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UAS1.cc
3545 lines (3195 loc) · 119 KB
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UAS1.cc
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/*===================================================================
======================================================================*/
/**
* @file
* @brief Represents one unmanned aerial vehicle
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include "QsLog.h"
#include "UAS1.h"
#include "LinkInterface.h"
#include "UASManager1.h"
#include "QGC.h"
#include "GAudioOutput.h"
//#include "MAVLinkProtocol.h"
#include "QGCMAVLink.h"
#include "LinkManager1.h"
#include <QList>
#include <QMessageBox>
#include <QTimer>
#include <QSettings>
#include <iostream>
#include <QDesktopServices>
#include <cmath>
#include <qmath.h>
#ifdef QGC_PROTOBUF_ENABLED
#include <google/protobuf/descriptor.h>
#endif
#define UINT16_MAX 0xffff
const double UAS::lipoFull = 4.2f; ///< 100% charged voltage
const double UAS::lipoEmpty = 3.5f; ///< Discharged voltage
/**
* Gets the settings from the previous UAS (name, airframe, autopilot, battery specs)
* by calling readSettings. This means the new UAS will have the same settings
* as the previous one created unless one calls deleteSettings in the code after
* creating the UAS.
*/
UAS::UAS(MAVLinkProtocol* , int id) : UASInterface(),
uasId(id),
links(new QList<LinkInterface*>()),
unknownPackets(),
commStatus(COMM_DISCONNECTED),
receiveDropRate(0),
sendDropRate(0),
statusTimeout(new QTimer(this)),
name(""),
type(-1),
airframe(-1),
autopilot(-1),
systemIsArmed(false),
base_mode(-1),
// custom_mode not initialized
custom_mode(-1),
status(-1),
// shortModeText not initialized
// shortStateText not initialized
// actuatorValues not initialized
// actuatorNames not initialized
// motorValues not initialized
// motorNames mnot initialized
thrustSum(0),
thrustMax(10),
// batteryType not initialized
// cells not initialized
fullVoltage(12.6),
emptyVoltage(9),
startVoltage(-1.0),
tickVoltage(10.5),
lastTickVoltageValue(13.0),
tickLowpassVoltage(12.0),
warnVoltage(9.5),
warnLevelPercent(20.0),
currentVoltage(12.6),
lpVoltage(12.0),
currentCurrent(0.4),
batteryRemainingEstimateEnabled(true),
// chargeLevel not initialized
// timeRemaining not initialized
lowBattAlarm(false),
startTime(QGC::groundTimeMilliseconds()),
onboardTimeOffset(0),
controlRollManual(true),
controlPitchManual(true),
controlYawManual(true),
controlThrustManual(true),
manualRollAngle(0),
manualPitchAngle(0),
manualYawAngle(0),
manualThrust(0),
positionLock(false),
isLocalPositionKnown(false),
isGlobalPositionKnown(false),
localX(0.0),
localY(0.0),
localZ(0.0),
latitude(0.0),
longitude(0.0),
altitudeAMSL(0.0),
altitudeRelative(0.0),
globalEstimatorActive(false),
latitude_gps(0.0),
longitude_gps(0.0),
altitude_gps(0.0),
speedX(0.0),
speedY(0.0),
speedZ(0.0),
nedPosGlobalOffset(0,0,0),
nedAttGlobalOffset(0,0,0),
#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
receivedOverlayTimestamp(0.0),
receivedObstacleListTimestamp(0.0),
receivedPathTimestamp(0.0),
receivedPointCloudTimestamp(0.0),
receivedRGBDImageTimestamp(0.0),
#endif
airSpeed(std::numeric_limits<double>::quiet_NaN()),
groundSpeed(std::numeric_limits<double>::quiet_NaN()),
attitudeKnown(false),
attitudeStamped(false),
lastAttitude(0),
roll(0.0),
pitch(0.0),
yaw(0.0),
blockHomePositionChanges(false),
receivedMode(false),
paramsOnceRequested(false),
paramManager(NULL),
// The protected members.
connectionLost(false),
lastVoltageWarning(0),
lastNonNullTime(0),
onboardTimeOffsetInvalidCount(0),
hilEnabled(false),
sensorHil(false),
lastSendTimeGPS(0),
lastSendTimeSensors(0)
{
for (unsigned int i = 0; i<255;++i)
{
componentID[i] = -1;
componentMulti[i] = false;
}
color = UASInterface::getNextColor();
// Read setting before setting up 'systemSpecChanged' to avoid writing while reading the settings
readSettings();
connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
statusTimeout->start(500);
// Initial signals
emit disarmed();
emit armingChanged(false);
systemId = QGC::defaultSystemId;
componentId = QGC::defaultComponentId;
m_heartbeatsEnabled = false; //MainWindow::instance()->heartbeatEnabled(); //Default to sending heartbeats
QTimer *heartbeattimer = new QTimer(this);
connect(heartbeattimer,SIGNAL(timeout()),this,SLOT(sendHeartbeat()));
heartbeattimer->start(MAVLINK_HEARTBEAT_DEFAULT_RATE * 1000);
}
/**
* Saves the settings of name, airframe, autopilot type and battery specifications
* by calling writeSettings.
*/
UAS::~UAS()
{
writeSettings();
delete links;
delete statusTimeout;
}
/**
* Saves the settings of name, airframe, autopilot type and battery specifications
* for the next instantiation of UAS.
*/
void UAS::writeSettings()
{
QSettings settings;
settings.beginGroup(QString("MAV%1").arg(uasId));
settings.setValue("NAME", this->name);
settings.setValue("AIRFRAME", this->airframe);
settings.setValue("AP_TYPE", this->autopilot);
settings.setValue("BATTERY_SPECS", getBatterySpecs());
settings.endGroup();
settings.sync();
}
/**
* Reads in the settings: name, airframe, autopilot type, and battery specifications
* for the new UAS.
*/
void UAS::readSettings()
{
QSettings settings;
settings.beginGroup(QString("MAV%1").arg(uasId));
setUASName(settings.value("NAME", this->name).toString());
setAirframe(settings.value("AIRFRAME", this->airframe).toInt());
setAutopilotType(autopilot = settings.value("AP_TYPE", this->autopilot).toInt());
if (settings.contains("BATTERY_SPECS"))
{
setBatterySpecs(settings.value("BATTERY_SPECS").toString());
}
settings.endGroup();
}
/**
* Deletes the settings origianally read into the UAS by readSettings.
* This is in case one does not want the old values but would rather
* start with the values assigned by the constructor.
*/
void UAS::deleteSettings()
{
this->name = "";
this->airframe = QGC_AIRFRAME_GENERIC;
this->autopilot = -1;
setBatterySpecs(QString("9V,9.5V,12.6V"));
}
/**
* @ return the id of the uas
*/
int UAS::getUASID() const
{
return uasId;
}
/**
* Update the heartbeat.
*/
void UAS::updateState()
{
// Check if heartbeat timed out
quint64 heartbeatInterval = QGC::groundTimeUsecs() - lastHeartbeat;
if (!connectionLost && (heartbeatInterval > timeoutIntervalHeartbeat))
{
connectionLost = true;
receivedMode = false;
QString audiostring = QString("Link lost to system %1").arg(this->getUASID());
GAudioOutput::instance()->say(audiostring.toLower());
}
// Update connection loss time on each iteration
if (connectionLost && (heartbeatInterval > timeoutIntervalHeartbeat))
{
connectionLossTime = heartbeatInterval;
emit heartbeatTimeout(true, heartbeatInterval/1000);
}
// Connection gained
if (connectionLost && (heartbeatInterval < timeoutIntervalHeartbeat))
{
QString audiostring = QString("Link regained to system %1 after %2 seconds").arg(this->getUASID()).arg((int)(connectionLossTime/1000000));
GAudioOutput::instance()->say(audiostring.toLower());
connectionLost = false;
connectionLossTime = 0;
emit heartbeatTimeout(false, 0);
}
// Position lock is set by the MAVLink message handler
// if no position lock is available, indicate an error
if (positionLock)
{
positionLock = false;
}
else
{
if (((base_mode & MAV_MODE_FLAG_DECODE_POSITION_AUTO) || (base_mode & MAV_MODE_FLAG_DECODE_POSITION_GUIDED)) && positionLock)
{
GAudioOutput::instance()->notifyNegative();
}
}
}
/**
* If the acitve UAS (the UAS that was selected) is not the one that is currently
* active, then change the active UAS to the one that was selected.
*/
void UAS::setSelected()
{
if (UASManager::instance()->getActiveUAS() != this)
{
UASManager::instance()->setActiveUAS(this);
emit systemSelected(true);
}
}
/**
* @return if the active UAS is the current UAS
**/
bool UAS::getSelected() const
{
return (UASManager::instance()->getActiveUAS() == this);
}
void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
if (!link) return;
if (!links->contains(link))
{
addLink(link);
QLOG_TRACE() << __FILE__ << __LINE__ << "ADDED LINK!" << link->getName();
}
if (!components.contains(message.compid))
{
QString componentName;
switch (message.compid)
{
case MAV_COMP_ID_ALL:
{
componentName = "ANONYMOUS";
break;
}
case MAV_COMP_ID_IMU:
{
componentName = "IMU #1";
break;
}
case MAV_COMP_ID_CAMERA:
{
componentName = "CAMERA";
break;
}
case MAV_COMP_ID_MISSIONPLANNER:
{
componentName = "MISSIONPLANNER";
break;
}
}
components.insert(message.compid, componentName);
emit componentCreated(uasId, message.compid, componentName);
}
// QLOG_DEBUG() << "UAS RECEIVED from" << message.sysid << "component" << message.compid << "msg id" << message.msgid << "seq no" << message.seq;
// Only accept messages from this system (condition 1)
// and only then if a) attitudeStamped is disabled OR b) attitudeStamped is enabled
// and we already got one attitude packet
if (message.sysid == uasId && (!attitudeStamped || (attitudeStamped && (lastAttitude != 0)) || message.msgid == MAVLINK_MSG_ID_ATTITUDE))
{
QString uasState;
QString stateDescription;
bool multiComponentSourceDetected = false;
bool wrongComponent = false;
switch (message.compid)
{
case MAV_COMP_ID_IMU_2:
// Prefer IMU 2 over IMU 1 (FIXME)
componentID[message.msgid] = MAV_COMP_ID_IMU_2;
break;
default:
// Do nothing
break;
}
// Store component ID
if (componentID[message.msgid] == -1)
{
// Prefer the first component
componentID[message.msgid] = message.compid;
}
else
{
// Got this message already
if (componentID[message.msgid] != message.compid)
{
componentMulti[message.msgid] = true;
wrongComponent = true;
}
}
if (componentMulti[message.msgid] == true) multiComponentSourceDetected = true;
switch (message.msgid)
{
case MAVLINK_MSG_ID_HEARTBEAT:
{
if (multiComponentSourceDetected && wrongComponent)
{
break;
}
lastHeartbeat = QGC::groundTimeUsecs();
emit heartbeat(this);
mavlink_heartbeat_t state;
mavlink_msg_heartbeat_decode(&message, &state);
// Send the base_mode and system_status values to the plotter. This uses the ground time
// so the Ground Time checkbox must be ticked for these values to display
quint64 time = getUnixTime();
QString name = QString("M%1:HEARTBEAT.%2").arg(message.sysid);
emit valueChanged(uasId, name.arg("base_mode"), "bits", state.base_mode, time);
emit valueChanged(uasId, name.arg("custom_mode"), "bits", state.custom_mode, time);
emit valueChanged(uasId, name.arg("system_status"), "-", state.system_status, time);
// Set new type if it has changed
if (this->type != state.type)
{
this->type = state.type;
if (isFixedWing()) {
setAirframe(UASInterface::QGC_AIRFRAME_EASYSTAR);
} else if (isMultirotor()) {
setAirframe(UASInterface::QGC_AIRFRAME_CHEETAH);
} else if (isGroundRover()) {
setAirframe(UASInterface::QGC_AIRFRAME_HEXCOPTER);
} else if (isHelicopter()) {
setAirframe(UASInterface::QGC_AIRFRAME_HELICOPTER);
} else {
QLOG_DEBUG() << "Airframe is set to: " << type;
setAirframe(UASInterface::QGC_AIRFRAME_GENERIC);
}
this->autopilot = state.autopilot;
emit systemTypeSet(this, type);
}
bool currentlyArmed = state.base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY;
if (systemIsArmed != currentlyArmed)
{
systemIsArmed = currentlyArmed;
emit armingChanged(systemIsArmed);
if (systemIsArmed)
{
emit armed();
}
else
{
emit disarmed();
}
playArmStateChangedAudioMessage(systemIsArmed);
}
bool stateHasChanged = false;
bool modeHasChanged = false;
bool customModeHasChanged = false;
if ((state.system_status != static_cast<uint8_t>(this->status))) {
QLOG_DEBUG() << "UAS: new system_status" << state.system_status;
stateHasChanged = true;
this->status = static_cast<uint8_t>(state.system_status);
getStatusForCode((int)state.system_status, uasState, stateDescription);
emit statusChanged(this, uasState, stateDescription);
emit statusChanged(this->status);
shortStateText = uasState;
}
if (base_mode != state.base_mode) {
QLOG_DEBUG() << "UAS: new base mode " << state.base_mode;
modeHasChanged = true;
receivedMode = true;
base_mode = state.base_mode;
shortModeText = getShortModeTextFor(base_mode);
emit modeChanged(this->getUASID(), shortModeText, "");
}
if (custom_mode != state.custom_mode) {
QLOG_DEBUG() << "UAS: new custom mode " << state.custom_mode;
customModeHasChanged = true;
custom_mode = state.custom_mode;
emit navModeChanged(uasId, state.custom_mode, getCustomModeText());
}
// AUDIO
if (/*modeHasChanged || stateHasChanged || */customModeHasChanged){
playCustomModeChangedAudioMessage(); // delegate audio to autopilot specializations
}
} break;
case MAVLINK_MSG_ID_SYS_STATUS:
{
if (multiComponentSourceDetected && wrongComponent)
{
break;
}
mavlink_sys_status_t state;
mavlink_msg_sys_status_decode(&message, &state);
// Prepare for sending data to the realtime plotter, which is every field excluding onboard_control_sensors_present.
quint64 time = getUnixTime();
QString name = QString("M%1:GCS Status.%2").arg(message.sysid);
emit valueChanged(uasId, name.arg("Sensors Enabled"), "bits", state.onboard_control_sensors_enabled, time);
emit valueChanged(uasId, name.arg("Sensors Health"), "bits", state.onboard_control_sensors_health, time);
emit valueChanged(uasId, name.arg("Comms Errors"), "-", state.errors_comm, time);
emit valueChanged(uasId, name.arg("Errors Count 1"), "-", state.errors_count1, time);
emit valueChanged(uasId, name.arg("Errors Count 2"), "-", state.errors_count2, time);
emit valueChanged(uasId, name.arg("Errors Count 3"), "-", state.errors_count3, time);
emit valueChanged(uasId, name.arg("Errors Count 4"), "-", state.errors_count4, time);
// Process CPU load.
emit loadChanged(this,state.load/10.0);
emit valueChanged(uasId, name.arg("CPU Load"), "%", state.load/10.0, time);
// Battery charge/time remaining/voltage calculations
currentVoltage = state.voltage_battery/1000.0;
lpVoltage = filterVoltage(currentVoltage);
tickLowpassVoltage = tickLowpassVoltage*0.8 + 0.2*currentVoltage;
// We don't want to tick above the threshold
if (tickLowpassVoltage > tickVoltage)
{
lastTickVoltageValue = tickLowpassVoltage;
}
if ((startVoltage > 0.0) && (tickLowpassVoltage < tickVoltage) && (fabs(lastTickVoltageValue - tickLowpassVoltage) > 0.1)
/* warn if lower than treshold */
&& (lpVoltage < tickVoltage)
/* warn only if we have at least the voltage of an empty LiPo cell, else we're sampling something wrong */
&& (currentVoltage > 3.3)
/* warn only if current voltage is really still lower by a reasonable amount */
&& ((currentVoltage - 0.2) < tickVoltage)
/* warn only every 12 seconds */
&& (QGC::groundTimeUsecs() - lastVoltageWarning) > 12000000)
{
GAudioOutput::instance()->say(QString("voltage warning: %1 volts").arg(lpVoltage, 0, 'f', 1, QChar(' ')));
lastVoltageWarning = QGC::groundTimeUsecs();
lastTickVoltageValue = tickLowpassVoltage;
}
if (startVoltage == -1.0 && currentVoltage > 0.1) startVoltage = currentVoltage;
timeRemaining = calculateTimeRemaining();
if (!batteryRemainingEstimateEnabled && chargeLevel != -1)
{
chargeLevel = state.battery_remaining;
}
emit batteryChanged(this, lpVoltage, currentCurrent, getChargeLevel(), timeRemaining);
// emit voltageChanged(message.sysid, currentVoltage);
emit valueChanged(uasId, name.arg("Battery"), "%", state.battery_remaining, time);
emit valueChanged(uasId, name.arg("Voltage"), "V", state.voltage_battery/1000.0, time);
// And if the battery current draw is measured, log that also.
if (state.current_battery != -1)
{
currentCurrent = ((double)state.current_battery)/100.0;
emit valueChanged(uasId, name.arg("Current"), "A", currentCurrent, time);
}
// LOW BATTERY ALARM
if (lpVoltage < warnVoltage && (currentVoltage - 0.2) < warnVoltage && (currentVoltage > 3.3))
{
// An audio alarm. Does not generate any signals.
startLowBattAlarm();
}
else
{
stopLowBattAlarm();
}
// control_sensors_enabled:
// relevant bits: 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control
emit attitudeControlEnabled(state.onboard_control_sensors_enabled & (1 << 11));
emit positionYawControlEnabled(state.onboard_control_sensors_enabled & (1 << 12));
emit positionZControlEnabled(state.onboard_control_sensors_enabled & (1 << 13));
emit positionXYControlEnabled(state.onboard_control_sensors_enabled & (1 << 14));
// Trigger drop rate updates as needed. Here we convert the incoming
// drop_rate_comm value from 1/100 of a percent in a uint16 to a true
// percentage as a float. We also cap the incoming value at 100% as defined
// by the MAVLink specifications.
if (state.drop_rate_comm > 10000)
{
state.drop_rate_comm = 10000;
}
emit dropRateChanged(this->getUASID(), state.drop_rate_comm/100.0);
emit valueChanged(uasId, name.arg("Comms Drop Rate"), "%", state.drop_rate_comm/100.0, time);
}
break;
case MAVLINK_MSG_ID_ATTITUDE:
{
mavlink_attitude_t attitude;
mavlink_msg_attitude_decode(&message, &attitude);
quint64 time = getUnixReferenceTime(attitude.time_boot_ms);
emit attitudeChanged(this, message.compid, QGC::limitAngleToPMPIf(attitude.roll), QGC::limitAngleToPMPIf(attitude.pitch), QGC::limitAngleToPMPIf(attitude.yaw), time);
if (!wrongComponent)
{
lastAttitude = time;
setRoll(QGC::limitAngleToPMPIf(attitude.roll));
setPitch(QGC::limitAngleToPMPIf(attitude.pitch));
setYaw(QGC::limitAngleToPMPIf(attitude.yaw));
attitudeKnown = true;
emit attitudeChanged(this, getRoll(), getPitch(), getYaw(), time);
emit attitudeRotationRatesChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
QString name = QString("M%1:GCS Status.%2").arg(message.sysid);
emit valueChanged(uasId,name.arg("Roll"),"deg",QVariant(getRoll() * (180.0/M_PI)),time);
emit valueChanged(uasId,name.arg("Pitch"),"deg",QVariant(getPitch() * (180.0/M_PI)),time);
emit valueChanged(uasId,name.arg("Yaw"),"deg",QVariant(getYaw() * (180.0/M_PI)),time);
}
}
break;
case MAVLINK_MSG_ID_ATTITUDE_QUATERNION:
{
mavlink_attitude_quaternion_t attitude;
mavlink_msg_attitude_quaternion_decode(&message, &attitude);
quint64 time = getUnixReferenceTime(attitude.time_boot_ms);
double a = attitude.q1;
double b = attitude.q2;
double c = attitude.q3;
double d = attitude.q4;
double aSq = a * a;
double bSq = b * b;
double cSq = c * c;
double dSq = d * d;
float dcm[3][3];
dcm[0][0] = aSq + bSq - cSq - dSq;
dcm[0][1] = 2.0 * (b * c - a * d);
dcm[0][2] = 2.0 * (a * c + b * d);
dcm[1][0] = 2.0 * (b * c + a * d);
dcm[1][1] = aSq - bSq + cSq - dSq;
dcm[1][2] = 2.0 * (c * d - a * b);
dcm[2][0] = 2.0 * (b * d - a * c);
dcm[2][1] = 2.0 * (a * b + c * d);
dcm[2][2] = aSq - bSq - cSq + dSq;
float phi, theta, psi;
theta = asin(-dcm[2][0]);
if (fabs(theta - M_PI_2) < 1.0e-3f) {
phi = 0.0f;
psi = (atan2(dcm[1][2] - dcm[0][1],
dcm[0][2] + dcm[1][1]) + phi);
} else if (fabs(theta + M_PI_2) < 1.0e-3f) {
phi = 0.0f;
psi = atan2f(dcm[1][2] - dcm[0][1],
dcm[0][2] + dcm[1][1] - phi);
} else {
phi = atan2f(dcm[2][1], dcm[2][2]);
psi = atan2f(dcm[1][0], dcm[0][0]);
}
emit attitudeChanged(this, message.compid, QGC::limitAngleToPMPIf(phi),
QGC::limitAngleToPMPIf(theta),
QGC::limitAngleToPMPIf(psi), time);
if (!wrongComponent)
{
lastAttitude = time;
setRoll(QGC::limitAngleToPMPIf(phi));
setPitch(QGC::limitAngleToPMPIf(theta));
setYaw(QGC::limitAngleToPMPIf(psi));
attitudeKnown = true;
emit attitudeChanged(this, getRoll(), getPitch(), getYaw(), time);
emit attitudeRotationRatesChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
}
}
break;
case MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET:
{
mavlink_local_position_ned_system_global_offset_t offset;
mavlink_msg_local_position_ned_system_global_offset_decode(&message, &offset);
nedPosGlobalOffset.setX(offset.x);
nedPosGlobalOffset.setY(offset.y);
nedPosGlobalOffset.setZ(offset.z);
nedAttGlobalOffset.setX(offset.roll);
nedAttGlobalOffset.setY(offset.pitch);
nedAttGlobalOffset.setZ(offset.yaw);
}
break;
case MAVLINK_MSG_ID_HIL_CONTROLS:
{
mavlink_hil_controls_t hil;
mavlink_msg_hil_controls_decode(&message, &hil);
emit hilControlsChanged(hil.time_usec, hil.roll_ailerons, hil.pitch_elevator, hil.yaw_rudder, hil.throttle, hil.mode, hil.nav_mode);
}
break;
case MAVLINK_MSG_ID_VFR_HUD:
{
mavlink_vfr_hud_t hud;
mavlink_msg_vfr_hud_decode(&message, &hud);
quint64 time = getUnixTime();
// Display updated values
emit thrustChanged(this, hud.throttle/100.0);
if (!attitudeKnown)
{
setYaw(QGC::limitAngleToPMPId((((double)hud.heading)/180.0)*M_PI));
emit attitudeChanged(this, getRoll(), getPitch(), getYaw(), time);
}
setAltitudeAMSL(hud.alt);
setGroundSpeed(hud.groundspeed);
if (!isnan(hud.airspeed))
setAirSpeed(hud.airspeed);
speedZ = -hud.climb;
emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
emit speedChanged(this, groundSpeed, airSpeed, time);
}
break;
case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
//std::cerr << std::endl;
//std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
{
mavlink_local_position_ned_t pos;
mavlink_msg_local_position_ned_decode(&message, &pos);
quint64 time = getUnixTime(pos.time_boot_ms);
// Emit position always with component ID
emit localPositionChanged(this, message.compid, pos.x, pos.y, pos.z, time);
if (!wrongComponent)
{
setLocalX(pos.x);
setLocalY(pos.y);
setLocalZ(pos.z);
speedX = pos.vx;
speedY = pos.vy;
speedZ = pos.vz;
// Emit
emit localPositionChanged(this, localX, localY, localZ, time);
emit velocityChanged_NED(this, speedX, speedY, speedZ, time);
// Set internal state
if (!positionLock) {
// If position was not locked before, notify positive
GAudioOutput::instance()->notifyPositive();
}
positionLock = true;
isLocalPositionKnown = true;
}
}
break;
case MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE:
{
mavlink_global_vision_position_estimate_t pos;
mavlink_msg_global_vision_position_estimate_decode(&message, &pos);
quint64 time = getUnixTime(pos.usec);
emit localPositionChanged(this, message.compid, pos.x, pos.y, pos.z, time);
emit attitudeChanged(this, message.compid, pos.roll, pos.pitch, pos.yaw, time);
}
break;
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
//std::cerr << std::endl;
//std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
{
mavlink_global_position_int_t pos;
mavlink_msg_global_position_int_decode(&message, &pos);
quint64 time = getUnixTime();
setLatitude(pos.lat/(double)1E7);
setLongitude(pos.lon/(double)1E7);
setAltitudeAMSL(pos.alt/1000.0);
setAltitudeRelative(pos.relative_alt/1000.0);
//valueChanged(uasId, str.arg(vect.address+(i*2)), "ui16", mem1[i], time);
QString name = QString("M%1:GCS Status.%2").arg(message.sysid);
emit valueChanged(uasId,name.arg("Latitude"),"deg",QVariant((double)pos.lat / (double(1E7))),time);
emit valueChanged(uasId,name.arg("Longitude"),"deg",QVariant((double)pos.lon / (double(1E7))),time);
emit valueChanged(uasId,name.arg("Altitude (GPS)"),"m",QVariant((double)pos.alt / 1000.0),time);
emit valueChanged(uasId,name.arg("Altitude (REL)"),"m",QVariant((double)pos.relative_alt / 1000.0),time);
emit valueChanged(uasId,name.arg("Heading (GPS)"),"degs",QVariant((double)pos.hdg),time);
emit valueChanged(uasId,name.arg("Climb"),"m/s",QVariant((double)pos.vz / 100.0),time);
globalEstimatorActive = true;
speedX = pos.vx/100.0;
speedY = pos.vy/100.0;
speedZ = pos.vz/100.0;
emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), time);
emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
// We had some frame mess here, global and local axes were mixed.
emit velocityChanged_NED(this, speedX, speedY, speedZ, time);
setGroundSpeed(qSqrt(speedX*speedX+speedY*speedY));
emit speedChanged(this, groundSpeed, airSpeed, time);
// Set internal state
if (!positionLock)
{
// If position was not locked before, notify positive
GAudioOutput::instance()->notifyPositive();
}
positionLock = true;
isGlobalPositionKnown = true;
//TODO fix this hack for forwarding of global position for patch antenna tracking
forwardMessage(message);
}
break;
case MAVLINK_MSG_ID_GPS_RAW_INT:
{
mavlink_gps_raw_int_t pos;
mavlink_msg_gps_raw_int_decode(&message, &pos);
quint64 time = getUnixTime(pos.time_usec);
QString name = QString("M%1:GCS Status.%2").arg(message.sysid);
emit gpsLocalizationChanged(this, pos.fix_type);
// TODO: track localization state not only for gps but also for other loc. sources
int loc_type = pos.fix_type;
if (loc_type == 1)
{
loc_type = 0;
}
emit localizationChanged(this, loc_type);
setSatelliteCount(pos.satellites_visible);
setGpsHdop(pos.eph/100.0);
setGpsFix(pos.fix_type);
// emit raw GPS message
latitude_gps = pos.lat/(double)1E7;
longitude_gps = pos.lon/(double)1E7;
altitude_gps = pos.alt/1000.0;
if (pos.fix_type > 2)
{
positionLock = true;
isGlobalPositionKnown = true;
latitude_gps = pos.lat/(double)1E7;
longitude_gps = pos.lon/(double)1E7;
altitude_gps = pos.alt/1000.0;
// If no GLOBAL_POSITION_INT messages ever received, use these raw GPS values instead.
if (!globalEstimatorActive) {
setLatitude(latitude_gps);
setLongitude(longitude_gps);
setAltitudeAMSL(altitude_gps);
emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), time);
emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
double vel = pos.vel/100.0;
// Smaller than threshold and not NaN
if ((vel < 1000000) && !isnan(vel) && !std::isinf(vel))
{
setGroundSpeed(vel);
emit speedChanged(this, groundSpeed, airSpeed, time);
emit valueChanged(uasId,name.arg("GPS Velocity"),"m/s",QVariant(vel),time);
}
else
{
emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(vel));
}
}
}
emit valueChanged(uasId,name.arg("GPS Fix"),"",pos.fix_type,time);
emit valueChanged(uasId,name.arg("GPS Sats"),"",pos.satellites_visible,time);
emit valueChanged(uasId,name.arg("GPS HDOP"),"m", pos.eph/100.0,time);
emit valueChanged(uasId,name.arg("GPS COG"),"",pos.cog/100.0,time);
}
break;
case MAVLINK_MSG_ID_GPS_STATUS:
{
mavlink_gps_status_t pos;
mavlink_msg_gps_status_decode(&message, &pos);
for(int i = 0; i < (int)pos.satellites_visible; i++)
{
emit gpsSatelliteStatusChanged(uasId, (unsigned char)pos.satellite_prn[i], (unsigned char)pos.satellite_elevation[i], (unsigned char)pos.satellite_azimuth[i], (unsigned char)pos.satellite_snr[i], static_cast<bool>(pos.satellite_used[i]));
}
setSatelliteCount(pos.satellites_visible);
}
break;
case MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN:
{
mavlink_gps_global_origin_t pos;
mavlink_msg_gps_global_origin_decode(&message, &pos);
emit homePositionChanged(uasId, pos.latitude / 10000000.0, pos.longitude / 10000000.0, pos.altitude / 1000.0);
}
break;
case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
{
mavlink_rc_channels_raw_t channels;
mavlink_msg_rc_channels_raw_decode(&message, &channels);
const unsigned int portWidth = 8; // XXX magic number
emit remoteControlRSSIChanged(channels.rssi/255.0f);
if (channels.chan1_raw != UINT16_MAX)
emit remoteControlChannelRawChanged(channels.port * portWidth + 0, channels.chan1_raw);
if (channels.chan2_raw != UINT16_MAX)
emit remoteControlChannelRawChanged(channels.port * portWidth + 1, channels.chan2_raw);
if (channels.chan3_raw != UINT16_MAX)
emit remoteControlChannelRawChanged(channels.port * portWidth + 2, channels.chan3_raw);
if (channels.chan4_raw != UINT16_MAX)
emit remoteControlChannelRawChanged(channels.port * portWidth + 3, channels.chan4_raw);
if (channels.chan5_raw != UINT16_MAX)
emit remoteControlChannelRawChanged(channels.port * portWidth + 4, channels.chan5_raw);
if (channels.chan6_raw != UINT16_MAX)
emit remoteControlChannelRawChanged(channels.port * portWidth + 5, channels.chan6_raw);
if (channels.chan7_raw != UINT16_MAX)
emit remoteControlChannelRawChanged(channels.port * portWidth + 6, channels.chan7_raw);
if (channels.chan8_raw != UINT16_MAX)
emit remoteControlChannelRawChanged(channels.port * portWidth + 7, channels.chan8_raw);
}
break;
case MAVLINK_MSG_ID_RC_CHANNELS_SCALED:
{
mavlink_rc_channels_scaled_t channels;
mavlink_msg_rc_channels_scaled_decode(&message, &channels);
const unsigned int portWidth = 8; // XXX magic number
emit remoteControlRSSIChanged(channels.rssi/255.0f);
if (static_cast<uint16_t>(channels.chan1_scaled) != UINT16_MAX)
emit remoteControlChannelScaledChanged(channels.port * portWidth + 0, channels.chan1_scaled/10000.0f);
if (static_cast<uint16_t>(channels.chan2_scaled) != UINT16_MAX)
emit remoteControlChannelScaledChanged(channels.port * portWidth + 1, channels.chan2_scaled/10000.0f);
if (static_cast<uint16_t>(channels.chan3_scaled) != UINT16_MAX)
emit remoteControlChannelScaledChanged(channels.port * portWidth + 2, channels.chan3_scaled/10000.0f);
if (static_cast<uint16_t>(channels.chan4_scaled) != UINT16_MAX)
emit remoteControlChannelScaledChanged(channels.port * portWidth + 3, channels.chan4_scaled/10000.0f);
if (static_cast<uint16_t>(channels.chan5_scaled) != UINT16_MAX)
emit remoteControlChannelScaledChanged(channels.port * portWidth + 4, channels.chan5_scaled/10000.0f);
if (static_cast<uint16_t>(channels.chan6_scaled) != UINT16_MAX)
emit remoteControlChannelScaledChanged(channels.port * portWidth + 5, channels.chan6_scaled/10000.0f);
if (static_cast<uint16_t>(channels.chan7_scaled) != UINT16_MAX)
emit remoteControlChannelScaledChanged(channels.port * portWidth + 6, channels.chan7_scaled/10000.0f);
if (static_cast<uint16_t>(channels.chan8_scaled) != UINT16_MAX)
emit remoteControlChannelScaledChanged(channels.port * portWidth + 7, channels.chan8_scaled/10000.0f);
}
break;
case MAVLINK_MSG_ID_PARAM_VALUE:
{
mavlink_param_value_t rawValue;
mavlink_msg_param_value_decode(&message, &rawValue);
QByteArray bytes(rawValue.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
// Construct a string stopping at the first NUL (0) character, else copy the whole
// byte array (max MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN, so safe)
QString parameterName(bytes);
mavlink_param_union_t paramVal;
paramVal.param_float = rawValue.param_value;
paramVal.type = rawValue.param_type;
processParamValueMsg(message, parameterName,rawValue,paramVal);
}
break;
case MAVLINK_MSG_ID_COMMAND_ACK:
{
mavlink_command_ack_t ack;
mavlink_msg_command_ack_decode(&message, &ack);
switch (ack.result)
{
case MAV_RESULT_ACCEPTED:
{
emit textMessageReceived(uasId, message.compid, 0, tr("SUCCESS: Executed CMD: %1").arg(ack.command));
}
break;
case MAV_RESULT_TEMPORARILY_REJECTED:
{
emit textMessageReceived(uasId, message.compid, 0, tr("FAILURE: Temporarily rejected CMD: %1").arg(ack.command));
}
break;
case MAV_RESULT_DENIED:
{
emit textMessageReceived(uasId, message.compid, 0, tr("FAILURE: Denied CMD: %1").arg(ack.command));