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(float confForwardGain READ confForwardGain WRITE setConfForwardGain NOTIFY configChanged)
65 Q_PROPERTY(float confBackwardGain READ confBackwardGain WRITE setConfBackwardGain NOTIFY configChanged)
66 Q_PROPERTY(float confLeftGain READ confLeftGain WRITE setConfLeftGain NOTIFY configChanged)
67 Q_PROPERTY(float confRightGain READ confRightGain WRITE setConfRightGain NOTIFY configChanged)
68 Q_PROPERTY(float confCtrlTrsh READ confCtrlTrsh WRITE setConfCtrlTrsh NOTIFY configChanged)
71 explicit DroneControl();
74 float pitch(); void setPitch(float val_);
75 float roll() ; void setRoll(float val_);
76 float yaw() ; void setYaw(float val_);
77 float altitude(); void setAltitude(float val_) ;
78 float vVelocity();void setVVelocity(float val_) ;
79 int enabled() ; void setEnabled(int val_) ;
80 bool emergency();void setEmergency(bool val_) ;
81 bool fly() ; void setFly(bool val_) ;
82 bool ctrlActive();void setCtrlActive(bool val_) ;
84 // Read only telemetry and drone status
85 QString decodedStatus();
87 bool connected() { return m_connected; };
88 void setConnected(bool val_);
94 float droneAltitude();
102 QString confDroneIp(); void setConfDroneIp(QString ip);
103 QString confActiveUI(); void setConfActiveUI(QString ui);
104 bool confShowDebug(); void setConfShowDebug(bool val);
105 bool confShowHorizon(); void setConfShowHorizon(bool val);
106 bool confShowJSIndicators(); void setConfShowJSIndicators(bool val);
107 bool confShowGauges(); void setConfShowGauges(bool val);
108 bool confUseAccel(); void setConfUseAccel(bool val);
109 bool confFullScreen(); void setConfFullScreen(bool val);
110 bool confUseJoyStick(); void setConfUseJoyStick(bool val);
111 float confForwardGain(); void setConfForwardGain(float val);
112 float confBackwardGain(); void setConfBackwardGain(float val);
113 float confLeftGain(); void setConfLeftGain(float val);
114 float confRightGain(); void setConfRightGain(float val);
115 float confCtrlTrsh(); void setConfCtrlTrsh(float val);
117 void navDataChanged();
118 void statusChanged();
119 void configChanged();
120 void pitchRollChanged();
121 void joyStickChanged();
122 void connectedChanged();
124 void navDataUpdated();
125 void statusUpdated();
126 void rotationReadingsChanged();
128 void updateJoyStick();
130 void axisValueChanged(int axis, int value);
133 float m_pitch; // pitch in horizon
134 float m_roll; // Roll in horizon
135 float m_yaw; // low value to display
136 float m_vv; // Verticl velocity
137 float m_altitude; // altitude
138 float m_rotRefX; // Rotation zero reference
141 int m_enabled; // Enable flag
142 bool m_emergency; // Emergency flag
143 QString _emgReason; // Reason of emergency
144 bool m_fly; // Fly flag
153 float m_ctrlTrsh; // accel controll treshold
155 QTcpSocket *ctlSock; // TCP port for control/config data
156 QUdpSocket *navSock; // Navigation data receive socket port 5554
157 QHostAddress droneHost; // Ip address of the drone
159 DroneThread *droneThread;
160 QSettings *droneSettings;
163 QRotationSensor *rSensor; // used for controllind drone with device rotation
169 class DroneThread:public QThread {
172 DroneThread(DroneControl *parentp,QHostAddress host);
176 void sendNav(QString cmd);
177 void sendCmd(QString cmd);
178 NavData *navData() { return &nd; };
191 void setFly(bool fly);
192 void setEmergency(bool emg);
193 void setDroneControl(float pitch,float roll,float yaw,float vv);
194 void setDroneGain(float fgain,float bgain,float lgain,float rgain);
198 QHostAddress droneHost; // Ip address of the drone
200 volatile bool stopped;
201 DroneControl *parent;
202 QUdpSocket *navSock; // Navigation data receive socket port 5554
203 QUdpSocket *cmdSock; // Ay command socket port 5556
205 int retry; // retry counter
206 int noreply; // No reply counter incremented every sedcmd, cleared when got reply
207 int seq; // Drone command seq number
221 #endif // DRONECONTROL_H