--- /dev/null
+import Qt 4.7
+
+Rectangle {
+ color:"#00000000"
+ border.color: "black"
+ width: 20
+ height: 100
+ property int val:0
+ property int max:100
+ Rectangle {
+ color:"green"
+ anchors.bottom: parent.bottom
+ height:parent.height*val/max
+ width: parent.width
+ }
+}
--- /dev/null
+import Qt 4.7
+import com.meego 1.0
+Page {
+ id:dialog
+ Flickable {
+ id: dialogscrolarea
+ anchors.top: parent.top
+ anchors.bottom: parent.bottom
+ width: parent.width
+ anchors.leftMargin:50;anchors.rightMargin:50
+
+ /* anchors.horizontalCenter:parent.horizontalCenter */
+
+ contentHeight: dialogcontent.height
+ contentWidth: parent.width
+
+ Grid {
+ columns:2
+ id: dialogcontent
+ // width: parent.width
+ anchors.left:parent.left;anchors.right:parent.right
+ anchors.leftMargin:50;anchors.rightMargin:50
+
+ spacing: 30
+ Text {
+ width:400
+ text: "Drone IP"
+
+ }
+ LineEdit {
+ id: droneip
+ width:300
+ text: drone.confDroneIp
+ onTextChanged:{drone.confDroneIp=text;}
+ }
+
+ Text {
+ text: "Video 640x480 / Full Screen"
+ }
+ Switch {
+ id: fullScreen
+ // enabled:drone.confFullScreen
+ checked:drone.confFullScreen
+ anchors.right:parent.right
+ // onEnabledChanged:{drone.confFullScreen=enabled;}
+ onCheckedChanged:{drone.confFullScreen=checked;}
+ }
+
+ Text {
+ text: "Show debug"
+ }
+ Switch {
+ id: showDebug
+ // enabled:drone.confShowDebug
+ checked:drone.confShowDebug
+ anchors.right:parent.right
+// onEnabledChanged:{drone.confShowDebug=enabled;}
+ onCheckedChanged:{drone.confShowDebug=checked;}
+ }
+
+ Text {
+ text: "Show engine gauges"
+
+ }
+ Switch {
+ id: showGauges
+// enabled:drone.confShowGauges
+ checked:drone.confShowGauges
+ anchors.right:parent.right
+// onEnabledChanged:{drone.confShowGauges=enabled;}
+ onCheckedChanged:{drone.confShowGauges=checked;}
+ }
+
+ Text {
+ text: "Show horizon"
+
+ }
+ Switch {
+ id: showHorizon
+ checked:drone.confShowHorizon
+ anchors.right:parent.right
+ onCheckedChanged:{drone.onfconfShowHorizon=enabled;}
+ }
+
+ Text {
+ text: "Forward gain"
+ }
+
+ Slider {
+ id: forwardGain
+ anchors.right:parent.right
+ maximumValue:1.0
+ // stepSize:0.01
+ steps:0.01
+ value:drone.confForwardGain
+ onValueChanged:{drone.confForwardGain=value;}
+ }
+ Text {
+ text: "Backward gain"
+ }
+
+ Slider {
+ id: backwardGain
+ anchors.right:parent.right
+ maximumValue:1.0
+ // stepSize:0.01
+ steps:0.01
+ value:drone.confBackwardGain
+ onValueChanged:{drone.confBackwardGain=value;}
+ }
+
+ Text {
+ text: "Left gain"
+ }
+
+ Slider {
+ id: leftGain
+ anchors.right:parent.right
+ maximumValue:1.0
+ // stepSize:0.01
+ steps:0.01
+ value:drone.confLeftGain
+ onValueChanged:{drone.confLeftGain=value;}
+ }
+
+ Text {
+ text: "Right gain"
+ }
+
+ Slider {
+ id: rightGain
+ anchors.right:parent.right
+ maximumValue:1.0
+ // stepSize:0.01
+ steps:0.01
+ value:drone.confRightGain
+ onValueChanged:{drone.confRightGain=value;}
+ }
+
+ }
+ }
+ }
--- /dev/null
+import Qt 4.7
+
+Item {
+ id:joystick
+ property int xv:(knob.x-(width-knob.width)/2)*(200/(width-knob.width))
+ property int yv:(knob.y-(height-knob.height)/2)*(200/(height-knob.height))
+ width: 200
+ height: 200
+
+ Rectangle {
+ id:knob
+ x:parent.width/2-width/2
+ y:parent.width/2-height/2
+ width:20;
+ height:20;
+ Image {
+ anchors.centerIn:parent
+ id: knobimage
+ source: "joyknob.png"
+ }
+
+ //color:"black"
+ }
+ MouseArea {
+ id:mouse_area
+ anchors.fill:parent
+ drag.minimumX:0
+ drag.minimumY:0
+ drag.maximumX:parent.width-knob.width
+ drag.maximumY:parent.height-knob.height
+ drag.target:knob;
+ onReleased:{knob.x=parent.width/2-knob.width/2;knob.y=parent.height/2-knob.height/2
+ }
+ }
+ }
--- /dev/null
+import Qt 4.7
+import Qt.labs.gestures 2.0
+
+
+Rectangle {
+ id:joystick2
+ property int xv:(knob.x-(width-knob.width)/2)*(200/(width-knob.width))
+ property int yv:(knob.y-(height-knob.height)/2)*(200/(height-knob.height))
+ width: 200
+ height: 200
+ Text {
+ id: xtext
+ text:xv
+ }
+ Text {
+ id: ytext
+ x:40
+ text: yv
+ }
+ Text {
+ id: msg
+ x:100
+ text: ""
+ }
+
+
+
+ Rectangle {
+ id:knob
+ x:parent.width/2-width/2
+ y:parent.width/2-height/2
+ width:20;
+ height:20;
+ color:"black"
+ }
+ GestureArea {
+ anchors.fill: parent
+ focus: true
+
+ // Only some of the many gesture properties are shown. See Gesture documentation.
+
+/*
+ Default {
+
+ onStarted: console.log("onStarted pos = (",gesture.position.x,",",gesture.position.y,")")
+ onFinished:console.log("onFinished pos = (",gesture.position.x,",",gesture.position.y,")")
+ onUpdated: console.log("onUpdated pos = (",gesture.position.x,",",gesture.position.y,")");
+ }
+ */
+/*
+ Tap {
+ onStarted:console.log("tap onStarted pos = (",gesture.position.x,",",gesture.position.y,")")
+ onFinished:console.log("tap onFinished pos = (",gesture.position.x,",",gesture.position.y,")")
+ onUpdated:{
+ console.log("tap onUpdated pos = (",gesture.position.x,",",gesture.position.y,")");
+ // msg.text=gesture.position.x+","+gesture.position.y
+ }
+ }
+ //onTapAndHold:
+ // console.log("tap and hold pos = (",gesture.position.x,",",gesture.position.y,")")
+*/
+ Pan {
+ onStarted: console.log("pan onStarted delta = (",gesture.delta.x,",",gesture.delta.y,") acceleration = ",gesture.acceleration)
+ onFinished:console.log("pan onFinished delta = (",gesture.delta.x,",",gesture.delta.y,") acceleration = ",gesture.acceleration)
+ onUpdated: {
+ console.log("pan onUpdated pos = (",gesture.delta.x,",",gesture.delta.y,")");
+ msg.text=gesture.delta.x+","+gesture.delta.y;
+ }
+ }
+
+ /*
+ onPinch:
+ console.log("pinch center = (",gesture.centerPoint.x,",",gesture.centerPoint.y,") rotation =",gesture.rotationAngle," scale =",gesture.scaleFactor)
+ onSwipe:
+ console.log("swipe angle=",gesture.swipeAngle)
+ onGesture:
+ console.log("gesture hot spot = (",gesture.hotSpot.x,",",gesture.hotSpot.y,")")
+ */
+ }
+
+}
--- /dev/null
+#############################################################################
+# Makefile for building: mardrone
+# Generated by qmake (2.01a) (Qt 4.7.0) on: Wed Dec 22 12:21:11 2010
+# Project: mardrone.pro
+# Template: app
+# Command: /usr/bin/qmake -o Makefile mardrone.pro
+#############################################################################
+
+####### Compiler, tools and options
+
+CC = gcc
+CXX = g++
+DEFINES = -DQT_GL_NO_SCISSOR_TEST -DQT_DEFAULT_TEXTURE_GLYPH_CACHE_WIDTH=1024 -DQT_NO_DEBUG -DQT_DECLARATIVE_LIB -DQT_GUI_LIB -DQT_NETWORK_LIB -DQT_CORE_LIB -DQT_SHARED
+CFLAGS = -pipe -O3 -fno-omit-frame-pointer -fno-optimize-sibling-calls -Wall -W -D_REENTRANT $(DEFINES)
+CXXFLAGS = -pipe -O3 -fno-omit-frame-pointer -fno-optimize-sibling-calls -Wall -W -D_REENTRANT $(DEFINES)
+INCPATH = -I/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/linux-g++-maemo5 -I. -I/targets/FREMANTLE_ARMEL/usr/include/QtCore -I/targets/FREMANTLE_ARMEL/usr/include/QtNetwork -I/targets/FREMANTLE_ARMEL/usr/include/QtGui -I/targets/FREMANTLE_ARMEL/usr/include/QtDeclarative -I/targets/FREMANTLE_ARMEL/usr/include -I../../../../ARDrone_SDK_1_5_Version_20101004/ARDroneLib/Soft/Common -I../../../../ARDrone_SDK_1_5_Version_20101004/ARDroneLib/VP_SDK -I../../../../ARDrone_SDK_1_5_Version_20101004/ARDroneLib/VP_SDK/VP_Os/linux -I../../../../ARDrone_SDK_1_5_Version_20101004/ARDroneLib/VP_SDK/VP_Os -I../../../../ARDrone_SDK_1_5_Version_20101004/ARDroneLib/Soft/Lib -I../../../../ARDrone_SDK_1_5_Version_20101004/ARDroneLib/VLIB -I../../../../ARDrone_SDK_1_5_Version_20101004/ARDroneLib -I.
+LINK = g++
+LFLAGS = -Wl,-rpath-link,/usr/lib -Wl,-O1 -Wl,--hash-style=gnu
+LIBS = $(SUBLIBS) -L/usr/lib -lQtComponents -L/home/kathy/ARDrone_SDK_1_5_Version_20101004/lib -lvlib -lsdk -lQtDeclarative -L/usr/lib -L/usr/X11R6/lib -lQtScript -lQtSvg -lQtSql -lQtXmlPatterns -lQtOpenGL -lQtGui -lQtNetwork -lQtDBus -lQtXml -lQtCore -lpthread
+AR = ar cqs
+RANLIB =
+QMAKE = /usr/bin/qmake
+TAR = tar -cf
+COMPRESS = gzip -9f
+COPY = cp -f
+SED = sed
+COPY_FILE = $(COPY)
+COPY_DIR = $(COPY) -r
+STRIP = strip
+INSTALL_FILE = install -m 644 -p
+INSTALL_DIR = $(COPY_DIR)
+INSTALL_PROGRAM = install -m 755 -p
+DEL_FILE = rm -f
+SYMLINK = ln -f -s
+DEL_DIR = rmdir
+MOVE = mv -f
+CHK_DIR_EXISTS= test -d
+MKDIR = mkdir -p
+
+####### Output directory
+
+OBJECTS_DIR = ./
+
+####### Files
+
+SOURCES = main.cpp \
+ dronecontrol.cpp \
+ navdata.cpp \
+ video.cpp \
+ gauge.cpp \
+ gaugelabel.cpp \
+ gaugehorizon.cpp moc_dronecontrol.cpp \
+ moc_navdata.cpp \
+ moc_video.cpp \
+ moc_gauge.cpp \
+ moc_gaugelabel.cpp \
+ moc_gaugehorizon.cpp \
+ qrc_ardrone.cpp
+OBJECTS = main.o \
+ dronecontrol.o \
+ navdata.o \
+ video.o \
+ gauge.o \
+ gaugelabel.o \
+ gaugehorizon.o \
+ moc_dronecontrol.o \
+ moc_navdata.o \
+ moc_video.o \
+ moc_gauge.o \
+ moc_gaugelabel.o \
+ moc_gaugehorizon.o \
+ qrc_ardrone.o
+DIST = /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/common/unix.conf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/common/linux.conf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/qconfig.pri \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/modules/qt_webkit_version.pri \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/qt_functions.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/qt_config.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/exclusive_builds.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/default_pre.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/release.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/default_post.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/warn_on.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/qt.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/unix/thread.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/moc.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/resources.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/uic.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/yacc.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/lex.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/include_source_dir.prf \
+ mardrone.pro
+QMAKE_TARGET = mardrone
+DESTDIR =
+TARGET = mardrone
+
+first: all
+####### Implicit rules
+
+.SUFFIXES: .o .c .cpp .cc .cxx .C
+
+.cpp.o:
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
+
+.cc.o:
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
+
+.cxx.o:
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
+
+.C.o:
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
+
+.c.o:
+ $(CC) -c $(CFLAGS) $(INCPATH) -o "$@" "$<"
+
+####### Build rules
+
+all: Makefile $(TARGET)
+
+$(TARGET): $(OBJECTS)
+ $(LINK) $(LFLAGS) -o $(TARGET) $(OBJECTS) $(OBJCOMP) $(LIBS)
+
+Makefile: mardrone.pro /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/linux-g++-maemo5/qmake.conf /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/common/unix.conf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/common/linux.conf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/qconfig.pri \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/modules/qt_webkit_version.pri \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/qt_functions.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/qt_config.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/exclusive_builds.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/default_pre.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/release.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/default_post.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/warn_on.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/qt.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/unix/thread.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/moc.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/resources.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/uic.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/yacc.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/lex.prf \
+ /targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/include_source_dir.prf \
+ /usr/lib/libQtDeclarative.prl \
+ /usr/lib/libQtScript.prl \
+ /usr/lib/libQtCore.prl \
+ /usr/lib/libQtSvg.prl \
+ /usr/lib/libQtGui.prl \
+ /usr/lib/libQtDBus.prl \
+ /usr/lib/libQtXml.prl \
+ /usr/lib/libQtSql.prl \
+ /usr/lib/libQtXmlPatterns.prl \
+ /usr/lib/libQtNetwork.prl \
+ /usr/lib/libQtOpenGL.prl
+ $(QMAKE) -o Makefile mardrone.pro
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/common/unix.conf:
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/common/linux.conf:
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/qconfig.pri:
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/modules/qt_webkit_version.pri:
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/qt_functions.prf:
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/qt_config.prf:
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/exclusive_builds.prf:
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/default_pre.prf:
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/release.prf:
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/default_post.prf:
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/warn_on.prf:
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/qt.prf:
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/unix/thread.prf:
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/moc.prf:
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/resources.prf:
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/uic.prf:
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/yacc.prf:
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/lex.prf:
+/targets/FREMANTLE_ARMEL/usr/share/qt4/mkspecs/features/include_source_dir.prf:
+/usr/lib/libQtDeclarative.prl:
+/usr/lib/libQtScript.prl:
+/usr/lib/libQtCore.prl:
+/usr/lib/libQtSvg.prl:
+/usr/lib/libQtGui.prl:
+/usr/lib/libQtDBus.prl:
+/usr/lib/libQtXml.prl:
+/usr/lib/libQtSql.prl:
+/usr/lib/libQtXmlPatterns.prl:
+/usr/lib/libQtNetwork.prl:
+/usr/lib/libQtOpenGL.prl:
+qmake: FORCE
+ @$(QMAKE) -o Makefile mardrone.pro
+
+dist:
+ @$(CHK_DIR_EXISTS) .tmp/mardrone1.0.0 || $(MKDIR) .tmp/mardrone1.0.0
+ $(COPY_FILE) --parents $(SOURCES) $(DIST) .tmp/mardrone1.0.0/ && $(COPY_FILE) --parents dronecontrol.h navdata.h video.h gauge.h gaugelabel.h gaugehorizon.h .tmp/mardrone1.0.0/ && $(COPY_FILE) --parents ardrone.qrc .tmp/mardrone1.0.0/ && $(COPY_FILE) --parents main.cpp dronecontrol.cpp navdata.cpp video.cpp gauge.cpp gaugelabel.cpp gaugehorizon.cpp .tmp/mardrone1.0.0/ && (cd `dirname .tmp/mardrone1.0.0` && $(TAR) mardrone1.0.0.tar mardrone1.0.0 && $(COMPRESS) mardrone1.0.0.tar) && $(MOVE) `dirname .tmp/mardrone1.0.0`/mardrone1.0.0.tar.gz . && $(DEL_FILE) -r .tmp/mardrone1.0.0
+
+
+clean:compiler_clean
+ -$(DEL_FILE) $(OBJECTS)
+ -$(DEL_FILE) *~ core *.core
+
+
+####### Sub-libraries
+
+distclean: clean
+ -$(DEL_FILE) $(TARGET)
+ -$(DEL_FILE) Makefile
+
+
+check: first
+
+mocclean: compiler_moc_header_clean compiler_moc_source_clean
+
+mocables: compiler_moc_header_make_all compiler_moc_source_make_all
+
+compiler_moc_header_make_all: moc_dronecontrol.cpp moc_navdata.cpp moc_video.cpp moc_gauge.cpp moc_gaugelabel.cpp moc_gaugehorizon.cpp
+compiler_moc_header_clean:
+ -$(DEL_FILE) moc_dronecontrol.cpp moc_navdata.cpp moc_video.cpp moc_gauge.cpp moc_gaugelabel.cpp moc_gaugehorizon.cpp
+moc_dronecontrol.cpp: navdata.h \
+ dronecontrol.h
+ /usr/bin/moc $(DEFINES) $(INCPATH) dronecontrol.h -o moc_dronecontrol.cpp
+
+moc_navdata.cpp: navdata.h
+ /usr/bin/moc $(DEFINES) $(INCPATH) navdata.h -o moc_navdata.cpp
+
+moc_video.cpp: dronecontrol.h \
+ navdata.h \
+ video.h
+ /usr/bin/moc $(DEFINES) $(INCPATH) video.h -o moc_video.cpp
+
+moc_gauge.cpp: gauge.h
+ /usr/bin/moc $(DEFINES) $(INCPATH) gauge.h -o moc_gauge.cpp
+
+moc_gaugelabel.cpp: gauge.h \
+ gaugelabel.h
+ /usr/bin/moc $(DEFINES) $(INCPATH) gaugelabel.h -o moc_gaugelabel.cpp
+
+moc_gaugehorizon.cpp: gauge.h \
+ gaugehorizon.h
+ /usr/bin/moc $(DEFINES) $(INCPATH) gaugehorizon.h -o moc_gaugehorizon.cpp
+
+compiler_rcc_make_all: qrc_ardrone.cpp
+compiler_rcc_clean:
+ -$(DEL_FILE) qrc_ardrone.cpp
+qrc_ardrone.cpp: ardrone.qrc \
+ joyknob.png \
+ joybox.png \
+ BarGauge.qml \
+ ConfigDialog.qml \
+ ardrone.qml \
+ JoyStick.qml
+ /usr/bin/rcc -name ardrone ardrone.qrc -o qrc_ardrone.cpp
+
+compiler_image_collection_make_all: qmake_image_collection.cpp
+compiler_image_collection_clean:
+ -$(DEL_FILE) qmake_image_collection.cpp
+compiler_moc_source_make_all:
+compiler_moc_source_clean:
+compiler_uic_make_all:
+compiler_uic_clean:
+compiler_yacc_decl_make_all:
+compiler_yacc_decl_clean:
+compiler_yacc_impl_make_all:
+compiler_yacc_impl_clean:
+compiler_lex_make_all:
+compiler_lex_clean:
+compiler_clean: compiler_moc_header_clean compiler_rcc_clean
+
+####### Compile
+
+main.o: main.cpp dronecontrol.h \
+ navdata.h \
+ video.h \
+ gaugehorizon.h \
+ gauge.h
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o main.o main.cpp
+
+dronecontrol.o: dronecontrol.cpp dronecontrol.h \
+ navdata.h
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o dronecontrol.o dronecontrol.cpp
+
+navdata.o: navdata.cpp navdata.h
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o navdata.o navdata.cpp
+
+video.o: video.cpp video.h \
+ dronecontrol.h \
+ navdata.h
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o video.o video.cpp
+
+gauge.o: gauge.cpp gauge.h
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o gauge.o gauge.cpp
+
+gaugelabel.o: gaugelabel.cpp gaugelabel.h \
+ gauge.h
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o gaugelabel.o gaugelabel.cpp
+
+gaugehorizon.o: gaugehorizon.cpp gaugehorizon.h \
+ gauge.h
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o gaugehorizon.o gaugehorizon.cpp
+
+moc_dronecontrol.o: moc_dronecontrol.cpp
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o moc_dronecontrol.o moc_dronecontrol.cpp
+
+moc_navdata.o: moc_navdata.cpp
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o moc_navdata.o moc_navdata.cpp
+
+moc_video.o: moc_video.cpp
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o moc_video.o moc_video.cpp
+
+moc_gauge.o: moc_gauge.cpp
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o moc_gauge.o moc_gauge.cpp
+
+moc_gaugelabel.o: moc_gaugelabel.cpp
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o moc_gaugelabel.o moc_gaugelabel.cpp
+
+moc_gaugehorizon.o: moc_gaugehorizon.cpp
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o moc_gaugehorizon.o moc_gaugehorizon.cpp
+
+qrc_ardrone.o: qrc_ardrone.cpp
+ $(CXX) -c $(CXXFLAGS) $(INCPATH) -o qrc_ardrone.o qrc_ardrone.cpp
+
+####### Install
+
+install_target: first FORCE
+ @$(CHK_DIR_EXISTS) $(INSTALL_ROOT)/opt/usr/bin/ || $(MKDIR) $(INSTALL_ROOT)/opt/usr/bin/
+ -$(INSTALL_PROGRAM) "$(QMAKE_TARGET)" "$(INSTALL_ROOT)/opt/usr/bin/$(QMAKE_TARGET)"
+ -$(STRIP) "$(INSTALL_ROOT)/opt/usr/bin/$(QMAKE_TARGET)"
+
+uninstall_target: FORCE
+ -$(DEL_FILE) "$(INSTALL_ROOT)/opt/usr/bin/$(QMAKE_TARGET)"
+ -$(DEL_DIR) $(INSTALL_ROOT)/opt/usr/bin/
+
+
+install: install_target FORCE
+
+uninstall: uninstall_target FORCE
+
+FORCE:
+
--- /dev/null
+import Qt 4.7
+import com.meego 1.0
+import Drone 1.0
+
+
+Window {
+ id:mainWindow
+ fullscreen:true
+ property Component dialogComponent
+// property alias m: mainPage
+ DroneControl {
+ id:drone
+ }
+
+ Component {
+ id: mainpageComponent
+ Page {
+ id:mainPage
+ onEntered:(mainWindow.fullscreen=true)
+
+ state:"Landscape"
+ DroneVideo {
+ y:0
+ x:00
+ anchors.horizontalCenter:parent.horizontalCenter
+ width:drone.confFullScreen? parent.width:640 ;height:480*width/640;
+ }
+
+ GaugeHorizon {
+ y:0
+ x:100
+ visible:drone.confShowHorizon
+ value:drone.droneRoll
+ value2:drone.dronePitch
+// value:lj.xv
+// value2:lj.yv
+ opacity:0.5
+ width:640;height:480;
+ }
+
+ Text {
+ y:115
+ visible:drone.confShowDebug
+ color: "#00FF00"
+ id: droneNavData
+ font.pixelSize:20
+ text: "pitch=" + Math.round(drone.dronePitch) + " roll= " + Math.round(drone.droneRoll) + "yaw=" + Math.round(drone.droneYaw) + " alt= " + Math.round(drone.droneAltitude)
+ }
+
+ Text {
+ y:130
+ visible:drone.confShowDebug
+ color: "#00FF00"
+ id: droneStatus
+ font.pixelSize:20
+ text: drone.decodedStatus
+ }
+ Button {
+ y:150;x:0
+ height: 50
+ width: 50
+ text: "conf"
+ onClicked:{ mainWindow.fullscreen = false ;
+ mainWindow.nextPage(dialogComponent)
+ }
+ }
+ Image {
+ x:10;y:200
+ width:280;height:280;
+ source: "joybox.png"
+
+ JoyStick {
+ id:lj
+ anchors.fill:parent
+ anchors.margins:50
+ onYvChanged:{drone.pitch=yv;}
+ onXvChanged:{drone.roll=xv;}
+
+
+ }
+ }
+ Image {
+ y:200
+ anchors.right:parent.right
+ width:280;height:280;
+ source: "joybox.png"
+ JoyStick {
+ id:rj
+ anchors.fill:parent
+ anchors.margins:50
+ onYvChanged:{drone.vVelocity=yv;}
+ onXvChanged:{drone.yaw=xv;}
+ }
+ }
+ Row {
+ spacing: 5
+ anchors.right:parent.right
+ anchors.rightMargin: 10
+ y:100
+ height:100
+ BarGauge {
+ val:drone.pwm_motor1;
+ max: 255
+ height:100
+ }
+ BarGauge {
+ val:drone.pwm_motor2;
+ max: 255
+ height:100
+ }
+ BarGauge {
+ val:drone.pwm_motor3;
+ max: 255
+ height:100
+ }
+ BarGauge {
+ val:drone.pwm_motor4;
+ max: 255
+ height:100
+ }
+ BarGauge {
+ val:drone.droneVBat
+ max: 100
+ height:100
+ }
+ }
+
+ Button {
+ x:400
+ width:60
+ id:flyButton
+ anchors.bottom:parent.bottom
+ anchors.margins:15
+ text:"Fly";
+ checkable:true
+ onClicked:{drone.fly=checked;
+ // mainWindow.fullsecreen=checked;
+ }
+ }
+ Button {
+ x:400;y:100
+ width:120
+ id:emergencyButton
+ anchors.top:parent.top
+ anchors.margins:15
+ text:"Energency";
+ checkable:true
+ onClicked:{drone.emergency=checked;}
+ }
+
+ } // Main page
+ }
+
+ Component.onCompleted: {
+ mainWindow.fullscreen = true ;
+ dialogComponent = Qt.createComponent("ConfigDialog.qml");
+ mainWindow.nextPage(mainpageComponent)
+
+ }
+ }
--- /dev/null
+<RCC>
+ <qresource>
+ <file>ardrone.qml</file>
+ <file>BarGauge.qml</file>
+ <file>ConfigDialog.qml</file>
+ <file>JoyStick.qml</file>
+ <file>joybox.png</file>
+ <file>joyknob.png</file>
+ </qresource>
+</RCC>
--- /dev/null
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--- /dev/null
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+ <value key="Qt4ProjectManager.MaemoRunConfiguration.Simulator" type="QString"></value>
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+ </data>
+ <data>
+ <variable>ProjectExplorer.Project.TargetCount</variable>
+ <value type="int">2</value>
+ </data>
+ <data>
+ <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
+ <value type="int">4</value>
+ </data>
+</qtcreator>
--- /dev/null
+The Debian Package ardrone1
+----------------------------
+
+Comments regarding the Package
+
+ -- Kate Alhola <kathy@unknown> Wed, 03 Nov 2010 15:06:48 +0200
--- /dev/null
+dh_installdirs
+dh_installchangelogs
+dh_installdocs
+dh_installexamples
+dh_installman
+dh_link
+dh_compress
+dh_fixperms
+dh_installdeb
+dh_gencontrol
+dh_md5sums
+dh_builddeb
--- /dev/null
+misc:Depends=
--- /dev/null
+Package: ardrone1
+Version: 0.0.1
+Architecture: armel
+Maintainer: Kate Alhola <kate.alhola@gnokia.com>
+Installed-Size: 1093
+Section: user/hidden
+Priority: optional
+Homepage: <insert the upstream URL, if relevant>
+Description: AR-Drone flict controll app
+ <insert long description, indented with spaces>
--- /dev/null
+S 15 com.nokia.maemo H 40 26de4fef16a037dbf6d77595bdd55a06f6644083 R 22 usr/local/bin/ardrone1
--- /dev/null
+541c6f9bc17da48d2ad74b4aa25bd12d usr/local/bin/ardrone1
+9a5fabdfbec19c1bd2142756a4fe660a usr/share/applications/ardrone1.desktop
+95488b5d54a11537a308d46dad867df8 usr/share/doc/ardrone1/changelog.gz
+c008ad65eba6a7e0bc314031b96c0edb usr/share/doc/ardrone1/copyright
--- /dev/null
+[Desktop Entry]
+Encoding=UTF-8
+Version=1.0
+Type=Application
+Terminal=false
+Name=ardrone1
+Exec=/usr/local/bin/ardrone1
+Icon=ardrone1
+X-Window-Icon=
+X-HildonDesk-ShowInToolbar=true
+X-Osso-Type=application/x-executable
--- /dev/null
+This package was debianized by Kate Alhola <kathy@unknown> on
+Wed, 03 Nov 2010 15:06:48 +0200.
+
+It was downloaded from <url://example.com>
+
+Upstream Author(s):
+
+ <put author's name and email here>
+ <likewise for another author>
+
+Copyright:
+
+ <Copyright (C) YYYY Name OfAuthor>
+ <likewise for another author>
+
+License:
+
+ This package is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This package is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this package; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+On Debian systems, the complete text of the GNU General
+Public License can be found in `/usr/share/common-licenses/GPL'.
+
+The Debian packaging is (C) 2010, Kate Alhola <kathy@unknown> and
+is licensed under the GPL, see above.
+
+
+# Please also look if there are files or directories which have a
+# different copyright/license attached and list them here.
--- /dev/null
+ardrone1 (0.0.1) unstable; urgency=low
+
+ * Initial Release.
+
+ -- Kate Alhola <kate.alhola@nokia.com> Wed, 03 Nov 2010 15:06:48 +0200
--- /dev/null
+Source: ardrone1
+Section: user/hidden
+Priority: optional
+Maintainer: Kate Alhola <kate.alhola@gnokia.com>
+Build-Depends: debhelper (>= 5), libqt4-dev
+Standards-Version: 3.7.3
+Homepage: <insert the upstream URL, if relevant>
+
+Package: ardrone1
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}
+Description: AR-Drone flict controll app
+ <insert long description, indented with spaces>
--- /dev/null
+This package was debianized by Kate Alhola <kathy@unknown> on
+Wed, 03 Nov 2010 15:06:48 +0200.
+
+It was downloaded from <url://example.com>
+
+Upstream Author(s):
+
+ <put author's name and email here>
+ <likewise for another author>
+
+Copyright:
+
+ <Copyright (C) YYYY Name OfAuthor>
+ <likewise for another author>
+
+License:
+
+ This package is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This package is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this package; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+On Debian systems, the complete text of the GNU General
+Public License can be found in `/usr/share/common-licenses/GPL'.
+
+The Debian packaging is (C) 2010, Kate Alhola <kathy@unknown> and
+is licensed under the GPL, see above.
+
+
+# Please also look if there are files or directories which have a
+# different copyright/license attached and list them here.
--- /dev/null
+ardrone1_0.0.1_armel.deb user/hidden optional
--- /dev/null
+#!/usr/bin/make -f
+# -*- makefile -*-
+# Sample debian/rules that uses debhelper.
+# This file was originally written by Joey Hess and Craig Small.
+# As a special exception, when this file is copied by dh-make into a
+# dh-make output file, you may use that output file without restriction.
+# This special exception was added by Craig Small in version 0.37 of dh-make.
+
+# Uncomment this to turn on verbose mode.
+#export DH_VERBOSE=1
+
+
+
+
+
+configure: configure-stamp
+configure-stamp:
+ dh_testdir
+ # Add here commands to configure the package.
+
+ touch configure-stamp
+
+
+build: build-stamp
+
+build-stamp: configure-stamp
+ dh_testdir
+
+ # Add here commands to compile the package.
+ $(MAKE)
+ #docbook-to-man debian/ardrone1.sgml > ardrone1.1
+
+ touch $@
+
+clean:
+ dh_testdir
+ dh_testroot
+ rm -f build-stamp configure-stamp
+
+ # Add here commands to clean up after the build process.
+ $(MAKE) clean
+
+ dh_clean
+
+install: build
+ dh_testdir
+ dh_testroot
+ dh_clean -k
+ dh_installdirs
+
+ # Add here commands to install the package into debian/ardrone1.
+ $(MAKE) INSTALL_ROOT="$(CURDIR)"/debian/ardrone1 install
+
+
+# Build architecture-independent files here.
+binary-indep: build install
+# We have nothing to do by default.
+
+# Build architecture-dependent files here.
+binary-arch: build install
+ dh_testdir
+ dh_testroot
+ dh_installchangelogs
+ dh_installdocs
+ dh_installexamples
+# dh_install
+# dh_installmenu
+# dh_installdebconf
+# dh_installlogrotate
+# dh_installemacsen
+# dh_installpam
+# dh_installmime
+# dh_python
+# dh_installinit
+# dh_installcron
+# dh_installinfo
+ dh_installman
+ dh_link
+ # dh_strip
+ dh_compress
+ dh_fixperms
+# dh_perl
+# dh_makeshlibs
+ dh_installdeb
+ # dh_shlibdeps
+ dh_gencontrol
+ dh_md5sums
+ dh_builddeb
+
+binary: binary-indep binary-arch
+.PHONY: build clean binary-indep binary-arch binary install configure
--- /dev/null
+#include "dronecontrol.h"
+#include <QDebug>
+
+DroneControl::DroneControl():QObject()
+{
+ qDebug() << "DroneControl::DroneControl";
+
+// ctlSock=new QTcpSocket();
+// ctlSock->bind(QHostAddress::Any,5559);
+// navSock=new QUdpSocket();
+// navSock->bind(QHostAddress::Any,5554)
+ //connect(navSocket,SIGNAL(readyRead()),SLOT(navDataReady()));
+ droneHost.setAddress("192.168.1.1");
+ droneThread=new DroneThread(this,droneHost);
+ connect(droneThread->navData(),SIGNAL(navDataUpdated()),this,SLOT(navDataUpdated()));
+ connect(droneThread->navData(),SIGNAL(stateUpdated()),this,SLOT(statusUpdated()));
+ droneSettings=new QSettings("katix.org","ardrone");
+ m_pitch=0;
+ m_roll=0;
+ m_yaw=0;
+ m_vv=0;
+
+}
+void DroneControl::navDataUpdated()
+{
+ emit navDataChanged();
+
+}
+void DroneControl::statusUpdated()
+{
+ emit statusChanged();
+
+}
+
+void DroneControl::setPitch(float val_)
+{
+ m_pitch=val_;
+// qDebug() << "setPitch=" << val_;
+ droneThread->setDroneControl(m_pitch,m_roll,m_yaw,m_vv);
+};
+float DroneControl::pitch() {return m_pitch;};
+
+void DroneControl::setRoll(float val_)
+{
+ m_roll=val_;
+// qDebug() << "setRoll=" << val_;
+ droneThread->setDroneControl(m_pitch,m_roll,m_yaw,m_vv);
+};
+float DroneControl::roll() {return m_roll;};
+void DroneControl::setYaw(float val_) {
+ m_yaw=val_;
+ // qDebug() << "setYaw=" << val_;
+ droneThread->setDroneControl(m_pitch,m_roll,m_yaw,m_vv);
+};
+float DroneControl::yaw() {return m_yaw;};
+void DroneControl::setVVelocity(float val_) {
+ m_vv=val_;
+// qDebug() << "setVv=" << val_;
+ droneThread->setDroneControl(m_pitch,m_roll,m_yaw,m_vv);
+};
+float DroneControl::vVelocity() {return m_vv;};
+void DroneControl::setAltitude(float val_) {
+ m_altitude=val_;
+};
+float DroneControl::altitude() {return m_altitude;};
+void DroneControl::setEnabled(int val_) { m_enabled=val_;};
+int DroneControl::enabled() {return m_enabled;};
+void DroneControl::setFly(bool val_)
+{
+ m_fly=val_;
+ qDebug() << "setFly=" << val_;
+ droneThread->setFly(m_fly);
+};
+bool DroneControl::fly() {return m_fly;};
+void DroneControl::setEmergency(bool val_)
+{
+ m_emergency=val_;
+ qDebug() << "setEmergency=" << val_;
+ droneThread->setEmergency(m_emergency);
+};
+bool DroneControl::emergency() {return m_emergency;};
+
+
+// Getters to drone actual valyes sent by drone
+float DroneControl::droneAltitude()
+{
+ return droneThread->navData()->altitude;
+};
+float DroneControl::dronePitch()
+{
+ return droneThread->navData()->pitch;
+};
+float DroneControl::droneRoll()
+{
+ return droneThread->navData()->roll;
+};
+float DroneControl::droneYaw()
+{
+ return droneThread->navData()->yaw;
+};
+float DroneControl::droneVBat()
+{
+ return droneThread->navData()->vbat;
+};
+QString DroneControl::decodedStatus()
+{
+ return droneThread->navData()->decodedState;
+};
+int DroneControl::pwm_motor1()
+{
+ return droneThread->navData()->pwm_motor1;
+};
+int DroneControl::pwm_motor2()
+{
+ return droneThread->navData()->pwm_motor2;
+};
+int DroneControl::pwm_motor3()
+{
+ return droneThread->navData()->pwm_motor3;
+};
+int DroneControl::pwm_motor4()
+{
+ return droneThread->navData()->pwm_motor4;
+};
+
+
+
+
+
+QString DroneControl::confDroneIp()
+{
+ qDebug() << "confDroneIp:" << droneSettings->value("droneIp","192.168.1.1").toString();
+ return droneSettings->value("droneIp","192.168.1.1").toString();
+};
+void DroneControl::setConfDroneIp(QString ip)
+{
+ qDebug() << "setConfDroneIp:" << ip;
+ droneSettings->setValue("droneIp",ip);
+ emit configChanged();
+};
+bool DroneControl::confShowDebug()
+{
+return droneSettings->value("showDebug",true).toBool();
+};
+void DroneControl::setConfShowDebug(bool val)
+{
+ droneSettings->setValue("showDebug",val);
+ emit configChanged();
+};
+bool DroneControl::confShowHorizon()
+{
+ return droneSettings->value("showHorizon",true).toBool();
+};
+void DroneControl::setConfShowHorizon(bool val)
+{
+ droneSettings->setValue("showHorizon",val);
+ emit configChanged();
+};
+bool DroneControl::confShowGauges()
+{
+ return droneSettings->value("showGuges",true).toBool();
+};
+void DroneControl::setConfShowGauges(bool val)
+{
+ droneSettings->setValue("showGauges",val);
+ emit configChanged();
+};
+bool DroneControl::confUseAccel()
+{
+ return droneSettings->value("useAccel",false).toBool();
+};
+void DroneControl::setConfUseAccel(bool val)
+{
+ droneSettings->setValue("useAccel",val);
+ emit configChanged();
+};
+bool DroneControl::confUseJoyStick()
+{
+ return droneSettings->value("useJouStick",false).toBool();
+};
+void DroneControl::setConfUseJoyStick(bool val)
+{
+ droneSettings->setValue("useJoyStick",val);
+ emit configChanged();
+};
+
+bool DroneControl::confFullScreen()
+{
+ return droneSettings->value("fullScreen",true).toBool();
+};
+void DroneControl::setConfFullScreen(bool val)
+{
+ droneSettings->setValue("fullScreen",val);
+ emit configChanged();
+};
+
+float DroneControl::confForwardGain()
+{
+ return droneSettings->value("forwardGain",1.0).toFloat();
+};
+void DroneControl::setConfForwardGain(float val)
+{
+ droneSettings->setValue("forwardGain",val);
+ emit configChanged();
+};
+
+
+float DroneControl::confBackwardGain()
+{
+ return droneSettings->value("backwardGain",1.0).toFloat();
+};
+void DroneControl::setConfBackwardGain(float val)
+{
+ droneSettings->setValue("backwardGain",val);
+ emit configChanged();
+};
+
+float DroneControl::confLeftGain()
+{
+ return droneSettings->value("leftGain",1.0).toFloat();
+};
+void DroneControl::setConfLeftGain(float val)
+{
+ droneSettings->setValue("leftGain",val);
+ emit configChanged();
+};
+float DroneControl::confRightGain()
+{
+ return droneSettings->value("rightGain",1.0).toFloat();
+};
+void DroneControl::setConfRightGain(float val)
+{
+ droneSettings->setValue("rightGain",val);
+ emit configChanged();
+};
+
+/*=================================================
+
+ DroneThread class starts here
+
+==================================================*/
+
+
+void DroneThread::setFly(bool fly)
+{
+ if(state==ready) {
+ m_fly=fly;
+ state=flying;
+ stateTimer->setInterval(50); // More frequent updates
+ sendCmd(QString("AT*FTRIM=%1\r").arg(seq++));
+
+ }
+ if(state==flying) {
+ if(!fly) {
+ stateTimer->setInterval(200); // Less frequent updates
+ state=ready;
+ }
+ m_fly=fly;
+ }
+ sendCmd(QString("AT*REF=%1,%2\r").arg(seq++).arg((1<<18) + (1<<20) + (1<<22) + (1<<24) +(1<<28) +(state==flying ? 1<<9:0)));
+};
+
+void DroneThread::setEmergency(bool emg)
+{
+ m_emergency=emg;
+ sendCmd(QString("AT*REF=%1,%2\r").arg(seq++).arg((1<<18) + (1<<20) + (1<<22) + (1<<24) +(1<<28) + (m_emergency ? 1<<8:0)));
+ // if(m_emergency==1)
+ state=ready;
+} ;
+void DroneThread::setDroneControl(float pitch,float roll,float yaw,float vv)
+{
+ m_pitch=pitch/100.0;
+ m_roll=roll/100.0;
+ m_yaw=yaw/200.0;
+ m_vv=vv/200.0;
+ qDebug() << QString("pitch=%1 roll=%2 yaw=%3 vv=%4\r").arg(m_pitch,3,'F',2).arg(m_roll,3,'F',2).arg(m_yaw,3,'F',2).arg(m_vv,3,'F',2);
+};
+
+void DroneThread::setDroneGain(float fgain,float bgain,float lgain,float rgain)
+{
+ m_fgain=fgain;
+ m_bgain=bgain;
+ m_rgain=rgain;
+ m_lgain=lgain;
+};
+
+void DroneThread::sendCmd(QString cmd)
+{
+ QByteArray dgram;
+ QString seqCmd=cmd;
+ if(cmd.contains("%")) seqCmd=cmd.arg(seq++);
+ dgram=seqCmd.toLatin1();
+ cmdSock->writeDatagram(dgram.data(),dgram.size(),droneHost,5556);
+ seqCmd.chop(1); // Remove training cr
+ qDebug() << "DroneThread::sendCmd= " << seqCmd << "to " << droneHost ;
+}
+
+void DroneThread::navDataReady()
+{
+ qint64 l;
+ char buf[2048];
+ QHostAddress host;
+ quint16 port;
+ while(navSock->hasPendingDatagrams()) l=navSock->readDatagram(buf,sizeof(buf),&host,&port);
+// qDebug() << "DroneThread::navDataReady state=" << state <<" l=" << l << "read=" << buf << "from" << host ;
+ nd.parseRawNavData((char *)&buf,l);
+ if(nd.state& (ARDRONE_COM_WATCHDOG_MASK ))
+ sendCmd(QString("AT*COMWDG=%1\r").arg(seq++));
+ switch(state) {
+ case notInitialized:
+ sendCmd("AT*CONFIG=%1,\"general:navdata_demo\",\"FALSE\"\r");
+ state=initialized;
+ break;
+ case initialized:
+ sendCmd("AT*CTRL=0\r");
+ state=ready;
+ break;
+ case ready:
+ break;
+ }
+}
+
+void DroneThread::sendNav(QString cmd)
+{
+ QByteArray dgram;
+ dgram=cmd.toLatin1();
+ qDebug() << "DroneThread::sendNav= " << cmd+"\n" << "to " << droneHost ;
+ navSock->writeDatagram(dgram.data(),dgram.size(),droneHost,5554);
+}
+
+
+DroneThread::DroneThread(DroneControl *parentp,QHostAddress host)
+{
+ qDebug() << "DroneThread::DroneThread";
+ stopped=false;
+ state=notInitialized;
+ parent=parentp;
+ navSock=new QUdpSocket();
+ navSock->bind(QHostAddress::Any,5554);
+ cmdSock=new QUdpSocket();
+ cmdSock->bind(QHostAddress::Any,5556);
+ droneHost=host;
+ seq=1;
+ m_pitch=0;
+ m_roll=0;
+ m_yaw=0;
+ m_vv=0;
+ m_fgain=1.0;
+ m_bgain=1.0;
+ m_rgain=1.0;
+ m_lgain=1.0;
+ start();
+
+
+};
+
+void DroneThread::run()
+{
+ qDebug() << "DroneThread::DroneThread";
+ stateTimer=new QTimer(this);
+ connect(stateTimer,SIGNAL(timeout()),this,SLOT(timer()));
+ connect(navSock,SIGNAL(readyRead()),this,SLOT(navDataReady()));
+ stateTimer->start(1000);
+ while(!stopped) {
+ exec();
+ }
+
+}
+
+void DroneThread::timer()
+{
+ // qDebug() << "thread Timer";
+ switch(state) {
+ case notInitialized:
+ sendNav("AT");
+ break;
+ case initialized:
+ break;
+ case ready:
+ sendCmd(QString("AT*REF=%1,%2\r").arg(seq++).arg((1<<18) + (1<<20) + (1<<22) + (1<<24) +(1<<28)));
+ break;
+ case flying: {
+ float_or_int_t _pitch,_roll,_yaw,_vv;
+ int r=(m_pitch!=0.0 || m_roll!=0.0)?1:0;
+
+
+ _pitch.f=m_pitch;
+ _roll.f=m_roll;
+ _yaw.f=m_yaw;
+ _vv.f=m_vv;
+// qDebug() << QString("AT*PCMD=%1,0,%2,%3,%4,%5\r").arg(seq).arg(_roll.f,3,'F',2).arg(_pitch.f,3,'F',2).arg(_vv.f,3,'F',2).arg(_yaw.f,3,'F',2);
+// qDebug() << QString("AT*PCMD=%1,0,%2,%3,%4,%5\r").arg(seq).arg(_roll.i,8,16).arg(_pitch.i,8,16).arg(_vv.i,8,16).arg(_yaw.i,8,16);
+ sendCmd(QString("AT*COMWDG=%1\r").arg(seq++));
+ sendCmd(QString("AT*PCMD=%1,%2,%3,%4,%5,%6\r").arg(seq++).arg(r).arg(_roll.i).arg(_pitch.i).arg(_vv.i).arg(_yaw.i));
+
+
+ break;
+ }
+}
+}
+
+
+
--- /dev/null
+#ifndef DRONECONTROL_H
+#define DRONECONTROL_H
+
+#include <QGraphicsWidget>
+#include <QGraphicsItem>
+#include <QPainter>
+#include <QUdpSocket>
+#include <QTcpSocket>
+#include <QThread>
+#include <QTimer>
+#include <QSettings>
+#undef _GNU_SOURCE // just get rid of error message double definition
+#include <navdata.h>
+
+class DroneThread;
+
+class DroneControl : public QObject
+{
+ Q_OBJECT
+ Q_PROPERTY(float pitch READ pitch WRITE setPitch)
+ Q_PROPERTY(float roll READ roll WRITE setRoll)
+ Q_PROPERTY(float yaw READ yaw WRITE setYaw)
+ Q_PROPERTY(float altitude READ altitude WRITE setAltitude)
+ Q_PROPERTY(float vVelocity READ vVelocity WRITE setVVelocity)
+ Q_PROPERTY(int enabled READ enabled WRITE setEnabled)
+ Q_PROPERTY(bool fly READ fly WRITE setFly)
+ Q_PROPERTY(float dronePitch READ dronePitch NOTIFY navDataChanged)
+ Q_PROPERTY(float droneRoll READ droneRoll NOTIFY navDataChanged)
+ Q_PROPERTY(float droneYaw READ droneYaw NOTIFY navDataChanged)
+ Q_PROPERTY(float droneVBat READ droneVBat NOTIFY navDataChanged)
+ Q_PROPERTY(float droneAltitude READ droneAltitude NOTIFY navDataChanged)
+ Q_PROPERTY(bool emergency READ emergency WRITE setEmergency)
+ Q_PROPERTY(QString decodedStatus READ decodedStatus NOTIFY statusChanged)
+ Q_PROPERTY(int pwm_motor1 READ pwm_motor1 NOTIFY navDataChanged)
+ Q_PROPERTY(int pwm_motor2 READ pwm_motor1 NOTIFY navDataChanged)
+ Q_PROPERTY(int pwm_motor3 READ pwm_motor1 NOTIFY navDataChanged)
+ Q_PROPERTY(int pwm_motor4 READ pwm_motor1 NOTIFY navDataChanged)
+
+
+ // Config variables from QSettings
+ Q_PROPERTY(QString confDroneIp READ confDroneIp WRITE setConfDroneIp NOTIFY configChanged)
+ Q_PROPERTY(bool confShowDebug READ confShowDebug WRITE setConfShowDebug NOTIFY configChanged)
+ Q_PROPERTY(bool confShowHorizon READ confShowHorizon WRITE setConfShowHorizon NOTIFY configChanged)
+ Q_PROPERTY(bool confShowGauges READ confShowGauges WRITE setConfShowGauges NOTIFY configChanged)
+ Q_PROPERTY(bool confUseAccel READ confUseAccel WRITE setConfUseAccel NOTIFY configChanged)
+ Q_PROPERTY(bool confUseJoyStick READ confUseJoyStick WRITE setConfUseJoyStick NOTIFY configChanged)
+ Q_PROPERTY(bool confFullScreen READ confFullScreen WRITE setConfFullScreen NOTIFY configChanged)
+ Q_PROPERTY(float confForwardGain READ confForwardGain WRITE setConfForwardGain NOTIFY configChanged)
+ Q_PROPERTY(float confBackwardGain READ confBackwardGain WRITE setConfBackwardGain NOTIFY configChanged)
+ Q_PROPERTY(float confLeftGain READ confLeftGain WRITE setConfLeftGain NOTIFY configChanged)
+ Q_PROPERTY(float confRightGain READ confRightGain WRITE setConfRightGain NOTIFY configChanged)
+
+public:
+ explicit DroneControl();
+
+
+ float pitch(); void setPitch(float val_);
+ float roll() ; void setRoll(float val_);
+ float yaw() ; void setYaw(float val_);
+ float altitude(); void setAltitude(float val_) ;
+ float vVelocity();void setVVelocity(float val_) ;
+ int enabled() ; void setEnabled(int val_) ;
+ bool emergency();void setEmergency(bool val_) ;
+ bool fly() ; void setFly(bool val_) ;
+
+// Read only telemetry and drone status
+ QString decodedStatus();
+ int pwm_motor1();
+ int pwm_motor2();
+ int pwm_motor3();
+ int pwm_motor4();
+ float droneAltitude();
+ float dronePitch();
+ float droneRoll();
+ float droneYaw();
+ float droneVBat();
+
+//Config variables
+ QString confDroneIp(); void setConfDroneIp(QString ip);
+ bool confShowDebug(); void setConfShowDebug(bool val);
+ bool confShowHorizon(); void setConfShowHorizon(bool val);
+ bool confShowGauges(); void setConfShowGauges(bool val);
+ bool confUseAccel(); void setConfUseAccel(bool val);
+ bool confFullScreen();void setConfFullScreen(bool val);
+ bool confUseJoyStick(); void setConfUseJoyStick(bool val);
+ float confForwardGain(); void setConfForwardGain(float val);
+ float confBackwardGain(); void setConfBackwardGain(float val);
+ float confLeftGain(); void setConfLeftGain(float val);
+ float confRightGain(); void setConfRightGain(float val);
+
+signals:
+ void navDataChanged();
+ void statusChanged();
+ void configChanged();
+public slots:
+ void navDataUpdated();
+ void statusUpdated();
+private:
+
+ float m_pitch; // pitch in horizon
+ float m_roll; // Roll in horizon
+ float m_yaw; // low value to display
+ float m_vv; // Verticl velocity
+ float m_altitude; // altitude
+ int m_enabled; // Enable flag
+ bool m_emergency; // Emergency flag
+ QString _emgReason; // Reason of emergency
+ bool m_fly; // Fly flag
+
+ QTcpSocket *ctlSock; // TCP port for control/config data
+ QUdpSocket *navSock; // Navigation data receive socket port 5554
+ QHostAddress droneHost; // Ip address of the drone
+
+ DroneThread *droneThread;
+ QSettings *droneSettings;
+};
+
+
+
+class DroneThread:public QThread {
+ Q_OBJECT
+public:
+ DroneThread(DroneControl *parentp,QHostAddress host);
+
+ // ~DroneThread ();
+ void run();
+ void sendNav(QString cmd);
+ void sendCmd(QString cmd);
+ NavData *navData() { return &nd; };
+
+ enum droneState {
+ notInitialized,
+ initialized,
+ ready,
+ flying
+
+ };
+public slots:
+ void navDataReady();
+ void timer();
+ void setFly(bool fly);
+ void setEmergency(bool emg);
+ void setDroneControl(float pitch,float roll,float yaw,float vv);
+ void setDroneGain(float fgain,float bgain,float lgain,float rgain);
+
+private:
+
+ QHostAddress droneHost; // Ip address of the drone
+ QTimer *stateTimer;
+ volatile bool stopped;
+ DroneControl *parent;
+ QUdpSocket *navSock; // Navigation data receive socket port 5554
+ QUdpSocket *cmdSock; // Ay command socket port 5556
+ int state;
+ int seq; // Drone command seq number
+ bool m_fly;
+ bool m_emergency;
+ float m_pitch;
+ float m_roll;
+ float m_yaw;
+ float m_vv;
+ float m_fgain;
+ float m_bgain;
+ float m_rgain;
+ float m_lgain;
+ NavData nd;
+};
+
+#endif // DRONECONTROL_H
--- /dev/null
+#include "gauge.h"
+#include "qgraphicswidget.h"
+#include "QGraphicsItem"
+#include <QPainter>
+#include <QDebug>
+
+Gauge::Gauge(QGraphicsItem *parent) :
+ QGraphicsWidget(parent)
+{
+ qDebug() << "Gauge::Gauge()";
+}
+#if 1
+void Gauge::paint(QPainter *painter,
+ const QStyleOptionGraphicsItem *option,
+ QWidget *widget)
+ {
+
+ }
+#endif
+void Gauge::setValue(float val_)
+{
+ m_value=val_;
+ update(boundingRect()); // Value updated, schedule redtaw
+};
+float Gauge::value()
+{
+ return m_value;
+};
+
+QRectF Gauge::boundingRect() const
+ {
+ return QRectF(0.0,0.0,size().width(),size().height());
+ }
--- /dev/null
+#ifndef GAUGEBAND_H
+#define GAUGEBAND_H
+
+#include <QGraphicsWidget>
+#include <QGraphicsItem>
+#include <QPainter>
+
+#define UP 1
+#define RIGHT 2
+#define DOWN 3
+#define LEFT 4
+
+#define SCROLL 0x10
+#define SCROLL_UP 0x11
+#define SCROLL_RIGHT 0x12
+#define SCROLL_DOWN 0x13
+#define SCROLL_LEFT 0x14
+
+class Gauge : public QGraphicsWidget
+{
+ Q_OBJECT
+ Q_PROPERTY(QString name READ name WRITE setName)
+ Q_PROPERTY(QString format READ format WRITE setFormat)
+ Q_PROPERTY(int gaugeStyle READ gaugeStyle WRITE setGaugeStyle)
+ Q_PROPERTY(float value2 READ value2 WRITE setValue2)
+ Q_PROPERTY(float value READ value WRITE setValue)
+ Q_PROPERTY(float low READ low WRITE setLow)
+ Q_PROPERTY(float high READ high WRITE setHigh)
+ Q_PROPERTY(float lowRed READ lowRed WRITE setLowRed)
+ Q_PROPERTY(float highRed READ highRed WRITE setHighRed)
+ Q_PROPERTY(float tickIncrement READ tickIncrement WRITE setTickIncrement)
+
+public:
+ explicit Gauge(QGraphicsItem *parent = 0);
+
+
+ virtual void paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
+ QWidget *widget);
+
+ QRectF boundingRect() const;
+
+ QString name() const { return m_name;};
+ void setName(const QString &name_) {m_name=name_;}
+ QString format() const { return m_format;};
+ void setFormat(const QString &name_) {m_format=name_;}
+ void setGaugeStyle(int val_) { m_style=val_;};
+ int gaugeStyle() {return m_style;};
+ void setValue(float val_);
+ float value();
+ void setValue2(float val_) { m_value2=val_;};
+ float value2() {return m_value2;};
+ void setLow(float val_) { m_low=val_;};
+ float low() {return m_low;};
+ void setHigh(float val_) { m_high=val_;};
+ float high() {return m_high;};
+ void setLowRed(float val_) { m_lowred=val_;};
+ float lowRed() {return m_lowred;};
+ void setHighRed(float val_) { m_highred=val_;};
+ float highRed() {return m_highred;};
+ void setTickIncrement(float val_) { m_tickIncrement=val_;};
+ float tickIncrement() {return m_tickIncrement;};
+
+signals:
+
+public slots:
+public:
+ QString m_name;
+ QString m_format;
+ int m_tickIncrement; // Tick increment
+ int m_tspc; // Tick spacing
+ int m_style;
+ float m_value; // primary value,pitch in horizon
+ float m_value2; // Roll in horizon
+ float m_low; // low value to display
+ float m_high; // High value to display
+ float m_lowred; // low red limit
+ float m_lowyellow; // low yellow limit
+ float m_highyellow; // higest yellow limit
+ float m_highred;
+};
+
+#endif // GAUGE_H
--- /dev/null
+#include "gaugehorizon.h"
+#include <QDebug>
+#include <math.h>
+
+GaugeHorizon::GaugeHorizon(QGraphicsItem *parent) :
+ Gauge(parent)
+{
+}
+
+
+
+void GaugeHorizon::paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
+ QWidget *widget)
+{
+ drawHorizon(painter,-1.0*m_value,5*m_value2);
+};
+//////////////////////////////////////////////////////////////////////////
+void GaugeHorizon::drawHorizon(QPainter *painter, float roll, float pitch)
+ {
+ QRect update_rect;
+ QPoint points[10];
+ //QPoint plane[10];
+ QVector<QLine> plane;
+ QVector<QLine> fixo;
+ int tx, ctx, xd, i, j ;
+ int xo, yo, x1, x2, y1, y2;
+
+ xo=size().width()/2;
+ yo=size().height()/2;
+
+ plane+=QLine(xo-50,yo,xo-20,yo);
+ plane+=QLine(xo-20,yo,xo-10,yo+10);
+ plane+=QLine(xo-10,yo+10,xo,yo);
+ plane+=QLine(xo,yo,xo+10,yo+10);
+ plane+=QLine(xo+20,yo,xo+10,yo+10);
+ plane+=QLine(xo+50,yo,xo+20,yo);
+
+
+ static float sintable[]={sin(15*3.141592653/180.0),
+ sin(30*3.141592653/180.0),
+ sin(45*3.141592653/180.0),
+ sin(60*3.141592653/180.0)};
+
+ static float costable[]={cos(15*3.141592653/180.0),
+ cos(30*3.141592653/180.0),
+ cos(45*3.141592653/180.0),
+ cos(60*3.141592653/180.0)};
+
+ i = 0;
+ int arc0=130;
+ int arc1=150;
+ fixo+=QLine(xo,yo-arc0,xo,yo-arc1);
+ for (i = 0; i < 4; i++) {
+ fixo+=QLine(xo+arc0*costable[i],yo-arc0*sintable[i],xo+arc1*costable[i],yo-arc1*sintable[i]);
+ fixo+=QLine(xo-arc0*costable[i],yo-arc0*sintable[i],xo-arc1*costable[i],yo-arc1*sintable[i]);
+ };
+
+
+ tx = (int)(xo * tan(roll * 3.141592653/180.0));
+ xd = yo + pitch * 4;
+
+ QTransform savematrix= painter->transform ();
+ // painter->setClipRect(QRect(0,0, size().width(),size().height()/2));
+
+ painter->setTransform(QTransform().translate(xo+scenePos().x(), yo+scenePos().y()+pitch).rotate(roll));
+
+ QBrush whitebrush(Qt::green);
+ painter->setBrush(whitebrush);
+ QPen whitepen(Qt::green);
+ whitepen.setWidth(2);
+ painter->setPen(whitepen);
+ xo=0;yo=0;
+
+ painter->drawLine(50+xo, 0+yo,-50+xo, 0+yo);
+ painter->drawLine(40+xo, 50+yo,-40+xo, 50+yo);
+ painter->drawLine(40+xo, 100+yo,-40+xo, 100+yo);
+ painter->drawLine(40+xo, -50+yo,-40+xo, -50+yo);
+ painter->drawLine(40+xo, -100+yo,-40+xo,-100+yo);
+
+ painter->drawText( 43+xo,-40+yo,"10");
+ painter->drawText(-63+xo,-40+yo,"10");
+ painter->drawText( 43+xo,-90+yo,"20");
+ painter->drawText(-63+xo,-90+yo,"20");
+ painter->drawText( 43+xo, 40+yo,"10");
+ painter->drawText(-63+xo, 40+yo,"10");
+ painter->drawText( 43+xo, 90+yo,"20");
+ painter->drawText(-63+xo, 90+yo,"20");
+
+
+ // painter->rotate(0);
+ painter->setTransform(savematrix);
+ QPen bluepen(Qt::blue);
+ bluepen.setWidth(2);
+ painter->setPen(bluepen);
+ painter->drawLines(fixo);
+ painter->drawLines(plane);
+
+
+
+}
+
--- /dev/null
+#ifndef GAUGELABEL_H
+#define GAUGELABEL_H
+#include "gauge.h"
+
+class GaugeHorizon : public Gauge
+{
+ Q_OBJECT
+public:
+ explicit GaugeHorizon(QGraphicsItem *parent = 0);
+ void paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
+ QWidget *widget);
+ void drawHorizon(QPainter *painter,float pitch,float roll);
+signals:
+};
+
+#endif // GAUGELABEL_H
--- /dev/null
+#include "gaugelabel.h"
+#include <QDebug>
+
+
+GaugeLabel::GaugeLabel(QGraphicsItem *parent) :
+ Gauge(parent)
+{
+}
+
+void GaugeLabel::paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
+ QWidget *widget)
+{
+ drawNumLabel(painter);
+};
+//////////////////////////////////////////////////////////////////////////
+void GaugeLabel::drawNumLabel(QPainter *painter)
+{
+ int ld,ldo,ud,lo;
+ int split,uw,base;
+ char text[20] = {0};
+ int h=size().height();
+ int w=size().width();
+ int val=m_value;
+ painter->save();
+ qDebug() <<"drawnumlabel=" << m_name << " h=" << h << "w=" << w;
+ if(m_style&SCROLL) {
+ QFont sansFont("Helvetica [Cronyx]", 12);
+ QFontMetrics fm(sansFont);
+ painter->setFont(sansFont);
+
+ ld=abs(val%100);
+ ud=val/100;
+ ldo=ld%10;
+ printf("ld=%d ldo=%d lo=%d h=%d\n",ld,ldo,lo,h);
+ lo=(ldo*h)/-20;
+ drawLabel(painter, text, m_style);
+ sprintf(text, "%3d", ud);
+ split=w/2;
+ base=(h+fm.ascent())/2;
+ uw=fm.width(text);
+
+ painter->drawText(split-uw+6, base, text);
+ sprintf(text, "%02d", abs((ld-ldo-20)%100));
+ painter->drawText(split+ 7, base -h +lo, text);
+ sprintf(text, "%02d", abs((ld-ldo-10)%100));
+ painter->drawText(split+ 7, base -h/2 +lo, text);
+ sprintf(text, "%02d", abs((ld-ldo)%100));
+ painter->drawText(split +7, base +lo, text);
+ sprintf(text, "%02d", abs((ld-ldo+10)%100));
+ painter->drawText(split + 7,base + h/2 +lo , text);
+ sprintf(text, "%02d", abs((ld-ldo+20)%100));
+ painter->drawText(split + 7,base + h +lo , text);
+
+
+ } else {
+ sprintf(text, "%3d", val);
+ drawLabel(painter, text,m_style);
+ }
+ painter->restore(); // Restore and remove clicping rectabgle
+}
+
+///////////////////////////////////////////////////////////////////////////
+void GaugeLabel::drawLabel(QPainter *painter,char *text,int style)
+{
+ int textlen = 0, i = 0;
+ int xplace=0;
+ int yplace=0;
+ int height=size().height();
+ int width=size().width();
+ int scrbox=(height*10)/30;
+
+
+ QVector<QPoint> nboxv;
+
+ QPen pen(Qt::white);
+ painter->setPen(pen);
+
+
+ if (style&7 == LEFT) xplace+=5;
+
+ nboxv.push_back(QPoint(xplace,yplace));
+
+
+
+ if (style&7 == UP) {
+ nboxv.push_back(QPoint(xplace+(width/2)-5,yplace ));
+ nboxv.push_back(QPoint(xplace+(width/2) ,yplace-5));
+ nboxv.push_back(QPoint(xplace+(width/2)+5,yplace ));
+ }
+
+ if (style&SCROLL) {
+ nboxv.push_back(QPoint(xplace+width/2,yplace));
+ nboxv.push_back(QPoint(xplace+width/2,yplace-scrbox));
+ nboxv.push_back(QPoint(xplace+width,yplace-scrbox ));
+ } else
+ nboxv.push_back(QPoint(xplace+width,yplace ));
+
+
+ if (style&7== RIGHT) {
+
+ nboxv.push_back(QPoint(xplace+width ,yplace+(height/2)-5));
+ nboxv.push_back(QPoint(xplace+width+5,yplace+(height/2) ));
+ nboxv.push_back(QPoint(xplace+width ,yplace+(height/2)+5));
+ }
+
+ if (style&SCROLL) {
+ nboxv.push_back(QPoint(xplace+width,yplace+height+scrbox));
+ nboxv.push_back(QPoint(xplace+width/2,yplace+height+scrbox));
+ nboxv.push_back(QPoint(xplace+width/2,yplace+height));
+ } else
+ nboxv.push_back(QPoint(xplace+width,yplace+height));
+
+ if (style&7== DOWN) {
+ nboxv.push_back(QPoint(xplace+(width/2)-5,yplace+height));
+ nboxv.push_back(QPoint(xplace+(width/2) ,yplace+height+5));
+ nboxv.push_back(QPoint(xplace+(width/2)+5,yplace+height));
+ }
+
+ nboxv.push_back(QPoint(xplace,yplace+height));
+
+ if (style&7 == LEFT) {
+ nboxv.push_back(QPoint(xplace ,yplace+(height/2)+5));
+ nboxv.push_back(QPoint(xplace-5,yplace+(height/2) ));
+ nboxv.push_back(QPoint(xplace ,yplace+(height/2)-5));
+ }
+
+ nboxv.push_back(QPoint(xplace,yplace));
+
+ textlen = strlen(text) + 2;
+
+ // pdrawable->draw_rectangle(pwidget->get_style()->get_black_gc(),
+ // true, xplace, yplace, width, height);
+
+ if (style&SCROLL)
+ painter->setClipRect(QRect(xplace-5,yplace-scrbox, width+10, height+2*scrbox+1));
+
+ QBrush brush(QColor(0,0,0,255));
+ // QFont tapeFont("Helvetica [Cronyx]", 18);
+ // painter->setFont(tapeFont);
+ // painter->setPen(pen);
+ painter->setBrush(brush);
+
+ painter->drawPolygon(nboxv);
+
+ painter->drawLines(nboxv);
+
+ // painter->setBrush(brush);
+ QFont sansFont("Helvetica [Cronyx]", 12);
+ QFontMetrics fm(sansFont);
+ painter->setFont(sansFont);
+
+ painter->drawText(xplace + 3, yplace + (height+fm.ascent())/2, text);
+}
+
--- /dev/null
+#ifndef GAUGELABEL_H
+#define GAUGELABEL_H
+#include "gauge.h"
+
+class GaugeLabel : public Gauge
+{
+ Q_OBJECT
+public:
+ explicit GaugeLabel(QGraphicsItem *parent = 0);
+ void paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
+ QWidget *widget);
+ void drawNumLabel(QPainter *painter);
+ void drawLabel(QPainter *painter,char *text,int style);
+signals:
+};
+
+#endif // GAUGELABEL_H
--- /dev/null
+#include <QtGui/QApplication>
+#include "dronecontrol.h"
+#include "video.h"
+#include "gaugehorizon.h"
+#include <QDeclarativeView>
+#include <QDeclarativeContext>
+#include <QDeclarativeEngine>
+#include <QtDeclarative>
+#include <QtComponents/qdeclarativewindow.h>
+
+int main(int argc, char *argv[])
+{
+ qmlRegisterType<DroneControl>("Drone", 1, 0, "DroneControl");
+ qmlRegisterType<DroneVideo>("Drone", 1, 0, "DroneVideo");
+ qmlRegisterType<GaugeHorizon>("Drone", 1, 0, "GaugeHorizon");
+ QApplication app(argc, argv);
+ QUrl *url;
+
+ qDebug() << "./ardrone.qml exists " << QFile("ardrone.qml").exists();
+ qDebug() << ":/ardrone.qml exists " << QFile(":/ardrone.qml").exists();
+
+ if(QFile("ardrone.qml").exists()) {
+ QDir::setCurrent(app.applicationDirPath());
+ url=new QUrl(QUrl::fromLocalFile("ardrone.qml"));
+ }
+ else {
+ QDir::setCurrent(":/");
+ url=new QUrl("qrc:/ardrone.qml");
+ }
+ QDeclarativeWindow window(*url);
+ window.window()->show();
+
+ return app.exec();
+}
--- /dev/null
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+
+MainWindow::MainWindow(QWidget *parent) :
+ QMainWindow(parent),
+ ui(new Ui::MainWindow)
+{
+ ui->setupUi(this);
+}
+
+MainWindow::~MainWindow()
+{
+ delete ui;
+}
+
+void MainWindow::changeEvent(QEvent *e)
+{
+ QMainWindow::changeEvent(e);
+ switch (e->type()) {
+ case QEvent::LanguageChange:
+ ui->retranslateUi(this);
+ break;
+ default:
+ break;
+ }
+}
--- /dev/null
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include <QMainWindow>
+
+namespace Ui {
+ class MainWindow;
+}
+
+class MainWindow : public QMainWindow
+{
+ Q_OBJECT
+
+public:
+ explicit MainWindow(QWidget *parent = 0);
+ ~MainWindow();
+
+protected:
+ void changeEvent(QEvent *e);
+
+private:
+ Ui::MainWindow *ui;
+};
+
+#endif // MAINWINDOW_H
--- /dev/null
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow" >
+ <property name="geometry" >
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>800</width>
+ <height>480</height>
+ </rect>
+ </property>
+ <property name="windowTitle" >
+ <string>MainWindow</string>
+ </property>
+ <widget class="QWidget" name="centralWidget" />
+ </widget>
+ <layoutDefault spacing="6" margin="11" />
+ <pixmapfunction></pixmapfunction>
+ <resources/>
+ <connections/>
+</ui>
--- /dev/null
+[Desktop Entry]
+Encoding=UTF-8
+Version=1.0
+Type=Application
+Terminal=false
+Name=ardrone1
+Exec=/opt/usr/bin/ardrone1 -graphicssystem native
+Icon=ardrone1
+X-Window-Icon=
+X-HildonDesk-ShowInToolbar=true
+X-Osso-Type=application/x-executable
--- /dev/null
+[Desktop Entry]
+Encoding=UTF-8
+Version=1.0
+Type=Application
+Terminal=false
+Name=ardrone1
+Exec=/usr/local/bin/ardrone1
+Icon=ardrone1
+X-Window-Icon=
+X-HildonDesk-ShowInToolbar=true
+X-Osso-Type=application/x-executable
--- /dev/null
+#-------------------------------------------------
+#
+# Project created by QtCreator 2010-10-12T20:45:34
+#
+#-------------------------------------------------
+
+QT += core gui declarative network
+
+
+CONFIG += mobility
+TARGET = mardrone
+TEMPLATE = app
+AR_DRONE_SDK= $$(HOME)/ARDrone_SDK_1_5_Version_20101004
+LIBS +=-lQtComponents -L$${AR_DRONE_SDK}/lib -lvlib -lsdk
+
+
+SOURCES += main.cpp\
+ dronecontrol.cpp \
+ navdata.cpp \
+ video.cpp \
+ gauge.cpp \
+ gaugelabel.cpp \
+ gaugehorizon.cpp
+
+INCLUDEPATH += $${AR_DRONE_SDK}/ARDroneLib/Soft/Common \
+ $${AR_DRONE_SDK}/ARDroneLib/VP_SDK \
+ $${AR_DRONE_SDK}/ARDroneLib/VP_SDK/VP_Os/linux \
+ $${AR_DRONE_SDK}/ARDroneLib/VP_SDK/VP_Os \
+ $${AR_DRONE_SDK}/ARDroneLib/Soft/Lib \
+ $${AR_DRONE_SDK}/ARDroneLib/VLIB \
+ $${AR_DRONE_SDK}/ARDroneLib
+
+HEADERS += dronecontrol.h \
+ navdata.h \
+ video.h \
+ gauge.h \
+ gaugelabel.h \
+ gaugehorizon.h
+
+
+OTHER_FILES += \
+ ardrone.qml \
+ JoyStick.qml \
+ JoyStick2.qml \
+ debian/changelog \
+ debian/compat \
+ debian/control \
+ debian/copyright \
+ debian/README \
+ debian/rules \
+ ardrone1.desktop \
+ BarGauge.qml \
+ ConfigDialog.qml
+
+unix:!symbian {
+ maemo5 {
+ target.path = /opt/usr/bin
+ } else {
+ target.path = /usr/local/bin
+ }
+ INSTALLS += target
+}
+
+unix:!symbian {
+ desktopfile.files = $${TARGET}.desktop
+ maemo5 {
+ desktopfile.path = /usr/share/applications/hildon
+ } else {
+ desktopfile.path = /usr/share/applications
+ }
+ INSTALLS += desktopfile
+}
+
+RESOURCES += \
+ ardrone.qrc
--- /dev/null
+#include <QDebug>
+#include "navdata.h"
+
+
+NavData::NavData(QObject *parent) :
+ QObject(parent)
+{
+ vx=0;vy=0;vz=0;pwm_motor1=0;pwm_motor2=0;pwm_motor3=0;pwm_motor4=0;
+ vbat=0.0;pitch=0.0;roll=0.0;yaw=0.0;altitude=0.0;
+}
+
+void NavData::parseRawNavData(char *buf,unsigned int len)
+{
+ int opt=0;
+ navdata_option_t *op;
+ _navdata_t *nd=(_navdata_t *)buf;
+ state=nd->ardrone_state;
+ if(state!=oldState) {
+ oldState=state;
+ decodedState=decodeState(state,0);
+ emit stateUpdated();
+ };
+#if 0
+ qDebug("parseRawNavData hdr=%8x state=%08x seq=%06d opt[0].tag=%d size=%d",
+ nd->header,nd->ardrone_state,nd->sequence,nd->options[0].tag,nd->options[0].size);
+#endif
+ qDebug() << decodedState;
+ op=&(nd->options[0]);
+ while((((unsigned int)op-(unsigned int)buf)<len) && (op->size>0))
+ {
+ parseOption(op);
+ op=(navdata_option_t *)((unsigned int)op+op->size);
+ }
+};
+
+void NavData::parseOption(navdata_option_t *op)
+{
+ // qDebug("parseOption tag=%d size=%d",op->tag,op->size);
+ switch(op->tag) {
+ case NAVDATA_DEMO_TAG:
+ {
+ _navdata_demo_t *ndemo=(_navdata_demo_t*)op;
+ vbat=ndemo->vbat_flying_percentage;
+ pitch=ndemo->theta/1000.0;
+ roll=ndemo->phi/1000.0;
+ yaw=ndemo->psi/1000.0;
+ altitude=ndemo->altitude;
+ vx=ndemo->vx;
+ vy=ndemo->vy;
+ vz=ndemo->vz;
+ emit navDataUpdated();
+ 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);
+ }
+ break;
+ case NAVDATA_TIME_TAG:
+ {
+ _navdata_time_t *ntdime=(_navdata_time_t*)op;
+ }
+ break;
+ case NAVDATA_RAW_MEASURES_TAG:
+ {
+ _navdata_raw_measures_t *nraw=(_navdata_raw_measures_t*)op;
+ }
+ break;
+ case NAVDATA_PHYS_MEASURES_TAG:
+ {
+ _navdata_phys_measures_t *nphys=(_navdata_phys_measures_t*)op;
+ }
+ break;
+ case NAVDATA_GYROS_OFFSETS_TAG:
+ break;
+ case NAVDATA_EULER_ANGLES_TAG:
+ break;
+ case NAVDATA_REFERENCES_TAG:
+ break;
+ case NAVDATA_TRIMS_TAG: // 7
+ {
+ _navdata_trims_t *ntrim=( _navdata_trims_t*)op;
+ }
+ break;
+ case NAVDATA_RC_REFERENCES_TAG: //8
+ break;
+ case NAVDATA_PWM_TAG:
+ {
+ _navdata_pwm_t *npwm=( _navdata_pwm_t*)op;
+ current_motor1=npwm->current_motor1;
+ pwm_motor1=npwm->motor1;
+ current_motor2=npwm->current_motor2;
+ pwm_motor2=npwm->motor2;
+ current_motor3=npwm->current_motor3;
+ pwm_motor3=npwm->motor3;
+ current_motor4=npwm->current_motor4;
+ pwm_motor4=npwm->motor4;
+ emit navDataUpdated();
+ qDebug("pwm1=%3d I1=%4f pwm2=%3d I2=%4f pwm3=%3d I3=%4f pwm4=%3d I4=%4f",
+ pwm_motor1,current_motor1,pwm_motor2,current_motor2,pwm_motor3,current_motor3,pwm_motor4,current_motor4);
+ }
+ break;
+ case NAVDATA_ALTITUDE_TAG: //10
+ break;
+ case NAVDATA_VISION_RAW_TAG:
+ break;
+ case NAVDATA_VISION_OF_TAG: //12
+ break;
+ case NAVDATA_VISION_TAG:
+ break;
+ case NAVDATA_VISION_PERF_TAG:
+ break;
+ case NAVDATA_TRACKERS_SEND_TAG:
+ break;
+ case NAVDATA_VISION_DETECT_TAG: //16
+ break;
+ case NAVDATA_WATCHDOG_TAG:
+ break;
+ case NAVDATA_ADC_DATA_FRAME_TAG:
+ break;
+ case NAVDATA_CKS_TAG: //65535
+ break;
+ }
+};
+
+QString NavData::decodeState(unsigned int state,int level)
+{
+ QString s="%1 ";
+ s=s.arg(state,8,16);
+ s+=(state & ARDRONE_FLY_MASK)==0 ? "landed ":"flying ";
+ if(level>1) s+=(state & ARDRONE_VIDEO_MASK)==0 ?"video disable ":"video ena ";
+ if(level>1)s+=(state & ARDRONE_VISION_MASK)==0 ? "vision disable ":"vision ena ";
+ if(level>1)s+=(state & ARDRONE_CONTROL_MASK)==0 ? "euler angles ":"angular speed ";
+ if(level>1)s+=(state & ARDRONE_ALTITUDE_MASK)==0 ? "alt ctrl inact ":"alt ctrl act ";
+ //s+=(state & ARDRONE_USER_FEEDBACK_START)==0 ? /*!< USER feedback : Start button state */
+ s+=(state & ARDRONE_COMMAND_MASK)==0 ? "CMD NAK ":"CMD ACK ";
+ // s+=(state & ARDRONE_FW_FILE_MASK)==0 ? /* Firmware file is good;
+ // s+=(state & ARDRONE_FW_VER_MASK )==0 ? /* Firmware update is newer;
+ // ARDRONE_FW_UPD_MASK = 1 << 9, /* Firmware update is ongoing (1;
+ s+=(state & ARDRONE_NAVDATA_DEMO_MASK )==0 ? "All navdata ":"navdata demo ";
+ s+=(state & ARDRONE_NAVDATA_BOOTSTRAP)==0 ? "":"Navdata bootstrap ";
+ // s+=(state & ARDRONE_MOTORS_MASK)==0 ? /*!< Motors status : (0) Ok, (1) Motors problem */
+ s+=(state & ARDRONE_COM_LOST_MASK)? "Com Lost ":"Com ok ";
+ if(level>1)s+=(state & ARDRONE_VBAT_LOW) ? "VBat low ":"Vbat Ok ";
+ if(level>1)s+=(state & ARDRONE_USER_EL) ? "User EL ":"";
+ s+=(state & ARDRONE_TIMER_ELAPSED) ? "Timer elapsed ":"";
+ s+=(state & ARDRONE_ANGLES_OUT_OF_RANGE) ? "Angles out of range ":"";
+ s+=(state & ARDRONE_ULTRASOUND_MASK) ? "Ultrasonic sensor deaf ":"";
+ s+=(state & ARDRONE_CUTOUT_MASK) ? "Cutout system detection detected":"";
+// s+=(state & ARDRONE_PIC_VERSION_MASK)==0 ? /*!< PIC Version number OK : (0) a bad version number, (1) version number is OK */
+// s+=(state & ARDRONE_ATCODEC_THREAD_ON)==0 ? /*!< ATCodec thread ON : (0) thread OFF (1) thread ON */
+ if(level>2)s+=(state & ARDRONE_NAVDATA_THREAD_ON)==0 ? "Navdata thread OFF ":"Navdata thread ON ";
+ if(level>2)s+=(state & ARDRONE_VIDEO_THREAD_ON )==0 ? "Video thread OFF ":"Video thread ON ";
+// s+=+(state & ARDRONE_ACQ_THREAD_ON)==0 ? "Acquisition thread OFF ":"Acquisition thread ON ";
+ s+=(state & ARDRONE_CTRL_WATCHDOG_MASK) ? "CTRL watchdog ":"";
+ s+=(state & ARDRONE_ADC_WATCHDOG_MASK) ? "ADC Watchdog ":"";
+ s+=(state & ARDRONE_COM_WATCHDOG_MASK) ? "Comm Watchdog ":"";
+ s+=(state & ARDRONE_EMERGENCY_MASK)? "Emg landing":"";
+ return s;
+}
--- /dev/null
+#ifndef NAVDATA_H
+#define NAVDATA_H
+
+#include <QObject>
+#undef _GNU_SOURCE // just get rid of error message double definition
+#include <navdata_common.h>
+#include "config.h"
+
+class NavData : public QObject
+{
+ Q_OBJECT
+public:
+ explicit NavData(QObject *parent = 0);
+ void parseRawNavData(char *buf,unsigned int len);
+ void parseOption(navdata_option_t *op);
+ QString decodeState(unsigned int state,int level);
+
+ unsigned int state,oldState;
+ QString decodedState;
+ float vbat;
+ float pitch;
+ float roll;
+ float yaw;
+ float altitude;
+ float vx;
+ float vy;
+ float vf;
+ float vz;
+ float current_motor1;
+ float current_motor2;
+ float current_motor3;
+ float current_motor4;
+ int pwm_motor1;
+ int pwm_motor2;
+ int pwm_motor3;
+ int pwm_motor4;
+signals:
+ void navDataUpdated();
+ void stateUpdated();
+public slots:
+
+};
+
+#endif // NAVDATA_H
--- /dev/null
+import Qt 4.6
+
+Rectangle {
+ width: 640
+ height: 480
+}
--- /dev/null
+#include "video.h"
+#include <QGraphicsView>
+
+DroneVideo::DroneVideo()
+{
+ droneHost.setAddress("192.168.1.1");
+ initialized=false;
+}
+
+VideoThread::VideoThread(DroneVideo *parentp,QHostAddress host,QImage *_image)
+{
+ image=_image;
+ qDebug() << "videoThread::videoThread";
+ stopped=false;
+ parent=parentp;
+ videoSock=new QUdpSocket();
+ videoSock->bind(QHostAddress::Any,5555);
+ droneHost=host;
+ start();
+
+};
+
+void DroneVideo::paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
+ QWidget *widget)
+ {
+ if(!initialized) { // We need initialize QImage here because we don't know display depth before
+ int depth=0;
+
+ depth=painter->device()->depth();
+ qDebug() << "depth=" << depth;
+
+ if(depth==24) {
+ image=new QImage(320,240, QImage::Format_RGB32);
+ image->fill(0x555555);
+ }
+ else {
+ image=new QImage(320,240, QImage::Format_RGB16);
+ image->fill(0x5555);
+ }
+ QPainter p(image);
+ p.drawLine(0,0,image->width(),image->height());
+ p.drawLine(image->width(),0,0,image->height());
+ update(boundingRect());
+ videoThread=new VideoThread(this,droneHost,image);
+ initialized=true;
+ } else
+ painter->drawImage(boundingRect(),*image,image->rect());
+ };
+
+QRectF DroneVideo::boundingRect() const
+{
+ return QRectF(0.0,0.0,size().width(),size().height());
+}
+
+
+void VideoThread::run()
+{
+#define ACQ_WIDTH 320
+#define ACQ_HEIGHT 240
+#undef memset
+ memset(&controller,0,sizeof(controller));
+ memset(&picture,0,sizeof(picture));
+ pictureWidth= image->width();
+ pictureHeight=image->height();
+ int codec_type=UVLC_CODEC;
+ qDebug() << "videoThread::run()";
+ stateTimer=new QTimer();
+ connect(stateTimer,SIGNAL(timeout()),this,SLOT(timer()));
+ connect(videoSock,SIGNAL(readyRead()),this,SLOT(videoDataReady()));
+ qDebug() << "videoThread::run() 2";
+ luma_only=FALSE;
+ num_picture_decoded=0;
+ /// Picture configuration
+ picture.format = PIX_FMT_YUV420P;
+ picture.width = pictureWidth;
+ picture.height = pictureHeight;
+ picture.framerate = 30;
+ picture.y_buf = (uint8_t*)(void*)vp_os_malloc((size_t) pictureWidth*pictureHeight );
+ picture.cr_buf = (uint8_t*)vp_os_malloc( pictureWidth*pictureHeight/4 );
+ picture.cb_buf = (uint8_t*)vp_os_malloc( pictureWidth*pictureHeight/4 );
+ picture.y_line_size = pictureWidth;
+ picture.cb_line_size = pictureWidth / 2;
+ picture.cr_line_size = pictureWidth / 2;
+ picture.y_pad = 0;
+ picture.c_pad = 0;
+ qDebug() << "videoThread::run() 3";
+ video_codec_open(&controller, (codec_type_t)UVLC_CODEC);
+ //stateTimer->start(1000);
+ qDebug() << "videoThread::run() initialized";
+ sendVideoPort("AT");
+ while(!stopped) {
+ exec();
+ }
+
+}
+
+void VideoThread::timer()
+{
+ // qDebug() << "thread Timer";
+
+}
+
+void VideoThread::sendVideoPort(QString cmd)
+{
+ QByteArray dgram;
+ dgram=cmd.toLatin1();
+ qDebug() << "videoThread::sendCmd= " << cmd+"\n" << "to " << droneHost ;
+ videoSock->writeDatagram(dgram.data(),dgram.size(),droneHost,5555);
+}
+
+void VideoThread::videoDataReady()
+{
+ qint64 l;
+ QByteArray videoData;
+
+ QHostAddress host;
+ quint16 port;
+ videoData.resize(videoSock->pendingDatagramSize ());
+ l=videoSock->readDatagram(videoData.data(),videoData.size(),&host,&port);
+ qDebug() << "videoThread::videoDataReady" <<" l=" << l << "from" << host ;
+ decodeTransform(videoData);
+}
+
+void VideoThread::decodeTransform(QByteArray &videoData)
+{
+ controller.in_stream.bytes = (uint32_t*)videoData.data();
+ controller.in_stream.used = videoData.size();
+ controller.in_stream.size = videoData.size();
+ controller.in_stream.index = 0;
+ controller.in_stream.length = 32;
+ controller.in_stream.code = 0;
+
+ bool_t got_image = FALSE;
+ //qDebug() <<"VideoThread::decodeTransform";
+ video_decode_blockline( &controller, &picture, &got_image );
+ //qDebug() <<"VideoThread::decodeTransform 2";
+ //video_decode_picture( &controller, &picture, &stream, &got_image );
+ if( got_image )
+ {
+ qDebug() <<"VideoThread::decodeTransform got image" << picture.width << picture.height << image->byteCount() << image->bytesPerLine();
+ // we got one picture
+ // out->size = 1;
+ picture.complete = 1;
+ num_picture_decoded++;
+ vp_stages_YUV420P_to_RGB565(NULL,&picture,image->bits(),image->bytesPerLine());
+
+
+ qDebug() << "pic " << num_picture_decoded;
+ }
+
+
+};
+
+
--- /dev/null
+#ifndef VIDEO_H
+#define VIDEO_H
+
+#include <QGraphicsWidget>
+#include <QGraphicsItem>
+#include <QPainter>
+#include <QUdpSocket>
+#include <QTcpSocket>
+#include <QThread>
+#include <QTimer>
+#include "dronecontrol.h"
+#undef _GNU_SOURCE // just get rid of error message double definition
+#define TARGET_CPU_ARM 1
+#include <navdata.h>
+#include <VP_Os/vp_os_malloc.h>
+#include <VP_Os/vp_os_print.h>
+extern "C"
+{
+#include <VLIB/Stages/vlib_stage_decode.h>
+void vp_stages_YUV420P_to_RGB565(void *cfg, vp_api_picture_t *picture, uint8_t *dst, uint32_t dst_rbytes);
+
+}
+
+
+class VideoThread;
+
+class DroneVideo:public QGraphicsWidget
+{
+ Q_OBJECT
+public:
+ DroneVideo();
+ void paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
+ QWidget *widget);
+ QRectF boundingRect() const;
+
+private:
+ QHostAddress droneHost; // Ip address of the drone
+ VideoThread *videoThread;
+ QImage *image;
+ bool initialized;
+};
+
+class VideoThread:public QThread {
+ Q_OBJECT
+public:
+ VideoThread(DroneVideo *parentp,QHostAddress host,QImage *_image);
+
+ // ~DroneThread ();
+ void run();
+ void sendVideoPort(QString cmd);
+ void decodeTransform(QByteArray &videoData);
+
+public slots:
+ void videoDataReady();
+ void timer();
+
+
+
+private:
+ QImage *image;
+ video_controller_t controller;
+ vp_api_picture_t picture;
+ int pictureWidth;
+ int pictureHeight;
+ bool luma_only;
+ unsigned int num_picture_decoded;
+ QHostAddress droneHost; // Ip address of the drone
+ QTimer *stateTimer;
+ volatile bool stopped;
+ DroneVideo *parent;
+ QUdpSocket *videoSock; // Navigation data receive socket port 5554
+
+};
+
+#endif // VIDEO_H
--- /dev/null
+" T*PCMD=317,0,0.28,0.04,0.00,0.00
+" T*PCMD=317,0,3e91eb85,3d0f5c29, 0, 0
+DroneThread::sendCmd= "AT*PCMD=317,0,1049750405,1024416809,0,0" to QHostAddress( "192.168.1.1" )
+" f802475 flying CMD ACK navdata demo Com Lost "
+pitch=-1.3 roll=0.7 yaw=115.5 alt=43.0 v(-48.9,-15.9,0.0 bat=54.0
projects / mardrone / commitdiff
