4 #include <QGraphicsWidget>
5 #include <QGraphicsItem>
16 #include <QRotationSensor>
18 #undef _GNU_SOURCE // just get rid of error message double definition
27 class DroneControl : public QObject
30 Q_PROPERTY(float pitch READ pitch WRITE setPitch NOTIFY pitchRollChanged)
31 Q_PROPERTY(float roll READ roll WRITE setRoll NOTIFY pitchRollChanged)
32 Q_PROPERTY(float yaw READ yaw WRITE setYaw NOTIFY pitchRollChanged)
33 Q_PROPERTY(float altitude READ altitude WRITE setAltitude)
34 Q_PROPERTY(float vVelocity READ vVelocity WRITE setVVelocity NOTIFY pitchRollChanged)
35 Q_PROPERTY(int enabled READ enabled WRITE setEnabled)
36 Q_PROPERTY(bool fly READ fly WRITE setFly)
37 Q_PROPERTY(bool ctrlActive READ ctrlActive WRITE setCtrlActive)
38 Q_PROPERTY(float dronePitch READ dronePitch NOTIFY navDataChanged)
39 Q_PROPERTY(float droneRoll READ droneRoll NOTIFY navDataChanged)
40 Q_PROPERTY(float droneYaw READ droneYaw NOTIFY navDataChanged)
41 Q_PROPERTY(float droneVBat READ droneVBat NOTIFY navDataChanged)
42 Q_PROPERTY(float droneSpeed READ droneSpeed NOTIFY navDataChanged)
43 Q_PROPERTY(float droneAltitude READ droneAltitude NOTIFY navDataChanged)
44 Q_PROPERTY(bool emergency READ emergency WRITE setEmergency)
45 Q_PROPERTY(bool connected READ connected WRITE setConnected NOTIFY connectedChanged)
46 Q_PROPERTY(QString decodedStatus READ decodedStatus NOTIFY statusChanged)
48 Q_PROPERTY(int pwm_motor1 READ pwm_motor1 NOTIFY navDataChanged)
49 Q_PROPERTY(int pwm_motor2 READ pwm_motor1 NOTIFY navDataChanged)
50 Q_PROPERTY(int pwm_motor3 READ pwm_motor1 NOTIFY navDataChanged)
51 Q_PROPERTY(int pwm_motor4 READ pwm_motor1 NOTIFY navDataChanged)
54 // Config variables from QSettings
55 Q_PROPERTY(QString confDroneIp READ confDroneIp WRITE setConfDroneIp NOTIFY configChanged)
56 Q_PROPERTY(QString confActiveUI READ confActiveUI WRITE setConfActiveUI NOTIFY configChanged)
57 Q_PROPERTY(bool confShowDebug READ confShowDebug WRITE setConfShowDebug NOTIFY configChanged)
58 Q_PROPERTY(bool confShowHorizon READ confShowHorizon WRITE setConfShowHorizon NOTIFY configChanged)
59 Q_PROPERTY(bool confShowGauges READ confShowGauges WRITE setConfShowGauges NOTIFY configChanged)
60 Q_PROPERTY(bool confUseAccel READ confUseAccel WRITE setConfUseAccel NOTIFY configChanged)
61 Q_PROPERTY(bool confUseJoyStick READ confUseJoyStick WRITE setConfUseJoyStick NOTIFY configChanged)
62 Q_PROPERTY(bool confShowJSIndicators READ confShowJSIndicators WRITE setConfShowJSIndicators NOTIFY configChanged)
63 Q_PROPERTY(bool confFullScreen READ confFullScreen WRITE setConfFullScreen NOTIFY configChanged)
64 Q_PROPERTY(int confSimuMode READ confSimuMode WRITE setConfSimuMode NOTIFY configChanged)
65 Q_PROPERTY(float confForwardGain READ confForwardGain WRITE setConfForwardGain NOTIFY configChanged)
66 Q_PROPERTY(float confBackwardGain READ confBackwardGain WRITE setConfBackwardGain NOTIFY configChanged)
67 Q_PROPERTY(float confLeftGain READ confLeftGain WRITE setConfLeftGain NOTIFY configChanged)
68 Q_PROPERTY(float confRightGain READ confRightGain WRITE setConfRightGain NOTIFY configChanged)
69 Q_PROPERTY(float confCtrlTrsh READ confCtrlTrsh WRITE setConfCtrlTrsh NOTIFY configChanged)
72 explicit DroneControl();
75 float pitch(); void setPitch(float val_);
76 float roll() ; void setRoll(float val_);
77 float yaw() ; void setYaw(float val_);
78 float altitude(); void setAltitude(float val_) ;
79 float vVelocity();void setVVelocity(float val_) ;
80 int enabled() ; void setEnabled(int val_) ;
81 bool emergency();void setEmergency(bool val_) ;
82 bool fly() ; void setFly(bool val_) ;
83 bool ctrlActive();void setCtrlActive(bool val_) ;
85 // Read only telemetry and drone status
86 QString decodedStatus();
88 bool connected() { return m_connected; };
89 void setConnected(bool val_);
95 float droneAltitude();
103 QString confDroneIp(); void setConfDroneIp(QString ip);
104 QString confActiveUI(); void setConfActiveUI(QString ui);
105 bool confShowDebug(); void setConfShowDebug(bool val);
106 bool confShowHorizon(); void setConfShowHorizon(bool val);
107 bool confShowJSIndicators(); void setConfShowJSIndicators(bool val);
108 bool confShowGauges(); void setConfShowGauges(bool val);
109 bool confUseAccel(); void setConfUseAccel(bool val);
110 bool confFullScreen(); void setConfFullScreen(bool val);
111 bool confUseJoyStick(); void setConfUseJoyStick(bool val);
112 int confSimuMode(); void setConfSimuMode(int val);
113 float confForwardGain(); void setConfForwardGain(float val);
114 float confBackwardGain(); void setConfBackwardGain(float val);
115 float confLeftGain(); void setConfLeftGain(float val);
116 float confRightGain(); void setConfRightGain(float val);
117 float confCtrlTrsh(); void setConfCtrlTrsh(float val);
119 void navDataChanged();
120 void statusChanged();
121 void configChanged();
122 void pitchRollChanged();
123 void joyStickChanged();
124 void connectedChanged();
126 void navDataUpdated();
127 void statusUpdated();
128 void rotationReadingsChanged();
130 void updateJoyStick();
132 void axisValueChanged(int axis, int value);
135 float m_pitch; // pitch in horizon
136 float m_roll; // Roll in horizon
137 float m_yaw; // low value to display
138 float m_vv; // Verticl velocity
139 float m_altitude; // altitude
140 float m_rotRefX; // Rotation zero reference
143 int m_enabled; // Enable flag
144 bool m_emergency; // Emergency flag
145 QString _emgReason; // Reason of emergency
146 bool m_fly; // Fly flag
155 float m_ctrlTrsh; // accel controll treshold
157 QTcpSocket *ctlSock; // TCP port for control/config data
158 QUdpSocket *navSock; // Navigation data receive socket port 5554
159 QHostAddress droneHost; // Ip address of the drone
161 DroneThread *droneThread;
162 QSettings *droneSettings;
165 QRotationSensor *rSensor; // used for controllind drone with device rotation
171 class DroneThread:public QThread {
174 DroneThread(DroneControl *parentp,QHostAddress host);
178 void sendNav(QString cmd);
179 void sendCmd(QString cmd);
180 NavData *navData() { return &nd; };
193 void setFly(bool fly);
194 void setEmergency(bool emg);
195 void setDroneControl(float pitch,float roll,float yaw,float vv);
196 void setDroneGain(float fgain,float bgain,float lgain,float rgain);
200 QHostAddress droneHost; // Ip address of the drone
202 volatile bool stopped;
203 DroneControl *parent;
204 QUdpSocket *navSock; // Navigation data receive socket port 5554
205 QUdpSocket *cmdSock; // Ay command socket port 5556
207 int retry; // retry counter
208 int noreply; // No reply counter incremented every sedcmd, cleared when got reply
209 int seq; // Drone command seq number
223 #endif // DRONECONTROL_H