4 #include <QGraphicsWidget>
5 #include <QGraphicsItem>
12 #include <QRotationSensor>
13 #undef _GNU_SOURCE // just get rid of error message double definition
20 class DroneControl : public QObject
23 Q_PROPERTY(float pitch READ pitch WRITE setPitch NOTIFY pitchRollChanged)
24 Q_PROPERTY(float roll READ roll WRITE setRoll NOTIFY pitchRollChanged)
25 Q_PROPERTY(float yaw READ yaw WRITE setYaw NOTIFY pitchRollChanged)
26 Q_PROPERTY(float altitude READ altitude WRITE setAltitude)
27 Q_PROPERTY(float vVelocity READ vVelocity WRITE setVVelocity NOTIFY pitchRollChanged)
28 Q_PROPERTY(int enabled READ enabled WRITE setEnabled)
29 Q_PROPERTY(bool fly READ fly WRITE setFly)
30 Q_PROPERTY(bool ctrlActive READ ctrlActive WRITE setCtrlActive)
31 Q_PROPERTY(float dronePitch READ dronePitch NOTIFY navDataChanged)
32 Q_PROPERTY(float droneRoll READ droneRoll NOTIFY navDataChanged)
33 Q_PROPERTY(float droneYaw READ droneYaw NOTIFY navDataChanged)
34 Q_PROPERTY(float droneVBat READ droneVBat NOTIFY navDataChanged)
35 Q_PROPERTY(float droneAltitude READ droneAltitude NOTIFY navDataChanged)
36 Q_PROPERTY(bool emergency READ emergency WRITE setEmergency)
37 Q_PROPERTY(QString decodedStatus READ decodedStatus NOTIFY statusChanged)
38 Q_PROPERTY(int pwm_motor1 READ pwm_motor1 NOTIFY navDataChanged)
39 Q_PROPERTY(int pwm_motor2 READ pwm_motor1 NOTIFY navDataChanged)
40 Q_PROPERTY(int pwm_motor3 READ pwm_motor1 NOTIFY navDataChanged)
41 Q_PROPERTY(int pwm_motor4 READ pwm_motor1 NOTIFY navDataChanged)
44 // Config variables from QSettings
45 Q_PROPERTY(QString confDroneIp READ confDroneIp WRITE setConfDroneIp NOTIFY configChanged)
46 Q_PROPERTY(bool confShowDebug READ confShowDebug WRITE setConfShowDebug NOTIFY configChanged)
47 Q_PROPERTY(bool confShowHorizon READ confShowHorizon WRITE setConfShowHorizon NOTIFY configChanged)
48 Q_PROPERTY(bool confShowGauges READ confShowGauges WRITE setConfShowGauges NOTIFY configChanged)
49 Q_PROPERTY(bool confUseAccel READ confUseAccel WRITE setConfUseAccel NOTIFY configChanged)
50 Q_PROPERTY(bool confUseJoyStick READ confUseJoyStick WRITE setConfUseJoyStick NOTIFY configChanged)
51 Q_PROPERTY(bool confFullScreen READ confFullScreen WRITE setConfFullScreen NOTIFY configChanged)
52 Q_PROPERTY(float confForwardGain READ confForwardGain WRITE setConfForwardGain NOTIFY configChanged)
53 Q_PROPERTY(float confBackwardGain READ confBackwardGain WRITE setConfBackwardGain NOTIFY configChanged)
54 Q_PROPERTY(float confLeftGain READ confLeftGain WRITE setConfLeftGain NOTIFY configChanged)
55 Q_PROPERTY(float confRightGain READ confRightGain WRITE setConfRightGain NOTIFY configChanged)
56 Q_PROPERTY(float confCtrlTrsh READ confCtrlTrsh WRITE setConfCtrlTrsh NOTIFY configChanged)
59 explicit DroneControl();
62 float pitch(); void setPitch(float val_);
63 float roll() ; void setRoll(float val_);
64 float yaw() ; void setYaw(float val_);
65 float altitude(); void setAltitude(float val_) ;
66 float vVelocity();void setVVelocity(float val_) ;
67 int enabled() ; void setEnabled(int val_) ;
68 bool emergency();void setEmergency(bool val_) ;
69 bool fly() ; void setFly(bool val_) ;
70 bool ctrlActive();void setCtrlActive(bool val_) ;
72 // Read only telemetry and drone status
73 QString decodedStatus();
78 float droneAltitude();
85 QString confDroneIp(); void setConfDroneIp(QString ip);
86 bool confShowDebug(); void setConfShowDebug(bool val);
87 bool confShowHorizon(); void setConfShowHorizon(bool val);
88 bool confShowGauges(); void setConfShowGauges(bool val);
89 bool confUseAccel(); void setConfUseAccel(bool val);
90 bool confFullScreen(); void setConfFullScreen(bool val);
91 bool confUseJoyStick(); void setConfUseJoyStick(bool val);
92 float confForwardGain(); void setConfForwardGain(float val);
93 float confBackwardGain(); void setConfBackwardGain(float val);
94 float confLeftGain(); void setConfLeftGain(float val);
95 float confRightGain(); void setConfRightGain(float val);
96 float confCtrlTrsh(); void setConfCtrlTrsh(float val);
98 void navDataChanged();
100 void configChanged();
101 void pitchRollChanged();
103 void navDataUpdated();
104 void statusUpdated();
105 void rotationReadingsChanged();
108 float m_pitch; // pitch in horizon
109 float m_roll; // Roll in horizon
110 float m_yaw; // low value to display
111 float m_vv; // Verticl velocity
112 float m_altitude; // altitude
113 float m_rotRefX; // Rotation zero reference
116 int m_enabled; // Enable flag
117 bool m_emergency; // Emergency flag
118 QString _emgReason; // Reason of emergency
119 bool m_fly; // Fly flag
122 float m_ctrlTrsh; // accel controll treshold
124 QTcpSocket *ctlSock; // TCP port for control/config data
125 QUdpSocket *navSock; // Navigation data receive socket port 5554
126 QHostAddress droneHost; // Ip address of the drone
128 DroneThread *droneThread;
129 QSettings *droneSettings;
130 QRotationSensor *rSensor; // used for controllind drone with device rotation
135 class DroneThread:public QThread {
138 DroneThread(DroneControl *parentp,QHostAddress host);
142 void sendNav(QString cmd);
143 void sendCmd(QString cmd);
144 NavData *navData() { return &nd; };
156 void setFly(bool fly);
157 void setEmergency(bool emg);
158 void setDroneControl(float pitch,float roll,float yaw,float vv);
159 void setDroneGain(float fgain,float bgain,float lgain,float rgain);
163 QHostAddress droneHost; // Ip address of the drone
165 volatile bool stopped;
166 DroneControl *parent;
167 QUdpSocket *navSock; // Navigation data receive socket port 5554
168 QUdpSocket *cmdSock; // Ay command socket port 5556
170 int seq; // Drone command seq number
184 #endif // DRONECONTROL_H