 +778,7 @@ Item {
width: smeter_scale.width * 1.09
//anchors.horizontalCenter: smeter_scale
z: oplm_bg.z+4
z: oplm_bg.z + 4
states: State {
name: "fading"
@ -796,7 +800,7 @@ Item {
y: Math.floor(scaledBounds.y * sceneItem.height)
width: smeter_mask.width
z: oplm_bg.z+5
z: oplm_bg.z + 5
states: State {
name: "fading"
@ -815,7 +819,7 @@ Item {
model: 4
SvgElementImage {
z: oplm_bg.z+5
z: oplm_bg.z + 5
property variant idButton_oplm: "oplm_button_" + index
property variant idButton_oplm_mousearea: "oplm_button_mousearea" + index
property variant button_color: "button"+index+"_color"
@ -861,7 +865,7 @@ Item {
elementName: "oplm-id-label"
sceneSize: panels.sceneSize
y: Math.floor(scaledBounds.y * sceneItem.height)
z: oplm_bg.z+6
z: oplm_bg.z + 6
states: State {
name: "fading"
@ -880,7 +884,7 @@ Item {
id: oplm_id_text
sceneSize: panels.sceneSize
elementName: "oplm-id-text"
z: oplm_bg.z+7
z: oplm_bg.z + 7
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
@ -916,7 +920,7 @@ Item {
elementName: "rx-quality-label"
sceneSize: panels.sceneSize
y: Math.floor(scaledBounds.y * sceneItem.height)
z: oplm_bg.z+8
z: oplm_bg.z + 8
states: State {
name: "fading"
@ -935,7 +939,7 @@ Item {
id: rx_quality_text
sceneSize: panels.sceneSize
elementName: "rx-quality-text"
z: oplm_bg.z+9
z: oplm_bg.z + 9
width: scaledBounds.width * sceneItem.width
height: scaledBounds.height * sceneItem.height
@ -954,7 +958,7 @@ Item {
}
Text {
text: ReceiverStatus.Quality > 0 ? ReceiverStatus.Quality+"%" : "?? %"
text: (receiverStatus.quality > 0) ? receiverStatus.quality + "%" : "?? %"
anchors.centerIn: parent
color: "white"
font {
@ -1026,7 +1030,7 @@ Item {
elementName: "system-frame-type"
sceneSize: panels.sceneSize
y: Math.floor(scaledBounds.y * sceneItem.height)
z: system_bg.z+1
z: system_bg.z + 1
states: State {
name: "fading"
@ -1043,7 +1047,7 @@ Item {
Text {
text: ["FixedWing", "FixedWingElevon", "FixedWingVtail", "VTOL", "HeliCP", "QuadX", "QuadP",
"Hexa+", "Octo+", "Custom", "HexaX", "HexaH", "OctoV", "OctoCoaxP", "OctoCoaxX", "OctoX", "HexaCoax",
"Tricopter", "GroundVehicleCar", "GroundVehicleDiff", "GroundVehicleMoto"][SystemSettings.AirframeType]
"Tricopter", "GroundVehicleCar", "GroundVehicleDiff", "GroundVehicleMoto"][systemSettings.airframeType]
anchors.right: parent.right
color: "white"
font {
@ -1059,7 +1063,7 @@ Item {
elementName: "system-cpu-load-temp"
sceneSize: panels.sceneSize
y: Math.floor(scaledBounds.y * sceneItem.height)
z: system_bg.z+1
z: system_bg.z + 1
states: State {
name: "fading"
@ -1075,8 +1079,7 @@ Item {
Text {
// Coptercontrol detect with mem free : Only display Cpu load, no temperature available.
text: SystemStats.CPULoad+"%"+
[SystemStats.HeapRemaining < 3000 ? "" : " | "+cpuTemp+"°C"]
text: systemStats.cpuLoad + "%" + [(systemStats.heapRemaining < 3000) ? "" : " | " + cpuTemp + "°C"]
anchors.right: parent.right
color: "white"
font {
@ -1092,7 +1095,7 @@ Item {
elementName: "system-mem-free"
sceneSize: panels.sceneSize
y: Math.floor(scaledBounds.y * sceneItem.height)
z: system_bg.z+1
z: system_bg.z + 1
states: State {
name: "fading"
@ -1107,7 +1110,7 @@ Item {
}
Text {
text: SystemStats.HeapRemaining > 1024 ? memory_free.toFixed(2) +"Kb" : memory_free +"bytes"
text: (systemStats.heapRemaining > 1024) ? memory_free.toFixed(2) +"Kb" : memory_free +"bytes"
anchors.right: parent.right
color: "white"
font {
@ -1123,7 +1126,7 @@ Item {
elementName: "system-attitude-estimation-algo"
sceneSize: panels.sceneSize
y: Math.floor(scaledBounds.y * sceneItem.height)
z: system_bg.z+1
z: system_bg.z + 1
states: State {
name: "fading"
@ -1138,7 +1141,7 @@ Item {
}
Text {
text: ["None", "Basic (No Nav)", "CompMag", "Comp+Mag+GPS", "EKFIndoor", "GPS Nav (INS13)"][RevoSettings.FusionAlgorithm]
text: ["None", "Basic (No Nav)", "CompMag", "Comp+Mag+GPS", "EKFIndoor", "GPS Nav (INS13)"][revoSettings.fusionAlgorithm]
anchors.right: parent.right
color: "white"
font {
@ -1154,7 +1157,7 @@ Item {
elementName: "system-mag-used"
sceneSize: panels.sceneSize
y: Math.floor(scaledBounds.y * sceneItem.height)
z: system_bg.z+1
z: system_bg.z + 1
states: State {
name: "fading"
@ -1169,7 +1172,7 @@ Item {
}
Text {
text: ["Invalid", "OnBoard", "External"][MagState.Source]
text: ["Invalid", "OnBoard", "External"][magState.source]
anchors.right: parent.right
color: "white"
font {
@ -1185,7 +1188,7 @@ Item {
elementName: "system-gps-type"
sceneSize: panels.sceneSize
y: Math.floor(scaledBounds.y * sceneItem.height)
z: system_bg.z+1
z: system_bg.z + 1
states: State {
name: "fading"
@ -1200,7 +1203,7 @@ Item {
}
Text {
text: ["Unknown", "NMEA", "UBX", "UBX7", "UBX8"][GPSPositionSensor.SensorType]
text: ["Unknown", "NMEA", "UBX", "UBX7", "UBX8"][gpsPositionSensor.sensorType]
anchors.right: parent.right
color: "white"
font {
@ -1216,7 +1219,7 @@ Item {
elementName: "system-panel-mousearea"
sceneSize: panels.sceneSize
y: Math.floor(scaledBounds.y * sceneItem.height)
z: system_bg.z+1
z: system_bg.z + 1
TooltipArea {
text: "System panel"

67
ground/gcs/src/share/qml/pfd/PfdIndicators.qml
View File

@ -1,67 +0,0 @@
import QtQuick 2.4
Item {
id: sceneItem
property variant sceneSize
//telemetry status arrow
SvgElementImage {
id: telemetry_status
elementName: "gcstelemetry-"+statusName
sceneSize: sceneItem.sceneSize
property string statusName : ["Disconnected","HandshakeReq","HandshakeAck","Connected"][GCSTelemetryStats.Status]
scaledBounds: svgRenderer.scaledElementBounds("pfd/pfd.svg", "gcstelemetry-Disconnected")
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
}
//telemetry rate text
Text {
id: telemetry_rate
text: GCSTelemetryStats.TxDataRate.toFixed()+"/"+GCSTelemetryStats.RxDataRate.toFixed()
color: "white"
font.family: pt_bold.name
font.pixelSize: telemetry_status.height * 0.75
anchors.top: telemetry_status.bottom
anchors.horizontalCenter: telemetry_status.horizontalCenter
}
Text {
id: gps_text
text: "GPS: " + GPSPositionSensor.Satellites + "\nPDP: " + Math.round(GPSPositionSensor.PDOP*10)/10
color: "white"
font.family: pt_bold.name
font.pixelSize: telemetry_status.height * 0.75
visible: GPSPositionSensor.Satellites > 0
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd/pfd.svg", "gps-txt")
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
}
Text {
id: battery_text
text: FlightBatteryState.Voltage.toFixed(2)+" V\n" +
FlightBatteryState.Current.toFixed(2)+" A\n" +
FlightBatteryState.ConsumedEnergy.toFixed()+" mAh"
color: "white"
font.family: pt_bold.name
//I think it should be pixel size,
//but making it more consistent with C++ version instead
font.pointSize: scaledBounds.height * sceneItem.height
visible: FlightBatteryState.Voltage > 0 || FlightBatteryState.Current > 0
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd/pfd.svg", "battery-txt")
x: Math.floor(scaledBounds.x * sceneItem.width)
y: Math.floor(scaledBounds.y * sceneItem.height)
}
}

61
ground/gcs/src/share/qml/pfd/PfdTerrainView.qml
View File

@ -2,9 +2,13 @@ import QtQuick 2.4
import Pfd 1.0
import OsgQtQuick 1.0
import UAVTalk.AttitudeState 1.0
import UAVTalk.HomeLocation 1.0
import UAVTalk.GPSPositionSensor 1.0
OSGViewport {
id: fullview
// anchors.fill: parent
//anchors.fill: parent
focus: true
sceneData: skyNode
camera: camera
@ -15,7 +19,7 @@ OSGViewport {
property double factor: 0.04
// Stretch height and apply offset
///height: height * (1 + factor)
//height: height * (1 + factor)
y: -height * factor
OSGSkyNode {
@ -53,33 +57,33 @@ OSGViewport {
position: uavPosition()
function uavAttitude() {
return Qt.vector3d(AttitudeState.Pitch, AttitudeState.Roll, -AttitudeState.Yaw);
return Qt.vector3d(attitudeState.pitch, attitudeState.roll, -attitudeState.yaw);
}
function uavPosition() {
switch(GPSPositionSensor.Status) {
case 2: // Fix2D
case 3: // Fix3D
switch(gpsPositionSensor.status) {
case Status.Fix2D:
case Status.Fix3D:
return uavGPSPosition();
case 0: // NoGPS
case 1: // NoFix
case Status.NoFix:
case Status.NoGPS:
default:
return (HomeLocation.Set == 1) ? uavHomePosition() : uavDefaultPosition();
return (homeLocation.set == Set.True) ? uavHomePosition() : uavDefaultPosition();
}
}
function uavGPSPosition() {
return Qt.vector3d(
GPSPositionSensor.Longitude / 10000000.0,
GPSPositionSensor.Latitude / 10000000.0,
GPSPositionSensor.Altitude);
gpsPositionSensor.longitude / 10000000.0,
gpsPositionSensor.latitude / 10000000.0,
gpsPositionSensor.altitude);
}
function uavHomePosition() {
return Qt.vector3d(
HomeLocation.Longitude / 10000000.0,
HomeLocation.Latitude / 10000000.0,
HomeLocation.Altitude);
homeLocation.longitude / 10000000.0,
homeLocation.latitude / 10000000.0,
homeLocation.altitude);
}
function uavDefaultPosition() {
@ -96,13 +100,13 @@ OSGViewport {
opacity: 0
property variant scaledBounds: svgRenderer.scaledElementBounds("pfd/pfd.svg", "horizon")
width: Math.round(sceneItem.width*scaledBounds.width/2)*2
height: Math.round(sceneItem.height*scaledBounds.height/2)*3
width: Math.round(sceneItem.width * scaledBounds.width / 2) * 2
height: Math.round(sceneItem.height * scaledBounds.height / 2) * 3
property double pitch1DegScaledHeight: (svgRenderer.scaledElementBounds("pfd/pfd.svg", "pitch-90").y -
svgRenderer.scaledElementBounds("pfd/pfd.svg", "pitch90").y)/180.0
svgRenderer.scaledElementBounds("pfd/pfd.svg", "pitch90").y) / 180.0
property double pitch1DegHeight: sceneItem.height*pitch1DegScaledHeight
property double pitch1DegHeight: sceneItem.height * pitch1DegScaledHeight
transform: [
@ -110,12 +114,11 @@ OSGViewport {
id: pitchTranslate
x: Math.round((world.parent.width - world.width)/2)
// y is centered around world_center element
y: Math.round(horizontCenter - world.height/2 +
AttitudeState.Pitch*world.pitch1DegHeight)
y: Math.round(horizontCenter - world.height / 2 + attitudeState.pitch * world.pitch1DegHeight)
},
Rotation {
angle: -AttitudeState.Roll
origin.x : world.parent.width/2
angle: -attitudeState.roll
origin.x : world.parent.width / 2
origin.y : horizontCenter
}
]
@ -131,7 +134,7 @@ OSGViewport {
width: Math.floor(scaledBounds.width * sceneItem.width)
height: Math.floor(scaledBounds.height * sceneItem.height)
rotation: -AttitudeState.Roll
rotation: -attitudeState.roll
transformOrigin: Item.Center
smooth: true
@ -145,8 +148,8 @@ OSGViewport {
sceneSize: background.sceneSize
anchors.centerIn: parent
//see comment for world transform
anchors.verticalCenterOffset: AttitudeState.Pitch*world.pitch1DegHeight
border: 64 //sometimes numbers are excluded from bounding rect
anchors.verticalCenterOffset: attitudeState.pitch * world.pitch1DegHeight
border: 64 // sometimes numbers are excluded from bounding rect
smooth: true
}
@ -157,11 +160,11 @@ OSGViewport {
opacity: 0.5
//worldView is loaded with Loader, so background element is visible
// worldView is loaded with Loader, so background element is visible
sceneSize: background.sceneSize
anchors.centerIn: parent
anchors.verticalCenterOffset: AttitudeState.Pitch*world.pitch1DegHeight
anchors.verticalCenterOffset: attitudeState.pitch * world.pitch1DegHeight
border: 1
smooth: true
}
@ -172,7 +175,7 @@ OSGViewport {
sceneSize: background.sceneSize
anchors.centerIn: parent
anchors.verticalCenterOffset: AttitudeState.Pitch*world.pitch1DegHeight
anchors.verticalCenterOffset: attitudeState.pitch * world.pitch1DegHeight
border: 1
smooth: true
}

10
ground/gcs/src/share/qml/pfd/PfdWorldView.qml
View File

@ -1,5 +1,7 @@
import QtQuick 2.4
import UAVTalk.AttitudeState 1.0
Item {
id: worldView
property real horizontCenter : horizontCenterItem.horizontCenter
@ -32,10 +34,10 @@ Item {
x: Math.round((world.parent.width - world.width)/2)
// y is centered around world_center element
y: Math.round(horizontCenter - world.height/2 +
AttitudeState.Pitch*world.pitch1DegHeight)
attitudeState.pitch * world.pitch1DegHeight)
},
Rotation {
angle: -AttitudeState.Roll
angle: -attitudeState.roll
origin.x : world.parent.width/2
origin.y : horizontCenter
}
@ -72,7 +74,7 @@ Item {
width: Math.floor(scaledBounds.width * sceneItem.width)
height: Math.floor(scaledBounds.height * sceneItem.height)
rotation: -AttitudeState.Roll
rotation: -attitudeState.roll
transformOrigin: Item.Center
smooth: true
@ -85,7 +87,7 @@ Item {
sceneSize: background.sceneSize
anchors.centerIn: parent
//see comment for world transform
anchors.verticalCenterOffset: AttitudeState.Pitch*world.pitch1DegHeight
anchors.verticalCenterOffset: attitudeState.pitch * world.pitch1DegHeight
border: 64 //sometimes numbers are excluded from bounding rect
smooth: true

11
ground/gcs/src/share/qml/pfd/RollScale.qml
View File

@ -1,11 +1,14 @@
import QtQuick 2.4
import UAVTalk.AttitudeState 1.0
Item {
id: sceneItem
property variant sceneSize
property real horizontCenter
//onHorizontCenterChanged: console.log("horizont center:"+horizontCenter)
//onHorizontCenterChanged: console.log("horizont center:" + horizontCenter)
SvgElementImage {
id: rollscale
@ -22,9 +25,9 @@ Item {
// rotate it around the center of horizon
transform: Rotation {
angle: -AttitudeState.Roll
origin.y : rollscale.height*2.4
origin.x : rollscale.width/2
angle: -attitudeState.roll
origin.y : rollscale.height * 2.4
origin.x : rollscale.width / 2
}
}

10
ground/gcs/src/share/qml/pfd/SpeedScale.qml
View File

@ -1,10 +1,12 @@
import QtQuick 2.4
import UAVTalk.VelocityState 1.0
import UAVTalk.PathDesired 1.0
Item {
id: sceneItem
property variant sceneSize
property real groundSpeed : qmlWidget.speedFactor * Math.sqrt(Math.pow(VelocityState.North,2)+
Math.pow(VelocityState.East,2))
property real groundSpeed : qmlWidget.speedFactor * Math.sqrt(Math.pow(velocityState.north, 2) + Math.pow(velocityState.east, 2))
SvgElementImage {
id: speed_window
@ -63,12 +65,12 @@ Item {
id: speed_waypoint
elementName: "speed-waypoint"
sceneSize: sceneItem.sceneSize
visible: PathDesired.EndingVelocity !== 0.0
visible: (pathDesired.endingVelocity != 0.0)
anchors.right: parent.right
anchors.verticalCenter: parent.verticalCenter
anchors.verticalCenterOffset: speed_scale.height/10 * (sceneItem.groundSpeed - (PathDesired.EndingVelocity * qmlWidget.speedFactor))
anchors.verticalCenterOffset: speed_scale.height / 10 * (sceneItem.groundSpeed - (pathDesired.endingVelocity * qmlWidget.speedFactor))
}
}

23
ground/gcs/src/share/qml/pfd/VsiScale.qml
View File

@ -1,5 +1,10 @@
import QtQuick 2.4
import UAVTalk.FlightStatus 1.0
import UAVTalk.VelocityDesired 1.0
import "common.js" as Utils
Item {
id: sceneItem
property variant sceneSize
@ -7,7 +12,7 @@ Item {
Timer {
interval: 100; running: true; repeat: true
onTriggered: vert_velocity = (0.9 * vert_velocity) + (0.1 * VelocityState.Down)
onTriggered: vert_velocity = (0.9 * vert_velocity) + (0.1 * velocityState.down)
}
SvgElementImage {
@ -22,11 +27,11 @@ Item {
y: scaledBounds.y * sceneItem.height
smooth: true
visible: VelocityDesired.Down !== 0.0 && FlightStatus.FlightMode > 7
visible: ((velocityDesired.down != 0.0) && (flightStatus.flightMode > FlightMode.PositionHold))
//rotate it around the center
// rotate it around the center
transform: Rotation {
angle: -VelocityDesired.Down * 5
angle: -velocityDesired.down * 5
origin.y : vsi_waypoint.height / 2
origin.x : vsi_waypoint.width * 33
}
@ -35,7 +40,7 @@ Item {
SvgElementImage {
id: vsi_scale_meter
visible: qmlWidget.altitudeUnit == "m"
visible: (qmlWidget.altitudeUnit == "m")
elementName: "vsi-scale-meter"
sceneSize: sceneItem.sceneSize
@ -47,7 +52,7 @@ Item {
SvgElementImage {
id: vsi_scale_ft
visible: qmlWidget.altitudeUnit == "ft"
visible: (qmlWidget.altitudeUnit == "ft")
elementName: "vsi-scale-ft"
sceneSize: sceneItem.sceneSize
@ -69,9 +74,9 @@ Item {
smooth: true
//rotate it around the center : limit value to +/-6m/s
// rotate it around the center, limit value to +/-6m/s
transform: Rotation {
angle: vert_velocity > 6 ? -30 : vert_velocity < -6 ? 30 : -vert_velocity * 5
angle: (vert_velocity > 6) ? -30 : (vert_velocity < -6) ? 30 : -vert_velocity * 5
origin.y : vsi_arrow.height / 2
origin.x : vsi_arrow.width * 3.15
}
@ -83,7 +88,7 @@ Item {
sceneSize: sceneItem.sceneSize
Text {
text: qmlWidget.altitudeUnit == "m" ? "m/s" : "ft/s"
text: (qmlWidget.altitudeUnit == "m") ? "m/s" : "ft/s"
color: "cyan"
font {
family: pt_bold.name

86
ground/gcs/src/share/qml/pfd/Warnings.qml
View File

@ -1,51 +1,46 @@
import QtQuick 2.4
import UAVTalk.SystemSettings 1.0
import UAVTalk.SystemAlarms 1.0
import UAVTalk.FlightStatus 1.0
import UAVTalk.VtolPathFollowerSettings 1.0
import "common.js" as Utils
Item {
id: warnings
property variant sceneSize
// Uninitialised, OK, Warning, Error, Critical
// Uninitialised, OK, Warning, Error, Critical
property variant statusColors : ["gray", "green", "red", "red", "red"]
// DisArmed , Arming, Armed
// DisArmed , Arming, Armed
property variant armColors : ["gray", "orange", "green"]
// All 'manual modes' are green, 'assisted' modes in cyan
// "MANUAL","STAB 1","STAB 2", "STAB 3", "STAB 4", "STAB 5", "STAB 6",
// "POS HOLD", "COURSE LOCK", "POS ROAM", "HOME LEASH", "ABS POS", "RTB", "LAND", "PATHPLANNER", "POI", "AUTOCRUISE"
// "POS HOLD", "COURSELOCK","VEL ROAM", "HOME LEASH", "ABS POS", "RTB", "LAND", "PATHPLAN", "POI", "AUTOCRUISE", "AUTOTAKEOFF"
property variant flightmodeColors : ["gray", "green", "green", "green", "green", "green", "green",
"cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan"]
"cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan"]
// Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,
// AltitudeHold,AltitudeVario,CruiseControl + Auto mode (VTOL/Wing pathfollower)
// Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,
// AltitudeHold,AltitudeVario,CruiseControl" + Auto mode (VTOL/Wing pathfollower)
// grey : 'disabled' modes
property variant thrustmodeColors : ["green", "grey", "grey", "grey", "grey", "grey", "grey", "grey",
property variant thrustmodeColors : ["green", "grey", "grey", "grey", "grey", "grey", "grey", "grey", "grey",
"green", "green", "green", "cyan"]
// SystemSettings.AirframeType 3 - 17 : VtolPathFollower, check ThrustControl
// systemSettings.airframeType 3 - 17 : VtolPathFollower, check ThrustControl
property var thrust_mode: (flightStatus.flightMode < FlightMode.PositionHold) ? stabilizationDesired.stabilizationModeThrust :
(flightStatus.flightMode >= FlightMode.PositionHold) && (systemSettings.airframeType > AirframeType.FixedWingVtail) &&
(systemSettings.airframeType < AirframeType.GroundVehicleCar) && (vtolPathFollowerSettings.thrustControl == ThrustControl.Auto) ? 12 :
(flightStatus.flightMode >= FlightMode.PositionHold) && (systemSettings.airframeType < AirframeType.VTOL) ? 12 : 0
property var thrust_mode: FlightStatus.FlightMode < 7 ? StabilizationDesired.StabilizationMode_Thrust :
FlightStatus.FlightMode > 6 && SystemSettings.AirframeType > 2 && SystemSettings.AirframeType < 18
&& VtolPathFollowerSettings.ThrustControl == 1 ? 11 :
FlightStatus.FlightMode > 6 && SystemSettings.AirframeType < 3 ? 11: 0
property real flight_time: Math.round(SystemStats.FlightTime / 1000)
property real flight_time: Math.round(systemStats.flightTime / 1000)
property real time_h: (flight_time > 0 ? Math.floor(flight_time / 3600) : 0 )
property real time_m: (flight_time > 0 ? Math.floor((flight_time - time_h*3600)/60) : 0)
property real time_s: (flight_time > 0 ? Math.floor(flight_time - time_h*3600 - time_m*60) : 0)
function formatTime(time) {
if (time == 0)
return "00"
if (time < 10)
return "0" + time;
else
return time.toString();
}
SvgElementImage {
id: warning_bg
elementName: "warnings-bg"
@ -65,11 +60,11 @@ Item {
Rectangle {
anchors.fill: parent
color: (SystemStats.FlightTime > 0 ? "green" : "grey")
color: (systemStats.flightTime > 0) ? "green" : "grey"
Text {
anchors.centerIn: parent
text: formatTime(time_h) + ":" + formatTime(time_m) + ":" + formatTime(time_s)
text: Utils.formatTime(time_h) + ":" + Utils.formatTime(time_m) + ":" + Utils.formatTime(time_s)
font {
family: pt_bold.name
pixelSize: Math.floor(parent.height * 0.8)
@ -90,11 +85,11 @@ Item {
Rectangle {
anchors.fill: parent
color: warnings.armColors[FlightStatus.Armed]
color: warnings.armColors[flightStatus.armed]
Text {
anchors.centerIn: parent
text: ["DISARMED","ARMING","ARMED"][FlightStatus.Armed]
text: ["DISARMED","ARMING","ARMED"][flightStatus.armed]
font {
family: pt_bold.name
pixelSize: Math.floor(parent.height * 0.74)
@ -115,7 +110,7 @@ Item {
Rectangle {
anchors.fill: parent
color: warnings.statusColors[SystemAlarms.Alarm_ManualControl]
color: warnings.statusColors[systemAlarms.alarmManualControl]
Text {
anchors.centerIn: parent
@ -138,11 +133,11 @@ Item {
x: scaledBounds.x * sceneItem.width
y: scaledBounds.y * sceneItem.height
property bool warningActive: (SystemAlarms.Alarm_BootFault > 1 ||
SystemAlarms.Alarm_OutOfMemory > 1 ||
SystemAlarms.Alarm_StackOverflow > 1 ||
SystemAlarms.Alarm_CPUOverload > 1 ||
SystemAlarms.Alarm_EventSystem > 1)
property bool warningActive: ((systemAlarms.alarmBootFault > Alarm.OK) ||
(systemAlarms.alarmOutOfMemory > Alarm.OK) ||
(systemAlarms.alarmStackOverflow > Alarm.OK) ||
(systemAlarms.alarmCPUOverload > Alarm.OK) ||
(systemAlarms.alarmEventSystem > Alarm.OK))
Rectangle {
anchors.fill: parent
color: parent.warningActive ? "red" : "red"
@ -172,7 +167,7 @@ Item {
Rectangle {
anchors.fill: parent
color: warnings.statusColors[SystemAlarms.Alarm_Guidance]
color: warnings.statusColors[systemAlarms.alarmGuidance]
Text {
anchors.centerIn: parent
@ -197,12 +192,12 @@ Item {
Rectangle {
anchors.fill: parent
color: warnings.flightmodeColors[FlightStatus.FlightMode]
color: warnings.flightmodeColors[flightStatus.flightMode]
Text {
anchors.centerIn: parent
text: ["MANUAL","STAB 1","STAB 2", "STAB 3", "STAB 4", "STAB 5", "STAB 6", "POS HOLD", "COURSELOCK",
"POS ROAM", "HOME LEASH", "ABS POS", "RTB", "LAND", "PATHPLAN", "POI", "AUTOCRUISE"][FlightStatus.FlightMode]
"VEL ROAM", "HOME LEASH", "ABS POS", "RTB", "LAND", "PATHPLAN", "POI", "AUTOCRUISE", "AUTOTAKEOFF"][flightStatus.flightMode]
font {
family: pt_bold.name
pixelSize: Math.floor(parent.height * 0.74)
@ -223,15 +218,12 @@ Item {
Rectangle {
anchors.fill: parent
color: FlightStatus.FlightMode < 1 ? "grey" : warnings.thrustmodeColors[thrust_mode.toString()]
color: (flightStatus.flightMode == FlightMode.Manual) ? "grey" : warnings.thrustmodeColors[thrust_mode]
// Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,
// AltitudeHold,AltitudeVario,CruiseControl
// grey : 'disabled' modes
// grey : 'disabled' modes
Text {
anchors.centerIn: parent
text: ["MANUAL"," "," ", " ", " ", " ", " ", " ",
"ALT HOLD", "ALT VARIO", "CRUISECTRL", "AUTO"][thrust_mode.toString()]
text: ["MANUAL"," "," ", " ", " ", " ", " ", " ", " ", "ALT HOLD", "ALT VARIO", "CRUISECTRL", "AUTO"][thrust_mode]
font {
family: pt_bold.name
pixelSize: Math.floor(parent.height * 0.74)
@ -246,7 +238,7 @@ Item {
elementName: "warning-gps"
sceneSize: warnings.sceneSize
visible: SystemAlarms.Alarm_GPS > 1
visible: (systemAlarms.alarmGPS > Alarm.OK)
}
SvgElementImage {
@ -254,6 +246,6 @@ Item {
elementName: "warning-attitude"
sceneSize: warnings.sceneSize
anchors.centerIn: background.centerIn
visible: SystemAlarms.Alarm_Attitude > 1
visible: (systemAlarms.alarmAttitude > Alarm.OK)
}
}

18
ground/gcs/src/share/qml/pfd/common.js Normal file
View File

@ -0,0 +1,18 @@
// ***********************
// common.js
//
// Common javascript utils
//
// Librepilot
// ***********************
// Format time
function formatTime(time) {
if (time === 0)
return "00"
if (time < 10)
return "0" + time;
else
return time.toString();
}

882
ground/uavobjgenerator/generators/gcs/uavobjectgeneratorgcs.cpp
View File

@ -25,16 +25,521 @@
*/
#include "uavobjectgeneratorgcs.h"
#define VERBOSE false
#define DEPRECATED true
#define DEFAULT_ENUM_PREFIX "E_"
using namespace std;
void error(QString msg)
{
cerr << "error: " << msg.toStdString() << endl;
}
void warning(ObjectInfo *object, QString msg)
{
cerr << "warning: " << object->filename.toStdString() << ": " << msg.toStdString() << endl;
}
void info(ObjectInfo *object, QString msg)
{
if (VERBOSE) {
cout << "info: " << object->filename.toStdString() << ": " << msg.toStdString() << endl;
}
}
struct Context {
ObjectInfo *object;
// enums
QString enums;
QString registerImpl;
// interface
QString fields;
QString fieldsInfo;
QString properties;
QString deprecatedProperties;
QString getters;
QString setters;
QString notifications;
// implementation
QString fieldsInit;
QString fieldsDefault;
QString propertiesImpl;
QString notificationsImpl;
};
struct FieldContext {
FieldInfo *field;
// field
QString fieldName;
QString fieldType;
// property
QString propName;
QString ucPropName;
QString propType;
QString propRefType;
// deprecation
bool hasDeprecatedProperty;
bool hasDeprecatedGetter;
bool hasDeprecatedSetter;
bool hasDeprecatedNotification;
};
QString fieldTypeStrCPP(int type)
{
QStringList fieldTypeStrCPP;
fieldTypeStrCPP << "qint8" << "qint16" << "qint32" << "quint8" << "quint16" << "quint32" << "float" << "quint8";
return fieldTypeStrCPP[type];
}
QString fieldTypeStrCPPClass(int type)
{
QStringList fieldTypeStrCPPClass;
fieldTypeStrCPPClass << "INT8" << "INT16" << "INT32" << "UINT8" << "UINT16" << "UINT32" << "FLOAT32" << "ENUM";
return fieldTypeStrCPPClass[type];
}
QString toPropertyName(const QString & name)
{
QString str = name;
// make sure 1st letter is upper case
str[0] = str[0].toUpper();
// handle underscore
int p = str.indexOf('_');
while (p != -1) {
str.remove(p, 1);
str[p] = str[p].toUpper();
p = str.indexOf('_', p);
}
return str;
}
/*
* Convert a string to lower camel case.
* Handles following cases :
* - Property -> property
* - MyProperty -> myProperty
* - MYProperty -> myProperty
* - MY_Property -> my_Property
* - MY -> my
*/
QString toLowerCamelCase(const QString & name)
{
QString str = name;
for (int i = 0; i < str.length(); ++i) {
if (str[i].isLower() || !str[i].isLetter()) {
break;
}
if (i > 0 && i < str.length() - 1) {
// after first, look ahead one
if (str[i + 1].isLower()) {
break;
}
}
str[i] = str[i].toLower();
}
return str;
}
QString toEnumName(ObjectInfo *object, FieldInfo *field, int index)
{
QString option = field->options[index];
if (option.contains(QRegExp(ENUM_SPECIAL_CHARS))) {
info(object, "Enumeration value \"" + option + "\" contains special chars, cleaning.");
option.replace(QRegExp(ENUM_SPECIAL_CHARS), "");
}
if (option[0].isDigit()) {
info(object, "Enumeration value \"" + option + "\" starts with a digit, prefixing with \"" + DEFAULT_ENUM_PREFIX "\".");
option = DEFAULT_ENUM_PREFIX + option;
}
if (option == option.toLower()) {
warning(object, "Enumeration value \"" + option + "\" is all lower case, consider capitalizing.");
}
if (option[0].isLower()) {
warning(object, "Enumeration value \"" + option + "\" does not start with an upper case letter.");
option[0] = option[0].toUpper();
}
if (option == "FALSE") {
warning(object, "Invalid enumeration name FALSE, converting to False.");
option = "False";
}
if (option == "TRUE") {
warning(object, "Invalid enumeration name TRUE, converting to True.");
option = "True";
}
return option;
}
QString toEnumStringList(ObjectInfo *object, FieldInfo *field)
{
QString enumListString;
for (int m = 0; m < field->options.length(); ++m) {
if (m > 0) {
enumListString.append(", ");
}
QString option = toEnumName(object, field, m);
enumListString.append(option);
}
return enumListString;
}
QString generate(Context &ctxt, const QString &fragment)
{
QString str = fragment;
str.replace(":ClassName", ctxt.object->name);
str.replace(":className", ctxt.object->namelc);
return str;
}
QString generate(Context &ctxt, FieldContext &fieldCtxt, const QString &fragment)
{
QString str = generate(ctxt, fragment);
str.replace(":PropName", fieldCtxt.ucPropName);
str.replace(":propName", fieldCtxt.propName);
str.replace(":propType", fieldCtxt.propType);
str.replace(":propRefType", fieldCtxt.propRefType);
str.replace(":fieldName", fieldCtxt.fieldName);
str.replace(":fieldType", fieldCtxt.fieldType);
str.replace(":fieldDesc", fieldCtxt.field->description);
str.replace(":fieldUnits", fieldCtxt.field->units);
str.replace(":fieldLimitValues", fieldCtxt.field->limitValues);
str.replace(":elementCount", QString::number(fieldCtxt.field->numElements));
return str;
}
void generateFieldInfo(Context &ctxt, FieldContext &fieldCtxt)
{
ctxt.fieldsInfo += generate(ctxt, fieldCtxt, " // :fieldName\n");
if (fieldCtxt.field->type == FIELDTYPE_ENUM) {
QStringList options = fieldCtxt.field->options;
ctxt.fieldsInfo += " typedef enum { ";
for (int m = 0; m < options.length(); ++m) {
if (m > 0) {
ctxt.fieldsInfo.append(", ");
}
ctxt.fieldsInfo += generate(ctxt, fieldCtxt, "%1_%2=%3")
.arg(fieldCtxt.field->name.toUpper())
.arg(options[m].toUpper().replace(QRegExp(ENUM_SPECIAL_CHARS), ""))
.arg(m);
}
ctxt.fieldsInfo += generate(ctxt, fieldCtxt, " } :fieldNameOptions;\n");
}
// Generate element names (only if field has more than one element)
if (fieldCtxt.field->numElements > 1 && !fieldCtxt.field->defaultElementNames) {
QStringList elemNames = fieldCtxt.field->elementNames;
ctxt.fieldsInfo += " typedef enum { ";
for (int m = 0; m < elemNames.length(); ++m) {
if (m > 0) {
ctxt.fieldsInfo.append(", ");
}
ctxt.fieldsInfo += QString("%1_%2=%3")
.arg(fieldCtxt.field->name.toUpper())
.arg(elemNames[m].toUpper())
.arg(m);
}
ctxt.fieldsInfo += generate(ctxt, fieldCtxt, " } :fieldNameElem;\n");
}
// Generate array information
if (fieldCtxt.field->numElements > 1) {
ctxt.fieldsInfo += generate(ctxt, fieldCtxt, " static const quint32 %1_NUMELEM = :elementCount;\n")
.arg(fieldCtxt.field->name.toUpper());
}
}
void generateFieldInit(Context &ctxt, FieldContext &fieldCtxt)
{
ctxt.fieldsInit += generate(ctxt, fieldCtxt, " // :fieldName\n");
// Setup element names
ctxt.fieldsInit += generate(ctxt, fieldCtxt, " QStringList :fieldNameElemNames;\n");
QStringList elemNames = fieldCtxt.field->elementNames;
ctxt.fieldsInit += generate(ctxt, fieldCtxt, " :fieldNameElemNames");
for (int m = 0; m < elemNames.length(); ++m) {
ctxt.fieldsInit += QString(" << \"%1\"").arg(elemNames[m]);
}
ctxt.fieldsInit += ";\n";
if (fieldCtxt.field->type == FIELDTYPE_ENUM) {
ctxt.fieldsInit += generate(ctxt, fieldCtxt, " QStringList :fieldNameEnumOptions;\n");
QStringList options = fieldCtxt.field->options;
ctxt.fieldsInit += generate(ctxt, fieldCtxt, " :fieldNameEnumOptions");
for (int m = 0; m < options.length(); ++m) {
ctxt.fieldsInit += QString(" << \"%1\"").arg(options[m]);
}
ctxt.fieldsInit += ";\n";
ctxt.fieldsInit += generate(ctxt, fieldCtxt,
" fields.append(new UAVObjectField(\":fieldName\", tr(\":fieldDesc\"), \":fieldUnits\", UAVObjectField::ENUM, :fieldNameElemNames, :fieldNameEnumOptions, \":fieldLimitValues\"));\n");
} else {
ctxt.fieldsInit += generate(ctxt, fieldCtxt,
" fields.append(new UAVObjectField(\":fieldName\", tr(\":fieldDesc\"), \":fieldUnits\", UAVObjectField::%1, :fieldNameElemNames, QStringList(), \":fieldLimitValues\"));\n")
.arg(fieldTypeStrCPPClass(fieldCtxt.field->type));
}
}
void generateFieldDefault(Context &ctxt, FieldContext &fieldCtxt)
{
if (!fieldCtxt.field->defaultValues.isEmpty()) {
// For non-array fields
if (fieldCtxt.field->numElements == 1) {
ctxt.fieldsDefault += generate(ctxt, fieldCtxt, " // :fieldName\n");
if (fieldCtxt.field->type == FIELDTYPE_ENUM) {
ctxt.fieldsDefault += generate(ctxt, fieldCtxt, " data_.:fieldName = %1;\n")
.arg(fieldCtxt.field->options.indexOf(fieldCtxt.field->defaultValues[0]));
} else if (fieldCtxt.field->type == FIELDTYPE_FLOAT32) {
ctxt.fieldsDefault += generate(ctxt, fieldCtxt, " data_.:fieldName = %1;\n")
.arg(fieldCtxt.field->defaultValues[0].toFloat());
} else {
ctxt.fieldsDefault += generate(ctxt, fieldCtxt, " data_.:fieldName = %1;\n")
.arg(fieldCtxt.field->defaultValues[0].toInt());
}
} else {
// Initialize all fields in the array
ctxt.fieldsDefault += generate(ctxt, fieldCtxt, " // :fieldName\n");
for (int idx = 0; idx < fieldCtxt.field->numElements; ++idx) {
if (fieldCtxt.field->type == FIELDTYPE_ENUM) {
ctxt.fieldsDefault += generate(ctxt, fieldCtxt, " data_.:fieldName[%1] = %2;\n")
.arg(idx)
.arg(fieldCtxt.field->options.indexOf(fieldCtxt.field->defaultValues[idx]));
} else if (fieldCtxt.field->type == FIELDTYPE_FLOAT32) {
ctxt.fieldsDefault += generate(ctxt, fieldCtxt, " data_.:fieldName[%1] = %2;\n")
.arg(idx)
.arg(fieldCtxt.field->defaultValues[idx].toFloat());
} else {
ctxt.fieldsDefault += generate(ctxt, fieldCtxt, " data_.:fieldName[%1] = %2;\n")
.arg(idx)
.arg(fieldCtxt.field->defaultValues[idx].toInt());
}
}
}
}
}
void generateField(Context &ctxt, FieldContext &fieldCtxt)
{
if (fieldCtxt.field->numElements > 1) {
ctxt.fields += generate(ctxt, fieldCtxt, " :fieldType :fieldName[:elementCount];\n");
} else {
ctxt.fields += generate(ctxt, fieldCtxt, " :fieldType :fieldName;\n");
}
generateFieldInfo(ctxt, fieldCtxt);
generateFieldInit(ctxt, fieldCtxt);
generateFieldDefault(ctxt, fieldCtxt);
}
void generateEnum(Context &ctxt, FieldContext &fieldCtxt)
{
Q_ASSERT(fieldCtxt.field->type == FIELDTYPE_ENUM);
QString enumStringList = toEnumStringList(ctxt.object, fieldCtxt.field);
ctxt.enums += generate(ctxt, fieldCtxt,
"class :ClassName_:PropName : public QObject {\n"
" Q_OBJECT\n"
"public:\n"
" enum Enum { %1 };\n"
" Q_ENUMS(Enum) // TODO switch to Q_ENUM once on Qt 5.5\n"
"};\n\n").arg(enumStringList);
ctxt.registerImpl += generate(ctxt, fieldCtxt,
" qmlRegisterType<:ClassName_:PropName>(\"%1.:ClassName\", 1, 0, \":PropName\");\n").arg("UAVTalk");
}
void generateBaseProperty(Context &ctxt, FieldContext &fieldCtxt)
{
ctxt.properties += generate(ctxt, fieldCtxt,
" Q_PROPERTY(:propType :propName READ :propName WRITE set:PropName NOTIFY :propNameChanged)\n");
ctxt.getters += generate(ctxt, fieldCtxt, " :propType :propName() const;\n");
ctxt.setters += generate(ctxt, fieldCtxt, " void set:PropName(const :propRefType value);\n");
ctxt.notifications += generate(ctxt, fieldCtxt, " void :propNameChanged(const :propRefType value);\n");
ctxt.notificationsImpl += generate(ctxt, fieldCtxt, " emit :propNameChanged(:propName());\n");
if (DEPRECATED) {
// generate deprecated property for retro compatibility
if (fieldCtxt.hasDeprecatedProperty) {
ctxt.deprecatedProperties += generate(ctxt, fieldCtxt,
" /*DEPRECATED*/ Q_PROPERTY(:fieldType :fieldName READ get:fieldName WRITE set:fieldName NOTIFY :fieldNameChanged);\n");
}
if (fieldCtxt.hasDeprecatedGetter) {
ctxt.getters += generate(ctxt, fieldCtxt,
" /*DEPRECATED*/ Q_INVOKABLE :fieldType get:fieldName() const { return static_cast<:fieldType>(:propName()); }\n");
}
if (fieldCtxt.hasDeprecatedSetter) {
ctxt.setters += generate(ctxt, fieldCtxt,
" /*DEPRECATED*/ void set:fieldName(:fieldType value) { set:fieldName(static_cast<:propType>(value)); }\n");
}
if (fieldCtxt.hasDeprecatedNotification) {
ctxt.notifications += generate(ctxt, fieldCtxt,
" /*DEPRECATED*/ void :fieldNameChanged(:fieldType value);\n");
ctxt.notificationsImpl += generate(ctxt, fieldCtxt,
" /*DEPRECATED*/ emit :fieldNameChanged(get:fieldName());\n");
}
}
}
void generateSimpleProperty(Context &ctxt, FieldContext &fieldCtxt)
{
if (fieldCtxt.field->type == FIELDTYPE_ENUM) {
generateEnum(ctxt, fieldCtxt);
}
generateBaseProperty(ctxt, fieldCtxt);
// getter implementation
ctxt.propertiesImpl += generate(ctxt, fieldCtxt,
":propType :ClassName:::propName() const\n"
"{\n"
" QMutexLocker locker(mutex);\n"
" return static_cast<:propType>(data_.:fieldName);\n"
"}\n");
// emitters
QString emitters = generate(ctxt, fieldCtxt, "emit :propNameChanged(value);");
if (fieldCtxt.hasDeprecatedNotification) {
emitters += " ";
emitters += generate(ctxt, fieldCtxt, "emit :fieldNameChanged(static_cast<:fieldType>(value));");
}
// setter implementation
ctxt.propertiesImpl += generate(ctxt, fieldCtxt,
"void :ClassName::set:PropName(const :propRefType value)\n"
"{\n"
" mutex->lock();\n"
" bool changed = (data_.:fieldName != static_cast<:fieldType>(value));\n"
" data_.:fieldName = static_cast<:fieldType>(value);\n"
" mutex->unlock();\n"
" if (changed) { %1 }\n"
"}\n\n").arg(emitters);
}
void generateIndexedProperty(Context &ctxt, FieldContext &fieldCtxt)
{
if (fieldCtxt.field->type == FIELDTYPE_ENUM) {
generateEnum(ctxt, fieldCtxt);
}
// indexed getter/setter
ctxt.getters += generate(ctxt, fieldCtxt, " Q_INVOKABLE :propType :propName(quint32 index) const;\n");
ctxt.setters += generate(ctxt, fieldCtxt, " Q_INVOKABLE void set:PropName(quint32 index, const :propRefType value);\n");
// getter implementation
ctxt.propertiesImpl += generate(ctxt, fieldCtxt,
":propType :ClassName:::propName(quint32 index) const\n"
"{\n"
" QMutexLocker locker(mutex);\n"
" return static_cast<:propType>(data_.:fieldName[index]);\n"
"}\n");
// emitters
QString emitters = generate(ctxt, fieldCtxt, "emit :propNameChanged(index, value);");
if (fieldCtxt.hasDeprecatedNotification) {
emitters += " ";
emitters += generate(ctxt, fieldCtxt, "emit :fieldNameChanged(index, static_cast<:fieldType>(value));");
}
// setter implementation
ctxt.propertiesImpl += generate(ctxt, fieldCtxt,
"void :ClassName::set:PropName(quint32 index, const :propRefType value)\n"
"{\n"
" mutex->lock();\n"
" bool changed = (data_.:fieldName[index] != static_cast<:fieldType>(value));\n"
" data_.:fieldName[index] = static_cast<:fieldType>(value);\n"
" mutex->unlock();\n"
" if (changed) { %1 }\n"
"}\n\n").arg(emitters);
ctxt.notifications += generate(ctxt, fieldCtxt, " void :propNameChanged(quint32 index, const :propRefType value);\n");
if (DEPRECATED) {
// backward compatibility
if (fieldCtxt.hasDeprecatedGetter) {
ctxt.getters += generate(ctxt, fieldCtxt,
" /*DEPRECATED*/ Q_INVOKABLE :fieldType get:fieldName(quint32 index) const { return static_cast<:fieldType>(:propName(index)); }\n");
}
if (fieldCtxt.hasDeprecatedSetter) {
ctxt.setters += generate(ctxt, fieldCtxt,
" /*DEPRECATED*/ void set:fieldName(quint32 index, :fieldType value) { set:fieldName(index, static_cast<:propType>(value)); }\n");
}
if (fieldCtxt.hasDeprecatedNotification) {
ctxt.notifications += generate(ctxt, fieldCtxt,
" /*DEPRECATED*/ void :fieldNameChanged(quint32 index, :fieldType value);\n");
}
}
for (int elementIndex = 0; elementIndex < fieldCtxt.field->numElements; elementIndex++) {
QString elementName = fieldCtxt.field->elementNames[elementIndex];
FieldContext elementCtxt;
elementCtxt.field = fieldCtxt.field;
elementCtxt.fieldName = fieldCtxt.fieldName + "_" + elementName;
elementCtxt.fieldType = fieldCtxt.fieldType;
elementCtxt.propName = fieldCtxt.propName + elementName;
elementCtxt.ucPropName = fieldCtxt.ucPropName + elementName;
elementCtxt.propType = fieldCtxt.propType;
elementCtxt.propRefType = fieldCtxt.propRefType;
// deprecation
elementCtxt.hasDeprecatedProperty = (elementCtxt.fieldName != elementCtxt.propName) && DEPRECATED;
elementCtxt.hasDeprecatedGetter = DEPRECATED;
elementCtxt.hasDeprecatedSetter = ((elementCtxt.fieldName != elementCtxt.ucPropName) || (elementCtxt.fieldType != elementCtxt.propType)) && DEPRECATED;
elementCtxt.hasDeprecatedNotification = ((elementCtxt.fieldName != elementCtxt.propName) || (elementCtxt.fieldType != elementCtxt.propType)) && DEPRECATED;
generateBaseProperty(ctxt, elementCtxt);
ctxt.propertiesImpl += generate(ctxt, elementCtxt,
":propType :ClassName:::propName() const { return %1(%2); }\n").arg(fieldCtxt.propName).arg(elementIndex);
ctxt.propertiesImpl += generate(ctxt, elementCtxt,
"void :ClassName::set:PropName(const :propRefType value) { set%1(%2, value); }\n").arg(fieldCtxt.ucPropName).arg(elementIndex);
}
}
void generateProperty(Context &ctxt, FieldContext &fieldCtxt)
{
// do some checks
QString fieldName = fieldCtxt.fieldName;
if (fieldName[0].isLower()) {
info(ctxt.object, "Field \"" + fieldName + "\" does not start with an upper case letter.");
}
// generate all properties
if (fieldCtxt.field->numElements > 1) {
generateIndexedProperty(ctxt, fieldCtxt);
} else {
generateSimpleProperty(ctxt, fieldCtxt);
}
}
bool UAVObjectGeneratorGCS::generate(UAVObjectParser *parser, QString templatepath, QString outputpath)
{
fieldTypeStrCPP << "qint8" << "qint16" << "qint32" <<
"quint8" << "quint16" << "quint32" << "float" << "quint8";
fieldTypeStrCPPClass << "INT8" << "INT16" << "INT32"
<< "UINT8" << "UINT16" << "UINT32" << "FLOAT32" << "ENUM";
gcsCodePath = QDir(templatepath + QString(GCS_CODE_DIR));
gcsOutputPath = QDir(outputpath);
gcsOutputPath.mkpath(gcsOutputPath.absolutePath());
@ -44,7 +549,7 @@ bool UAVObjectGeneratorGCS::generate(UAVObjectParser *parser, QString templatepa
QString gcsInitTemplate = readFile(gcsCodePath.absoluteFilePath("uavobjectsinit.cpp.template"));
if (gcsCodeTemplate.isEmpty() || gcsIncludeTemplate.isEmpty() || gcsInitTemplate.isEmpty()) {
std::cerr << "Problem reading gcs code templates" << endl;
error("Error: Failed to read gcs code templates.");
return false;
}
@ -52,29 +557,42 @@ bool UAVObjectGeneratorGCS::generate(UAVObjectParser *parser, QString templatepa
QString gcsObjInit;
for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) {
ObjectInfo *info = parser->getObjectByIndex(objidx);
process_object(info);
ObjectInfo *object = parser->getObjectByIndex(objidx);
process_object(object);
gcsObjInit.append(" objMngr->registerObject( new " + info->name + "() );\n");
objInc.append("#include \"" + info->namelc + ".h\"\n");
Context ctxt;
ctxt.object = object;
objInc.append(QString("#include \"%1.h\"\n").arg(object->namelc));
gcsObjInit += ::generate(ctxt, " objMngr->registerObject( new :ClassName() );\n");
gcsObjInit += ::generate(ctxt, " :ClassName::registerQMLTypes();\n");
}
// Write the gcs object inialization files
gcsInitTemplate.replace(QString("$(OBJINC)"), objInc);
gcsInitTemplate.replace(QString("$(OBJINIT)"), gcsObjInit);
// Write the gcs object initialization files
gcsInitTemplate.replace("$(OBJINC)", objInc);
gcsInitTemplate.replace("$(OBJINIT)", gcsObjInit);
bool res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/uavobjectsinit.cpp", gcsInitTemplate);
if (!res) {
cout << "Error: Could not write output files" << endl;
error("Error: Could not write output files");
return false;
}
return true; // if we come here everything should be fine
return true;
}
/**
* Generate the GCS object files
*
* TODO add getter to get enum names
*
* TODO handle "char" unit
* TODO handle "bool" unit
* TODO handle "hex" unit
* TODO handle Vector
*/
bool UAVObjectGeneratorGCS::process_object(ObjectInfo *info)
bool UAVObjectGeneratorGCS::process_object(ObjectInfo *object)
{
if (info == NULL) {
return false;
@ -85,300 +603,80 @@ bool UAVObjectGeneratorGCS::process_object(ObjectInfo *info)
QString outCode = gcsCodeTemplate;
// Replace common tags
replaceCommonTags(outInclude, info);
replaceCommonTags(outCode, info);
// Replace the $(DATAFIELDS) tag
QString type;
QString fields;
for (int n = 0; n < info->fields.length(); ++n) {
// Determine type
type = fieldTypeStrCPP[info->fields[n]->type];
// Append field
if (info->fields[n]->numElements > 1) {
fields.append(QString(" %1 %2[%3];\n").arg(type).arg(info->fields[n]->name)
.arg(info->fields[n]->numElements));
} else {
fields.append(QString(" %1 %2;\n").arg(type).arg(info->fields[n]->name));
}
}
outInclude.replace(QString("$(DATAFIELDS)"), fields);
// Replace $(PROPERTIES) and related tags
QString properties;
QString propertiesImpl;
QString propertyGetters;
QString propertySetters;
QString propertyNotifications;
QString propertyNotificationsImpl;
replaceCommonTags(outInclude, object);
replaceCommonTags(outCode, object);
// to avoid name conflicts
QStringList reservedProperties;
reservedProperties << "Description" << "Metadata";
for (int n = 0; n < info->fields.length(); ++n) {
FieldInfo *field = info->fields[n];
Context ctxt;
ctxt.object = object;
ctxt.registerImpl += ::generate(ctxt,
" qmlRegisterType<:ClassName>(\"%1.:ClassName\", 1, 0, \":ClassName\");\n").arg("UAVTalk");
for (int n = 0; n < object->fields.length(); ++n) {
FieldInfo *field = object->fields[n];
// field context
FieldContext fieldCtxt;
fieldCtxt.field = field;
// field properties
fieldCtxt.fieldName = field->name;
fieldCtxt.fieldType = fieldTypeStrCPP(field->type);
fieldCtxt.ucPropName = toPropertyName(field->name);
fieldCtxt.propName = toLowerCamelCase(fieldCtxt.ucPropName);
fieldCtxt.propType = fieldCtxt.fieldType;
fieldCtxt.propRefType = fieldCtxt.fieldType;
if (field->type == FIELDTYPE_ENUM) {
QString enumClassName = object->name + "_" + fieldCtxt.ucPropName;
fieldCtxt.propType = enumClassName + "::Enum";
fieldCtxt.propRefType = fieldCtxt.propType;
}
// deprecation
fieldCtxt.hasDeprecatedProperty = (fieldCtxt.fieldName != fieldCtxt.propName) && DEPRECATED;
fieldCtxt.hasDeprecatedGetter = DEPRECATED;
fieldCtxt.hasDeprecatedSetter = ((fieldCtxt.fieldName != fieldCtxt.ucPropName) || (fieldCtxt.fieldType != fieldCtxt.propType)) && DEPRECATED;
fieldCtxt.hasDeprecatedNotification = ((fieldCtxt.fieldName != fieldCtxt.propName) || (fieldCtxt.fieldType != fieldCtxt.propType)) && DEPRECATED;
generateField(ctxt, fieldCtxt);
if (reservedProperties.contains(field->name)) {
warning(object, "Ignoring reserved property " + field->name + ".");
continue;
}
// Determine type
type = fieldTypeStrCPP[field->type];
// Append field
if (field->numElements > 1) {
// add both field(elementIndex)/setField(elemntIndex,value) and field_element properties
// field_element is more convenient if only certain element is used
// and much easier to use from the qml side
propertyGetters +=
QString(" Q_INVOKABLE %1 get%2(quint32 index) const;\n")
.arg(type).arg(field->name);
propertiesImpl +=
QString("%1 %2::get%3(quint32 index) const\n"
"{\n"
" QMutexLocker locker(mutex);\n"
" return data.%3[index];\n"
"}\n")
.arg(type).arg(info->name).arg(field->name);
propertySetters +=
QString(" void set%1(quint32 index, %2 value);\n")
.arg(field->name).arg(type);
propertiesImpl +=
QString("void %1::set%2(quint32 index, %3 value)\n"
"{\n"
" mutex->lock();\n"
" bool changed = data.%2[index] != value;\n"
" data.%2[index] = value;\n"
" mutex->unlock();\n"
" if (changed) emit %2Changed(index,value);\n"
"}\n\n")
.arg(info->name).arg(field->name).arg(type);
propertyNotifications +=
QString(" void %1Changed(quint32 index, %2 value);\n")
.arg(field->name).arg(type);
for (int elementIndex = 0; elementIndex < field->numElements; elementIndex++) {
QString elementName = field->elementNames[elementIndex];
properties += QString(" Q_PROPERTY(%1 %2 READ get%2 WRITE set%2 NOTIFY %2Changed);\n")
.arg(type).arg(field->name + "_" + elementName);
propertyGetters +=
QString(" Q_INVOKABLE %1 get%2_%3() const;\n")
.arg(type).arg(field->name).arg(elementName);
propertiesImpl +=
QString("%1 %2::get%3_%4() const\n"
"{\n"
" QMutexLocker locker(mutex);\n"
" return data.%3[%5];\n"
"}\n")
.arg(type).arg(info->name).arg(field->name).arg(elementName).arg(elementIndex);
propertySetters +=
QString(" void set%1_%2(%3 value);\n")
.arg(field->name).arg(elementName).arg(type);
propertiesImpl +=
QString("void %1::set%2_%3(%4 value)\n"
"{\n"
" mutex->lock();\n"
" bool changed = data.%2[%5] != value;\n"
" data.%2[%5] = value;\n"
" mutex->unlock();\n"
" if (changed) emit %2_%3Changed(value);\n"
"}\n\n")
.arg(info->name).arg(field->name).arg(elementName).arg(type).arg(elementIndex);
propertyNotifications +=
QString(" void %1_%2Changed(%3 value);\n")
.arg(field->name).arg(elementName).arg(type);
propertyNotificationsImpl +=
QString(" //if (data.%1[%2] != oldData.%1[%2])\n"
" emit %1_%3Changed(data.%1[%2]);\n")
.arg(field->name).arg(elementIndex).arg(elementName);
}
} else {
properties += QString(" Q_PROPERTY(%1 %2 READ get%2 WRITE set%2 NOTIFY %2Changed);\n")
.arg(type).arg(field->name);
propertyGetters +=
QString(" Q_INVOKABLE %1 get%2() const;\n")
.arg(type).arg(field->name);
propertiesImpl +=
QString("%1 %2::get%3() const\n"
"{\n"
" QMutexLocker locker(mutex);\n"
" return data.%3;\n"
"}\n")
.arg(type).arg(info->name).arg(field->name);
propertySetters +=
QString(" void set%1(%2 value);\n")
.arg(field->name).arg(type);
propertiesImpl +=
QString("void %1::set%2(%3 value)\n"
"{\n"
" mutex->lock();\n"
" bool changed = data.%2 != value;\n"
" data.%2 = value;\n"
" mutex->unlock();\n"
" if (changed) emit %2Changed(value);\n"
"}\n\n")
.arg(info->name).arg(field->name).arg(type);
propertyNotifications +=
QString(" void %1Changed(%2 value);\n")
.arg(field->name).arg(type);
propertyNotificationsImpl +=
QString(" //if (data.%1 != oldData.%1)\n"
" emit %1Changed(data.%1);\n")
.arg(field->name);
}
generateProperty(ctxt, fieldCtxt);
}
outInclude.replace(QString("$(PROPERTIES)"), properties);
outInclude.replace(QString("$(PROPERTY_GETTERS)"), propertyGetters);
outInclude.replace(QString("$(PROPERTY_SETTERS)"), propertySetters);
outInclude.replace(QString("$(PROPERTY_NOTIFICATIONS)"), propertyNotifications);
outInclude.replace("$(ENUMS)", ctxt.enums);
outInclude.replace("$(DATAFIELDS)", ctxt.fields);
outInclude.replace("$(DATAFIELDINFO)", ctxt.fieldsInfo);
outInclude.replace("$(PROPERTIES)", ctxt.properties);
outInclude.replace("$(DEPRECATED_PROPERTIES)", ctxt.deprecatedProperties);
outInclude.replace("$(PROPERTY_GETTERS)", ctxt.getters);
outInclude.replace("$(PROPERTY_SETTERS)", ctxt.setters);
outInclude.replace("$(PROPERTY_NOTIFICATIONS)", ctxt.notifications);
outCode.replace(QString("$(PROPERTIES_IMPL)"), propertiesImpl);
outCode.replace(QString("$(NOTIFY_PROPERTIES_CHANGED)"), propertyNotificationsImpl);
// Replace the $(FIELDSINIT) tag
QString finit;
for (int n = 0; n < info->fields.length(); ++n) {
// Setup element names
QString varElemName = info->fields[n]->name + "ElemNames";
finit.append(QString(" QStringList %1;\n").arg(varElemName));
QStringList elemNames = info->fields[n]->elementNames;
for (int m = 0; m < elemNames.length(); ++m) {
finit.append(QString(" %1.append(\"%2\");\n")
.arg(varElemName)
.arg(elemNames[m]));
}
// Only for enum types
if (info->fields[n]->type == FIELDTYPE_ENUM) {
QString varOptionName = info->fields[n]->name + "EnumOptions";
finit.append(QString(" QStringList %1;\n").arg(varOptionName));
QStringList options = info->fields[n]->options;
for (int m = 0; m < options.length(); ++m) {
finit.append(QString(" %1.append(\"%2\");\n")
.arg(varOptionName)
.arg(options[m]));
}
finit.append(QString(" fields.append( new UAVObjectField(QString(\"%1\"), tr(\"%2\"), QString(\"%3\"), UAVObjectField::ENUM, %4, %5, QString(\"%6\")));\n")
.arg(info->fields[n]->name)
.arg(info->fields[n]->description)
.arg(info->fields[n]->units)
.arg(varElemName)
.arg(varOptionName)
.arg(info->fields[n]->limitValues));
}
// For all other types
else {
finit.append(QString(" fields.append( new UAVObjectField(QString(\"%1\"), tr(\"%2\"), QString(\"%3\"), UAVObjectField::%4, %5, QStringList(), QString(\"%6\")));\n")
.arg(info->fields[n]->name)
.arg(info->fields[n]->description)
.arg(info->fields[n]->units)
.arg(fieldTypeStrCPPClass[info->fields[n]->type])
.arg(varElemName)
.arg(info->fields[n]->limitValues));
}
}
outCode.replace(QString("$(FIELDSINIT)"), finit);
// Replace the $(DATAFIELDINFO) tag
QString name;
QString enums;
for (int n = 0; n < info->fields.length(); ++n) {
enums.append(QString(" // Field %1 information\n").arg(info->fields[n]->name));
// Only for enum types
if (info->fields[n]->type == FIELDTYPE_ENUM) {
enums.append(QString(" /* Enumeration options for field %1 */\n").arg(info->fields[n]->name));
enums.append(" typedef enum { ");
// Go through each option
QStringList options = info->fields[n]->options;
for (int m = 0; m < options.length(); ++m) {
QString s = (m != (options.length() - 1)) ? "%1_%2=%3, " : "%1_%2=%3";
enums.append(s.arg(info->fields[n]->name.toUpper())
.arg(options[m].toUpper().replace(QRegExp(ENUM_SPECIAL_CHARS), ""))
.arg(m));
}
enums.append(QString(" } %1Options;\n")
.arg(info->fields[n]->name));
}
// Generate element names (only if field has more than one element)
if (info->fields[n]->numElements > 1 && !info->fields[n]->defaultElementNames) {
enums.append(QString(" /* Array element names for field %1 */\n").arg(info->fields[n]->name));
enums.append(" typedef enum { ");
// Go through the element names
QStringList elemNames = info->fields[n]->elementNames;
for (int m = 0; m < elemNames.length(); ++m) {
QString s = (m != (elemNames.length() - 1)) ? "%1_%2=%3, " : "%1_%2=%3";
enums.append(s.arg(info->fields[n]->name.toUpper())
.arg(elemNames[m].toUpper())
.arg(m));
}
enums.append(QString(" } %1Elem;\n")
.arg(info->fields[n]->name));
}
// Generate array information
if (info->fields[n]->numElements > 1) {
enums.append(QString(" /* Number of elements for field %1 */\n").arg(info->fields[n]->name));
enums.append(QString(" static const quint32 %1_NUMELEM = %2;\n")
.arg(info->fields[n]->name.toUpper())
.arg(info->fields[n]->numElements));
}
}
outInclude.replace(QString("$(DATAFIELDINFO)"), enums);
// Replace the $(INITFIELDS) tag
QString initfields;
for (int n = 0; n < info->fields.length(); ++n) {
if (!info->fields[n]->defaultValues.isEmpty()) {
// For non-array fields
if (info->fields[n]->numElements == 1) {
if (info->fields[n]->type == FIELDTYPE_ENUM) {
initfields.append(QString(" data.%1 = %2;\n")
.arg(info->fields[n]->name)
.arg(info->fields[n]->options.indexOf(info->fields[n]->defaultValues[0])));
} else if (info->fields[n]->type == FIELDTYPE_FLOAT32) {
initfields.append(QString(" data.%1 = %2;\n")
.arg(info->fields[n]->name)
.arg(info->fields[n]->defaultValues[0].toFloat()));
} else {
initfields.append(QString(" data.%1 = %2;\n")
.arg(info->fields[n]->name)
.arg(info->fields[n]->defaultValues[0].toInt()));
}
} else {
// Initialize all fields in the array
for (int idx = 0; idx < info->fields[n]->numElements; ++idx) {
if (info->fields[n]->type == FIELDTYPE_ENUM) {
initfields.append(QString(" data.%1[%2] = %3;\n")
.arg(info->fields[n]->name)
.arg(idx)
.arg(info->fields[n]->options.indexOf(info->fields[n]->defaultValues[idx])));
} else if (info->fields[n]->type == FIELDTYPE_FLOAT32) {
initfields.append(QString(" data.%1[%2] = %3;\n")
.arg(info->fields[n]->name)
.arg(idx)
.arg(info->fields[n]->defaultValues[idx].toFloat()));
} else {
initfields.append(QString(" data.%1[%2] = %3;\n")
.arg(info->fields[n]->name)
.arg(idx)
.arg(info->fields[n]->defaultValues[idx].toInt()));
}
}
}
}
}
outCode.replace(QString("$(INITFIELDS)"), initfields);
outCode.replace("$(FIELDSINIT)", ctxt.fieldsInit);
outCode.replace("$(FIELDSDEFAULT)", ctxt.fieldsDefault);
outCode.replace("$(PROPERTIES_IMPL)", ctxt.propertiesImpl);
outCode.replace("$(NOTIFY_PROPERTIES_CHANGED)", ctxt.notificationsImpl);
outCode.replace("$(REGISTER_QML_TYPES)", ctxt.registerImpl);
// Write the GCS code
bool res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/" + info->namelc + ".cpp", outCode);
bool res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/" + object->namelc + ".cpp", outCode);
if (!res) {
cout << "Error: Could not write gcs output files" << endl;
error("Error: Could not write gcs output files");
return false;
}
res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/" + info->namelc + ".h", outInclude);
res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/" + object->namelc + ".h", outInclude);
if (!res) {
cout << "Error: Could not write gcs output files" << endl;
error("Error: Could not write gcs output files");
return false;
}

1
ground/uavobjgenerator/generators/gcs/uavobjectgeneratorgcs.h
View File

@ -39,7 +39,6 @@ private:
bool process_object(ObjectInfo *info);
QString gcsCodeTemplate, gcsIncludeTemplate;
QStringList fieldTypeStrCPP, fieldTypeStrCPPClass;
QDir gcsCodePath;
QDir gcsOutputPath;
};

6
package/Linux.mk
View File

@ -16,15 +16,17 @@ s,<GITWEB_URL>,$(GITWEB_URL),g; \
# Are we using a debian based distro?
ifneq ($(wildcard /etc/apt/sources.list),)
include $(ROOT_DIR)/package/linux/deb.mk
PKG_TYPE := deb
# Are we using a rpm based distro?
else ifneq ($(wildcard /etc/yum.repos.d/*),)
include $(ROOT_DIR)/package/linux/rpm.mk
PKG_TYPE := rpm
# Are we using an Arch based distro?
else ifneq ($(wildcard /etc/pacman.conf),)
$(info TODO: built in arch package)
endif
-include $(ROOT_DIR)/package/linux/$(PKG_TYPE).mk
##############################
#
# Install Linux Target

5
package/linux/deb.mk
View File

@ -1,7 +1,4 @@
# Get some info about the distro
-include /etc/lsb-release
DEB_DIST := $(DISTRIB_CODENAME)
DEB_DIST := $(shell lsb_release -c -s)
# Instead of RELEASE-15.01-RC1 debian wants 15.01~RC1
UPSTREAM_VER := $(subst -,~,$(subst RELEASE-,,$(PACKAGE_LBL)))
ifeq ($(DEB_DIST), unstable) # This should be set manually for a submission to Debian or similar

4
package/linux/rpm.mk
View File

@ -2,8 +2,8 @@ RPM_NAME := $(PACKAGE_NAME)
UPSTREAM_VER := $(subst -,~,$(subst RELEASE-,,$(DIST_LBL)))
RPM_REL := 1
RPM_ARCH := $(shell rpm --eval '%{_arch}')
RPM_PACKAGE_NAME := $(RPM_NAME)-$(UPSTREAM_VER)-$(RPM_REL)$(shell rpm --eval '%{?dist}').$(RPM_ARCH).rpm
RPM_PACKAGE_FILE := $(PACKAGE_DIR)/RPMS/$(RPM_ARCH)/$(RPM_PACKAGE_NAME)
RPM_PACKAGE_NAME := $(RPM_NAME)-$(UPSTREAM_VER)-$(RPM_REL)
RPM_PACKAGE_FILE := $(PACKAGE_DIR)/RPMS/$(RPM_ARCH)/$(RPM_PACKAGE_NAME)$(shell rpm --eval '%{?dist}').$(RPM_ARCH).rpm
RPM_PACKAGE_SRC := $(PACKAGE_DIR)/SRPMS/$(RPM_PACKAGE_NAME).src.rpm
SED_SCRIPT := $(SED_SCRIPT)' \

6
shared/uavobjectdefinition/actuatorsettings.xml
View File

@ -8,11 +8,11 @@
<field name="ChannelMin" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelType" units="" type="enum" elements="12" options="PWM,MK,ASTEC4,PWM Alarm Buzzer,Arming led,Info led" defaultvalue="PWM"/>
<field name="ChannelAddr" units="" type="uint8" elements="12" defaultvalue="0,1,2,3,4,5,6,7,8,9,10,11"/>
<field name="MotorsSpinWhileArmed" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="LowThrottleZeroAxis" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="FALSE,TRUE" defaultvalue="FALSE,FALSE,FALSE"/>
<field name="MotorsSpinWhileArmed" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<field name="LowThrottleZeroAxis" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="False,True" defaultvalue="False,False,False"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</object>
</xml>

4
shared/uavobjectdefinition/attitudesettings.xml
View File

@ -9,8 +9,8 @@
<field name="MagKp" units="" type="float" elements="1" defaultvalue="0.01"/>
<field name="AccelTau" units="" type="float" elements="1" defaultvalue="0"/>
<field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="False,True" defaultvalue="True"/>
<field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="False,True" defaultvalue="True"/>
<field name="TrimFlight" units="channel" type="enum" elements="1" options="NORMAL,START,LOAD" defaultvalue="NORMAL"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>

4
shared/uavobjectdefinition/camerastabsettings.xml
View File

@ -13,8 +13,8 @@
<field name="MaxAccel" units="units/sec" type="uint16" elements="1" defaultvalue="500"/>
<field name="AccelTime" units="ms" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="5"/>
<field name="DecelTime" units="ms" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="5"/>
<field name="Servo1PitchReverse" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="Servo2PitchReverse" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="Servo1PitchReverse" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<field name="Servo2PitchReverse" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

2
shared/uavobjectdefinition/flightbatterysettings.xml
View File

@ -7,7 +7,7 @@
<field name="Capacity" units="mAh" type="uint32" elements="1" defaultvalue="2200"/>
<field name="CellVoltageThresholds" units="V" type="float" elementnames="Warning, Alarm" defaultvalue="3.4,3.1"/>
<field name="SensorCalibrations" units="" type="float" elementnames="VoltageFactor, CurrentFactor, VoltageZero, CurrentZero" defaultvalue="1.0, 1.0, 0.0, 0.0"/>
<field name="ResetConsumedEnergy" units="bool" type="enum" elements="1" options="false,true" defaultvalue="false"/>
<field name="ResetConsumedEnergy" units="bool" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

4
shared/uavobjectdefinition/flightmodesettings.xml
View File

@ -75,11 +75,11 @@
%NE:POI:AutoCruise; \
%NE:POI:AutoCruise;" />
<field name="AlwaysStabilizeWhenArmed" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE" description="For Multirotors. Always stabilize no matter the throttle setting when vehicle is armed. Does not work when vehicle is set to Always Armed."/>
<field name="AlwaysStabilizeWhenArmed" units="" type="enum" elements="1" options="False,True" defaultvalue="False" description="For Multirotors. Always stabilize no matter the throttle setting when vehicle is armed. Does not work when vehicle is set to Always Armed."/>
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
<field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
<field name="DisarmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
<field name="DisableSanityChecks" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="DisableSanityChecks" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<field name="ReturnToBaseAltitudeOffset" units="m" type="float" elements="1" defaultvalue="10"/>
<field name="ReturnToBaseNextCommand" units="" type="enum" elements="1" options="Hold,Land" defaultvalue="Hold"/>
<field name="LandingVelocity" units="m" type="float" elements="1" defaultvalue="0.6"/>

2
shared/uavobjectdefinition/flightstatus.xml
View File

@ -10,7 +10,7 @@
<field name="AssistedControlState" units="" type="enum" elements="1" options="Primary,Brake,Hold" defaultvalue="Primary"/>
<field name="AssistedThrottleState" units="" type="enum" elements="1" options="Manual,Auto,AutoOverride" defaultvalue="Manual"/>
<field name="ControlChain" units="bool" type="enum" options="false,true">
<field name="ControlChain" units="bool" type="enum" options="False,True">
<elementnames>
<elementname>Stabilization</elementname>
<elementname>PathFollower</elementname>

2
shared/uavobjectdefinition/gpspositionsensor.xml
View File

@ -13,7 +13,7 @@
<field name="HDOP" units="" type="float" elements="1"/>
<field name="VDOP" units="" type="float" elements="1"/>
<field name="SensorType" units="" type="enum" elements="1" options="Unknown,NMEA,UBX,UBX7,UBX8" defaultvalue="Unknown" />
<field name="AutoConfigStatus" units="" type="enum" elements="1" options="DISABLED,RUNNING,DONE,ERROR" defaultvalue="DISABLED" />
<field name="AutoConfigStatus" units="" type="enum" elements="1" options="Disabled,Running,Done,Error" defaultvalue="Disabled" />
<field name="BaudRate" units="" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200,230400,Unknown" defaultvalue="Unknown" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>

2
shared/uavobjectdefinition/homelocation.xml
View File

@ -1,7 +1,7 @@
<xml>
<object name="HomeLocation" singleinstance="true" settings="true" category="Navigation">
<description>HomeLocation setting which contains the constants to translate from longitude and latitude to NED reference frame. Automatically set by @ref GPSModule after acquiring a 3D lock. Used by @ref AHRSCommsModule.</description>
<field name="Set" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="Set" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<field name="Latitude" units="deg * 10e6" type="int32" elements="1" defaultvalue="0"/>
<field name="Longitude" units="deg * 10e6" type="int32" elements="1" defaultvalue="0"/>
<field name="Altitude" units="m over geoid" type="float" elements="1" defaultvalue="0"/>

8
shared/uavobjectdefinition/oplinksettings.xml
View File

@ -1,10 +1,10 @@
<xml>
<object name="OPLinkSettings" singleinstance="true" settings="true" category="System">
<description>OPLink configurations options.</description>
<field name="Coordinator" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="OneWay" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="PPM" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="PPMOnly" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="Coordinator" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<field name="OneWay" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<field name="PPM" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<field name="PPMOnly" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<field name="CoordID" units="hex" type="uint32" elements="1" defaultvalue="0"/>
<field name="MainPort" units="" type="enum" elements="1" options="Disabled,Telemetry,Serial,PPM,PWM" defaultvalue="Disabled"/>
<field name="FlexiPort" units="" type="enum" elements="1" options="Disabled,Telemetry,Serial,PPM,PWM" defaultvalue="Disabled"/>

2
shared/uavobjectdefinition/revocalibration.xml
View File

@ -6,7 +6,7 @@
defaultvalue="1,0,0,0,1,0,0,0,1"/>
<!-- These settings are related to how the sensors are post processed -->
<!-- TODO: reimplement, put elsewhere (later) -->
<field name="BiasCorrectedRaw" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="BiasCorrectedRaw" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>
<field name="MagBiasNullingRate" units="" type="float" elements="1" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>

4
shared/uavobjectdefinition/stabilizationbank.xml
View File

@ -18,9 +18,9 @@
<field name="AcroInsanityFactor" units="percent" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="40" limits="%BE:0:100"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<field name="ThrustPIDScaleCurve" units="percent" type="int8" elementnames="0,25,50,75,100" defaultvalue="30,15,0,-15,-30"/>
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
<field name="ThrustPIDScaleTarget" units="" type="enum" elements="1" options="PID,PI,PD,ID,P,I,D" defaultvalue="PID" />

6
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -15,7 +15,7 @@
<field name="VbarYawPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
<field name="VbarTau" units="sec" type="float" elements="1" defaultvalue="0.5"/>
<field name="VbarGyroSuppress" units="%" type="int8" elements="1" defaultvalue="30"/>
<field name="VbarPiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="VbarPiroComp" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<field name="VbarMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="10"/>
<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.003"/>
@ -37,12 +37,12 @@
<field name="CruiseControlMaxPowerFactor" units="x" type="float" elements="1" defaultvalue="3.0"/>
<field name="CruiseControlPowerTrim" units="%" type="float" elements="1" defaultvalue="100.0"/>
<field name="CruiseControlPowerDelayComp" units="sec" type="float" elements="1" defaultvalue="0.25"/>
<field name="CruiseControlFlightModeSwitchPosEnable" units="" type="enum" elements="6" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="CruiseControlFlightModeSwitchPosEnable" units="" type="enum" elements="6" options="False,True" defaultvalue="False"/>
<field name="CruiseControlInvertedThrustReversing" units="" type="enum" elements="1" options="Unreversed,Reversed" defaultvalue="Unreversed"/>
<field name="CruiseControlInvertedPowerOutput" units="" type="enum" elements="1" options="Zero,Normal,Boosted" defaultvalue="Zero"/>
<field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>
<field name="ScaleToAirspeed" units="m/s" type="float" elements="1" defaultvalue="0"/>
<field name="ScaleToAirspeedLimits" units="" type="float" elementnames="Min,Max" defaultvalue="0.05,3"/>

4
shared/uavobjectdefinition/stabilizationsettingsbank1.xml
View File

@ -18,9 +18,9 @@
<field name="AcroInsanityFactor" units="percent" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="40" limits="%BE:0:100"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<field name="ThrustPIDScaleCurve" units="percent" type="int8" elementnames="0,25,50,75,100" defaultvalue="30,15,0,-15,-30"/>
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
<field name="ThrustPIDScaleTarget" units="" type="enum" elements="1" options="PID,PI,PD,ID,P,I,D" defaultvalue="PID" />

4
shared/uavobjectdefinition/stabilizationsettingsbank2.xml
View File

@ -18,9 +18,9 @@
<field name="AcroInsanityFactor" units="percent" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="40" limits="%BE:0:100"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<field name="ThrustPIDScaleCurve" units="percent" type="int8" elementnames="0,25,50,75,100" defaultvalue="30,15,0,-15,-30"/>
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
<field name="ThrustPIDScaleTarget" units="" type="enum" elements="1" options="PID,PI,PD,ID,P,I,D" defaultvalue="PID" />

4
shared/uavobjectdefinition/stabilizationsettingsbank3.xml
View File

@ -18,9 +18,9 @@
<field name="AcroInsanityFactor" units="percent" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="40" limits="%BE:0:100"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="EnablePiroComp" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<field name="ThrustPIDScaleCurve" units="percent" type="int8" elementnames="0,25,50,75,100" defaultvalue="30,15,0,-15,-30"/>
<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
<field name="ThrustPIDScaleTarget" units="" type="enum" elements="1" options="PID,PI,PD,ID,P,I,D" defaultvalue="PID" />

2
shared/uavobjectdefinition/txpidsettings.xml
View File

@ -30,7 +30,7 @@
<field name="EasyTunePitchRollRateFactors" units="" type="float" elementnames="I,D" defaultvalue="3,0.0135"/>
<field name="EasyTuneYawRateFactors" units="" type="float" elementnames="P,I,D" defaultvalue="1.5,1.9,0.0085"/>
<field name="EasyTuneRatePIDRecalculateYaw" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="EasyTuneRatePIDRecalculateYaw" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>

6
shared/uavobjectdefinition/vtolpathfollowersettings.xml
View File

@ -11,9 +11,9 @@
<field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.15, 0.25, 0.005, 0.95"/>
<field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/>
<field name="VelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="2"/>
<field name="ThrustControl" units="" type="enum" elements="1" options="manual,auto" defaultvalue="auto"/>
<field name="YawControl" units="" type="enum" elements="1" options="manual,tailin,movementdirection,pathdirection,poi" defaultvalue="manual"/>
<field name="FlyawayEmergencyFallback" units="switch" type="enum" elements="1" options="disabled,enabled,always,debugtest" defaultvalue="enabled"/>
<field name="ThrustControl" units="" type="enum" elements="1" options="Manual,Auto" defaultvalue="Auto"/>
<field name="YawControl" units="" type="enum" elements="1" options="Manual,Tailin,MovementDirection,PathDirection,POI" defaultvalue="Manual"/>
<field name="FlyawayEmergencyFallback" units="switch" type="enum" elements="1" options="Disabled,Enabled,Always,DebugTest" defaultvalue="Enabled"/>
<field name="FlyawayEmergencyFallbackTriggerTime" units="s" type="float" elements="1" defaultvalue="10.0"/>
<field name="EmergencyFallbackAttitude" units="deg" type="float" elementnames="Roll,Pitch" defaultvalue="0,-20.0"/>
<field name="EmergencyFallbackYawRate" units="(deg/s)/deg" type="float" elementnames="kP,Max" defaultvalue="2.0, 30.0"/>