5 NavData::NavData(QObject *parent) :
8 vx=0;vy=0;vz=0;pwm_motor1=0;pwm_motor2=0;pwm_motor3=0;pwm_motor4=0;
9 vbat=0.0;pitch=0.0;roll=0.0;yaw=0.0;altitude=0.0;
12 void NavData::parseRawNavData(char *buf,unsigned int len)
16 _navdata_t *nd=(_navdata_t *)buf;
17 state=nd->ardrone_state;
20 decodedState=decodeState(state,0);
24 qDebug("parseRawNavData hdr=%8x state=%08x seq=%06d opt[0].tag=%d size=%d",
25 nd->header,nd->ardrone_state,nd->sequence,nd->options[0].tag,nd->options[0].size);
27 qDebug() << decodedState;
29 while((((unsigned int)op-(unsigned int)buf)<len) && (op->size>0))
32 op=(navdata_option_t *)((unsigned int)op+op->size);
36 void NavData::parseOption(navdata_option_t *op)
38 // qDebug("parseOption tag=%d size=%d",op->tag,op->size);
40 case NAVDATA_DEMO_TAG:
42 _navdata_demo_t *ndemo=(_navdata_demo_t*)op;
43 vbat=ndemo->vbat_flying_percentage;
44 pitch=ndemo->theta/1000.0;
45 roll=ndemo->phi/1000.0;
46 yaw=ndemo->psi/1000.0;
47 altitude=ndemo->altitude;
51 emit navDataUpdated();
52 qDebug("pitch=%2.1f roll=%2.1f yaw=%2.1f alt=%2.1f v(%2.1f,%2.1f,%2.1f bat=%2.1f",pitch,roll,yaw,altitude,vx,vy,vz,vbat);
55 case NAVDATA_TIME_TAG:
57 _navdata_time_t *ntdime=(_navdata_time_t*)op;
60 case NAVDATA_RAW_MEASURES_TAG:
62 _navdata_raw_measures_t *nraw=(_navdata_raw_measures_t*)op;
65 case NAVDATA_PHYS_MEASURES_TAG:
67 _navdata_phys_measures_t *nphys=(_navdata_phys_measures_t*)op;
70 case NAVDATA_GYROS_OFFSETS_TAG:
72 case NAVDATA_EULER_ANGLES_TAG:
74 case NAVDATA_REFERENCES_TAG:
76 case NAVDATA_TRIMS_TAG: // 7
78 _navdata_trims_t *ntrim=( _navdata_trims_t*)op;
81 case NAVDATA_RC_REFERENCES_TAG: //8
85 _navdata_pwm_t *npwm=( _navdata_pwm_t*)op;
86 current_motor1=npwm->current_motor1;
87 pwm_motor1=npwm->motor1;
88 current_motor2=npwm->current_motor2;
89 pwm_motor2=npwm->motor2;
90 current_motor3=npwm->current_motor3;
91 pwm_motor3=npwm->motor3;
92 current_motor4=npwm->current_motor4;
93 pwm_motor4=npwm->motor4;
94 emit navDataUpdated();
95 qDebug("pwm1=%3d I1=%4f pwm2=%3d I2=%4f pwm3=%3d I3=%4f pwm4=%3d I4=%4f",
96 pwm_motor1,current_motor1,pwm_motor2,current_motor2,pwm_motor3,current_motor3,pwm_motor4,current_motor4);
99 case NAVDATA_ALTITUDE_TAG: //10
101 case NAVDATA_VISION_RAW_TAG:
103 case NAVDATA_VISION_OF_TAG: //12
105 case NAVDATA_VISION_TAG:
107 case NAVDATA_VISION_PERF_TAG:
109 case NAVDATA_TRACKERS_SEND_TAG:
111 case NAVDATA_VISION_DETECT_TAG: //16
113 case NAVDATA_WATCHDOG_TAG:
115 case NAVDATA_ADC_DATA_FRAME_TAG:
117 case NAVDATA_CKS_TAG: //65535
122 QString NavData::decodeState(unsigned int state,int level)
126 s+=(state & ARDRONE_FLY_MASK)==0 ? "landed ":"flying ";
127 if(level>1) s+=(state & ARDRONE_VIDEO_MASK)==0 ?"video disable ":"video ena ";
128 if(level>1)s+=(state & ARDRONE_VISION_MASK)==0 ? "vision disable ":"vision ena ";
129 if(level>1)s+=(state & ARDRONE_CONTROL_MASK)==0 ? "euler angles ":"angular speed ";
130 if(level>1)s+=(state & ARDRONE_ALTITUDE_MASK)==0 ? "alt ctrl inact ":"alt ctrl act ";
131 //s+=(state & ARDRONE_USER_FEEDBACK_START)==0 ? /*!< USER feedback : Start button state */
132 s+=(state & ARDRONE_COMMAND_MASK)==0 ? "CMD NAK ":"CMD ACK ";
133 // s+=(state & ARDRONE_FW_FILE_MASK)==0 ? /* Firmware file is good;
134 // s+=(state & ARDRONE_FW_VER_MASK )==0 ? /* Firmware update is newer;
135 // ARDRONE_FW_UPD_MASK = 1 << 9, /* Firmware update is ongoing (1;
136 s+=(state & ARDRONE_NAVDATA_DEMO_MASK )==0 ? "All navdata ":"navdata demo ";
137 s+=(state & ARDRONE_NAVDATA_BOOTSTRAP)==0 ? "":"Navdata bootstrap ";
138 // s+=(state & ARDRONE_MOTORS_MASK)==0 ? /*!< Motors status : (0) Ok, (1) Motors problem */
139 s+=(state & ARDRONE_COM_LOST_MASK)? "Com Lost ":"Com ok ";
140 if(level>1)s+=(state & ARDRONE_VBAT_LOW) ? "VBat low ":"Vbat Ok ";
141 if(level>1)s+=(state & ARDRONE_USER_EL) ? "User EL ":"";
142 s+=(state & ARDRONE_TIMER_ELAPSED) ? "Timer elapsed ":"";
143 s+=(state & ARDRONE_ANGLES_OUT_OF_RANGE) ? "Angles out of range ":"";
144 s+=(state & ARDRONE_ULTRASOUND_MASK) ? "Ultrasonic sensor deaf ":"";
145 s+=(state & ARDRONE_CUTOUT_MASK) ? "Cutout system detection detected":"";
146 // s+=(state & ARDRONE_PIC_VERSION_MASK)==0 ? /*!< PIC Version number OK : (0) a bad version number, (1) version number is OK */
147 // s+=(state & ARDRONE_ATCODEC_THREAD_ON)==0 ? /*!< ATCodec thread ON : (0) thread OFF (1) thread ON */
148 if(level>2)s+=(state & ARDRONE_NAVDATA_THREAD_ON)==0 ? "Navdata thread OFF ":"Navdata thread ON ";
149 if(level>2)s+=(state & ARDRONE_VIDEO_THREAD_ON )==0 ? "Video thread OFF ":"Video thread ON ";
150 // s+=+(state & ARDRONE_ACQ_THREAD_ON)==0 ? "Acquisition thread OFF ":"Acquisition thread ON ";
151 s+=(state & ARDRONE_CTRL_WATCHDOG_MASK) ? "CTRL watchdog ":"";
152 s+=(state & ARDRONE_ADC_WATCHDOG_MASK) ? "ADC Watchdog ":"";
153 s+=(state & ARDRONE_COM_WATCHDOG_MASK) ? "Comm Watchdog ":"";
154 s+=(state & ARDRONE_EMERGENCY_MASK)? "Emg landing":"";