Commit 9ca1f746 authored by roangel's avatar roangel
Browse files

added units, changed rad to deg

parent e62fc5f6
......@@ -36,6 +36,12 @@
#define STATE_FLYING 3
#define STATE_LAND 4
#define PI 3.141592653589
#define RAD2DEG 180.0/PI
#define DEG2RAD PI/180.0
namespace Ui {
class MainWindow;
}
......
......@@ -98,7 +98,7 @@ void MainWindow::setpointCallback(const Setpoint& newSetpoint)
ui->current_setpoint_x->setText(QString::number(newSetpoint.x));
ui->current_setpoint_y->setText(QString::number(newSetpoint.y));
ui->current_setpoint_z->setText(QString::number(newSetpoint.z));
ui->current_setpoint_yaw->setText(QString::number(newSetpoint.yaw));
ui->current_setpoint_yaw->setText(QString::number(newSetpoint.yaw * RAD2DEG));
}
void MainWindow::flyingStateChangedCallback(const std_msgs::Int32& msg)
......@@ -253,15 +253,15 @@ void MainWindow::updateNewViconData(const ptrToMessage& p_msg) //connected to ne
ui->current_x->setText(QString::number(local.x, 'f', 3));
ui->current_y->setText(QString::number(local.y, 'f', 3));
ui->current_z->setText(QString::number(local.z, 'f', 3));
ui->current_yaw->setText(QString::number(local.yaw, 'f', 3));
ui->current_pitch->setText(QString::number(local.pitch, 'f', 3));
ui->current_roll->setText(QString::number(local.roll, 'f', 3));
ui->current_yaw->setText(QString::number(local.yaw * RAD2DEG, 'f', 3));
ui->current_pitch->setText(QString::number(local.pitch * RAD2DEG, 'f', 3));
ui->current_roll->setText(QString::number(local.roll * RAD2DEG, 'f', 3));
// also update diff
ui->diff_x->setText(QString::number(m_setpoint.x - local.x, 'f', 3));
ui->diff_y->setText(QString::number(m_setpoint.y - local.y, 'f', 3));
ui->diff_z->setText(QString::number(m_setpoint.z - local.z, 'f', 3));
ui->diff_yaw->setText(QString::number(m_setpoint.yaw - local.yaw, 'f', 3));
ui->diff_yaw->setText(QString::number((m_setpoint.yaw - local.yaw) * RAD2DEG, 'f', 3));
}
}
}
......@@ -301,7 +301,7 @@ void MainWindow::on_set_setpoint_button_clicked()
msg_setpoint.x = (ui->new_setpoint_x->text()).toFloat();
msg_setpoint.y = (ui->new_setpoint_y->text()).toFloat();
msg_setpoint.z = (ui->new_setpoint_z->text()).toFloat();
msg_setpoint.yaw = (ui->new_setpoint_yaw->text()).toFloat();
msg_setpoint.yaw = (ui->new_setpoint_yaw->text()).toFloat() * DEG2RAD;
this->setpointPublisher.publish(msg_setpoint);
}
......
......@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>854</width>
<height>565</height>
<height>569</height>
</rect>
</property>
<property name="windowTitle">
......@@ -45,7 +45,7 @@
<item row="1" column="0">
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
<number>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="tab_3">
<attribute name="title">
......@@ -89,28 +89,28 @@
<item row="1" column="0">
<widget class="QLabel" name="current_x_label">
<property name="text">
<string>x =</string>
<string>x [m] =</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="current_z_label">
<property name="text">
<string>z =</string>
<string>z [m] =</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="current_y_label">
<property name="text">
<string>y =</string>
<string>y [m] =</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="current_yaw_label">
<property name="text">
<string>yaw = </string>
<string>yaw [deg] = </string>
</property>
</widget>
</item>
......@@ -124,14 +124,14 @@
<item row="5" column="0">
<widget class="QLabel" name="current_pitch_label">
<property name="text">
<string>pitch =</string>
<string>pitch [deg] =</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="current_roll_label">
<property name="text">
<string>roll =</string>
<string>roll [deg] =</string>
</property>
</widget>
</item>
......@@ -147,6 +147,9 @@
<property name="text">
<string>Current</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
......@@ -182,6 +185,9 @@
<property name="text">
<string>Difference</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
......@@ -219,7 +225,7 @@
<item row="4" column="0">
<widget class="QLabel" name="label_11">
<property name="text">
<string>yaw =</string>
<string>yaw [deg] =</string>
</property>
</widget>
</item>
......@@ -241,21 +247,21 @@
<item row="1" column="0">
<widget class="QLabel" name="label_7">
<property name="text">
<string>x =</string>
<string>x [m] =</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_9">
<property name="text">
<string>z =</string>
<string>z [m] =</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_8">
<property name="text">
<string>y =</string>
<string>y [m] =</string>
</property>
</widget>
</item>
......@@ -364,28 +370,28 @@
<item row="1" column="0">
<widget class="QLabel" name="current_x_label_2">
<property name="text">
<string>x =</string>
<string>x [m] =</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="current_z_label_2">
<property name="text">
<string>z =</string>
<string>z [m] =</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="current_y_label_2">
<property name="text">
<string>y =</string>
<string>y [m] =</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="current_yaw_label_2">
<property name="text">
<string>yaw = </string>
<string>yaw [deg] = </string>
</property>
</widget>
</item>
......@@ -399,14 +405,14 @@
<item row="5" column="0">
<widget class="QLabel" name="current_pitch_label_2">
<property name="text">
<string>pitch =</string>
<string>pitch [deg] =</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="current_roll_label_2">
<property name="text">
<string>roll =</string>
<string>roll [deg] =</string>
</property>
</widget>
</item>
......@@ -422,6 +428,9 @@
<property name="text">
<string>Current</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
......@@ -457,6 +466,9 @@
<property name="text">
<string>Difference</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
......@@ -494,7 +506,7 @@
<item row="4" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
<string>yaw =</string>
<string>yaw [deg] =</string>
</property>
</widget>
</item>
......@@ -516,21 +528,21 @@
<item row="1" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
<string>x =</string>
<string>x [m] =</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_17">
<property name="text">
<string>z =</string>
<string>z [m] =</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_18">
<property name="text">
<string>y =</string>
<string>y [m] =</string>
</property>
</widget>
</item>
......
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 4.0.2, 2017-08-28T18:07:37. -->
<!-- Written by QtCreator 4.0.2, 2017-08-29T16:03:13. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
......
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