WebSVN - Projects - Diff - Rev 305 and 306 - /QMK-Groundstation/trunk/Forms/mktool.cpp


/***************************************************************************
 *   Copyright (C) 2008 by Manuel Schrape                                  *
 *   manuel.schrape@gmx.de                                                 *
 *                                                                         *
 *   This program 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.        *
 *                                                                         *
 *   This program 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 program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/
 
// TODO: Wiederholungssenden wieder einbauen
 
#include <QtGui>
 
#include <QLineEdit>
#include <QString>
#include <QTimer>
#include <QIcon>
#include <QToolButton>
#include <QSpinBox>
#include <QAction>
#include <QPalette>
 
#include "mktool.h"
#include "dlg_Config.h"
#include "dlg_Motortest.h"
#include "dlg_Preferences.h"
#include "../global.h"
#include "../Classes/ToolBox.h"
 
#include <stdlib.h>
 
MKTool::MKTool()
{
    setupUi(this);
 
    Settings = new cSettings;
 
    init_Arrays();
    init_GUI();
    init_Cockpit();
 
    init_Objects();
    init_Connections();
 
    init_Plot();
}
 
void MKTool::init_GUI()
{
    setWindowTitle(QA_NAME + " v" + QA_VERSION);
 
    // Tab mit Debug-Elementen verbergen
    tab_Main->removeTab(6);
    // Develop - Nicht gebrauchte sachen abschalten.
    pb_SettingsReset->hide();
    pb_Flash->hide();
    rb_NC->hide();
 
    // Beta-Sachen einschalten.
#ifdef _BETA_
    ac_QMKServer->setEnabled(true);
#endif
    // Settings-Tab hinzufügen.
    f_Settings = new wdg_Settings( this );
    f_Settings->set_Config(Settings);
    tab_Main->insertTab ( 2, f_Settings, ac_View2->icon(), "FC-Settings");
    tab_Main->widget(2)->setObjectName("Tab_2");
 
    // Zusätzliche Widgets in die Toolbar.
    tb_TTY->addWidget(lb_Port);
    tb_TTY->addWidget(le_Port);
 
    tb_Hardware->addWidget(rb_SelFC);
    tb_Hardware->addWidget(rb_SelNC);
    tb_Hardware->addWidget(rb_SelMag);
 
    tb_Allgemein->setVisible(Settings->GUI.ToolViews[0]);
    tb_Werkzeuge->setVisible(Settings->GUI.ToolViews[1]);
    tb_Debug->setVisible(Settings->GUI.ToolViews[2]);
    tb_TTY->setVisible(Settings->GUI.ToolViews[3]);
    tb_Hardware->setVisible(Settings->GUI.ToolViews[4]);
 
#ifdef _EEEPC_
    lb_Status->hide();
#endif
 
    lb_Status->setText(tr("Hallo bei QMK-Groundstation...!!!"));
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
    resize(Settings->GUI.Size);
    move(Settings->GUI.Point);
 
    if (Settings->GUI.isMax)
    {
        showMaximized();
    }
 
    // Analoglabels anzeigen
    for (int a = 0; a < MaxAnalog; a++)
    {
        lb_Analog[a]->setText(Settings->Analog1.Label[a]);
    }
 
    // Kopie der Tabs anlegen
    for (int b = 0; b < 7; b++)
    {
        TabWidgets[b] = tab_Main->widget(b);
    }
 
    // Ausgeblendete Tabs ausblenden
    for (int c = 0; c < 7; c++)
    {
        if (Settings->GUI.TabViews[c] == false)
        {
            QString TabName = QString("Tab_%1").arg(c);
 
            for (int d = 0; d < tab_Main->count(); d++)
            {
                if (tab_Main->widget(d)->objectName() == TabName)
                {
                    tab_Main->removeTab(d);
                }
            }
        }
    }
 
    ac_View0->setChecked(Settings->GUI.TabViews[0]);
    ac_View1->setChecked(Settings->GUI.TabViews[1]);
    ac_View2->setChecked(Settings->GUI.TabViews[2]);
    ac_View3->setChecked(Settings->GUI.TabViews[3]);
    ac_View4->setChecked(Settings->GUI.TabViews[4]);
    ac_View5->setChecked(Settings->GUI.TabViews[5]);
    ac_View6->setChecked(Settings->GUI.TabViews[6]);
 
    le_Port->setText(Settings->TTY.Port);
 
    cb_ShowMSG->setChecked(Settings->GUI.Term_Info);
    cb_ShowData->setChecked(Settings->GUI.Term_Data);
    cb_ShowAlways->setChecked(Settings->GUI.Term_Always);
}
 
void MKTool::init_Cockpit()
{
    // Cockpit-Elemente
    QPalette newPalette;
 
    newPalette.setColor(QPalette::Base, Qt::darkBlue);
    newPalette.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120));
    newPalette.setColor(QPalette::Text, Qt::white);
 
    Compass->setScaleOptions(QwtDial::ScaleTicks | QwtDial::ScaleLabel);
    Compass->setScaleTicks(0, 0, 3);
    Compass->setScale(36, 5, 0);
 
    Compass->setNeedle(new QwtDialSimpleNeedle(QwtDialSimpleNeedle::Arrow, true, Qt::red, QColor(Qt::gray).light(130)));
    Compass->setPalette(newPalette);
    Compass->setMaximumSize(QSize(MeterSize, MeterSize));
    Compass->setMinimumSize(QSize(MeterSize, MeterSize));
 
    QPalette newPalette1;
 
    newPalette1.setColor(QPalette::Base, Qt::darkBlue);
    newPalette1.setColor(QPalette::Foreground, QColor(255,128,0).dark(120));
    newPalette1.setColor(QPalette::Text, Qt::white);
 
    Attitude = new AttitudeIndicator(this);
    Attitude->setMaximumSize(QSize(MeterSize, MeterSize));
    Attitude->setMinimumSize(QSize(MeterSize, MeterSize));
    Attitude->setPalette(newPalette1);
 
    verticalLayout->addWidget(Attitude);
 
    qwt_Rate->setRange(-10.0, 10.0, 0.1, 0);
 
    newPalette1.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120));
 
    SpeedMeter = new cSpeedMeter(this);
    SpeedMeter->setMaximumSize(QSize(MeterSize, MeterSize));
    SpeedMeter->setMinimumSize(QSize(MeterSize, MeterSize));
    SpeedMeter->setPalette(newPalette1);
    SpeedMeter->setRange(0.0, 5.0);
    SpeedMeter->setScale(1, 2, 0.5);
    SpeedMeter->setProperty("END", 5);
 
    LayOut_Speed->addWidget(SpeedMeter);
}
 
void MKTool::init_Objects()
{
    // QTimer-Instanzen
    Ticker = new QTimer(this);
 
    // Verbindungsobject
    o_Connection = new cConnection();
 
    // neuer Logger
    logger = new Logger(Settings, &Mode);
 
    // LCD-Dialog
    f_LCD = new dlg_LCD(this);
 
    // LCD-Dialog
    f_Map = new dlg_Map(this);
    f_Map->create_Map(Settings);
 
    KML_Server = new cKML_Server();
 
    QMK_Server = new cQMK_Server();
    QMK_Server->setProperty("Connect", false);
 
    if (Settings->Server.StartServer)
    {
        ac_StartServer->setChecked(true);
        KML_Server->start_Server(Settings->Server.Port.toInt(), Settings);
    }
}
 
void MKTool::init_Connections()
{
    connect(Dec, SIGNAL(clicked()), this, SLOT(slot_Test()));
 
    // Waypoints übergeben
    connect(f_Map, SIGNAL(set_Target(sWayPoint)), this , SLOT(slot_MAP_SetTarget(sWayPoint)));
 
    // Daten Senden / Empfangen
    connect(o_Connection, SIGNAL(newData(sRxData)), this, SLOT(slot_newData(sRxData)));
    connect(o_Connection, SIGNAL(showTerminal(int, QString)), this, SLOT(slot_showTerminal(int, QString)));
 
    // Serielle Verbundung öffnen / schließen
    connect(ac_ConnectTTY, SIGNAL(triggered()), this, SLOT(slot_OpenPort()));
 
    // TCP-Connection verbinden / trennen
    connect(ac_QMKServer, SIGNAL(triggered()), this, SLOT(slot_QMKS_Connect()));
 
    // Buttons Settings lesen / schreiben
    connect(f_Settings->pb_Read,   SIGNAL(clicked()), this, SLOT(slot_GetFCSettings()));
    connect(f_Settings->pb_Write,  SIGNAL(clicked()), this, SLOT(slot_SetFCSettings()));
 
    // Actions
    connect(ac_Config,       SIGNAL(triggered()), this, SLOT(slot_ac_Config()));
    connect(ac_Preferences,  SIGNAL(triggered()), this, SLOT(slot_ac_Preferences()));
    connect(ac_Motortest,    SIGNAL(triggered()), this, SLOT(slot_ac_Motortest()));
    connect(ac_LCD,          SIGNAL(triggered()), this, SLOT(slot_ac_LCD()));
    connect(ac_Map,          SIGNAL(triggered()), this, SLOT(slot_ac_Map()));
    connect(ac_FastDebug,    SIGNAL(triggered()), this, SLOT(slot_ac_FastDebug()));
    connect(ac_NoDebug,      SIGNAL(triggered()), this, SLOT(slot_ac_NoDebug()));
    connect(ac_FastNavi,     SIGNAL(triggered()), this, SLOT(slot_ac_FastNavi()));
    connect(ac_NoNavi,       SIGNAL(triggered()), this, SLOT(slot_ac_NoNavi()));
    connect(ac_GetLabels,    SIGNAL(triggered()), this, SLOT(slot_ac_GetLabels()));
 
    // Plotter starten / scrollen
    connect(scroll_plot,     SIGNAL(valueChanged(int)), this, SLOT(slot_ScrollPlot(int)));
    connect(ac_StartPlotter, SIGNAL(triggered()), this, SLOT(slot_ac_StartPlotter()));
    connect(ac_StartServer,  SIGNAL(triggered()), this, SLOT(slot_ac_StartServer()));
 
    // Tabs ein & ausblenden
    connect(ac_View0,        SIGNAL(triggered()), this, SLOT(slot_ac_View()));
    connect(ac_View1,        SIGNAL(triggered()), this, SLOT(slot_ac_View()));
    connect(ac_View2,        SIGNAL(triggered()), this, SLOT(slot_ac_View()));
    connect(ac_View3,        SIGNAL(triggered()), this, SLOT(slot_ac_View()));
    connect(ac_View4,        SIGNAL(triggered()), this, SLOT(slot_ac_View()));
    connect(ac_View5,        SIGNAL(triggered()), this, SLOT(slot_ac_View()));
    connect(ac_View6,        SIGNAL(triggered()), this, SLOT(slot_ac_View()));
 
    connect(ac_SelNC,        SIGNAL(triggered()), this, SLOT(slot_ac_Hardware()));
    connect(ac_SelFC,        SIGNAL(triggered()), this, SLOT(slot_ac_Hardware()));
    connect(ac_SelMag,       SIGNAL(triggered()), this, SLOT(slot_ac_Hardware()));
 
    connect(rb_SelNC,        SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));
    connect(rb_SelFC,        SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));
    connect(rb_SelMag,       SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));
 
    // firmeware Updateen / flashen
    connect(pb_Update,   SIGNAL(clicked()), this, SLOT(slot_pb_Update()));
    connect(pb_HexFile,  SIGNAL(clicked()), this, SLOT(slot_pb_HexFile()));
 
    // Wegpunkt-Befehl
    connect(pb_FlyTo,        SIGNAL(clicked()), this, SLOT(slot_pb_SendWaypoint()));
 
    // CVS-Record starten / stoppen
    connect(ac_RecordCSV,  SIGNAL(triggered()), this, SLOT(slot_RecordLog()));
 
    // Timer-Events
    connect(Ticker,   SIGNAL(timeout()),       SLOT(slot_Ticker()));
 
    // Seitenwechsel
    connect(tab_Main,             SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int)));
//    connect(f_Settings->tab_Par,  SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int)));
    connect(f_Settings->listWidget,  SIGNAL(currentRowChanged(int)), this, SLOT(slot_TabChanged(int)));
 
    // About QMK & About-QT Dialog einfügen
    connect(ac_About, SIGNAL(triggered()), this, SLOT(slot_ac_About()));
    menu_Help->addAction(trUtf8("Über &Qt"), qApp, SLOT(aboutQt()));
}
 
void MKTool::init_Arrays()
{
    lb_Analog[0]  = lb_A_0;
    lb_Analog[1]  = lb_A_1;
    lb_Analog[2]  = lb_A_2;
    lb_Analog[3]  = lb_A_3;
    lb_Analog[4]  = lb_A_4;
    lb_Analog[5]  = lb_A_5;
    lb_Analog[6]  = lb_A_6;
    lb_Analog[7]  = lb_A_7;
    lb_Analog[8]  = lb_A_8;
    lb_Analog[9]  = lb_A_9;
    lb_Analog[10] = lb_A_10;
    lb_Analog[11] = lb_A_11;
    lb_Analog[12] = lb_A_12;
    lb_Analog[13] = lb_A_13;
    lb_Analog[14] = lb_A_14;
    lb_Analog[15] = lb_A_15;
    lb_Analog[16] = lb_A_16;
    lb_Analog[17] = lb_A_17;
    lb_Analog[18] = lb_A_18;
    lb_Analog[19] = lb_A_19;
    lb_Analog[20] = lb_A_20;
    lb_Analog[21] = lb_A_21;
    lb_Analog[22] = lb_A_22;
    lb_Analog[23] = lb_A_23;
    lb_Analog[24] = lb_A_24;
    lb_Analog[25] = lb_A_25;
    lb_Analog[26] = lb_A_26;
    lb_Analog[27] = lb_A_27;
    lb_Analog[28] = lb_A_28;
    lb_Analog[29] = lb_A_29;
    lb_Analog[30] = lb_A_30;
    lb_Analog[31] = lb_A_31;
}
 
void MKTool::init_Plot()
{
    NextPlot = 0;
 
    qwtPlot->setCanvasBackground(QColor(QRgb(0x00000000)));
 
    qwtPlot->insertLegend(new QwtLegend(), QwtPlot::RightLegend);
 
    QwtPlotGrid *Grid = new QwtPlotGrid();
    Grid->setMajPen(QPen(Qt::gray, 0, Qt::DotLine));
 
    Grid->attach(qwtPlot);
 
    qwtPlot->setAxisScale(QwtPlot::xBottom,0,Settings->Data.Plotter_Count,0);
 
    for (int a = 0; a < MaxAnalog; a++)
    {
        Plot[a] = new QwtPlotCurve(Settings->Analog1.Label[a]);
        Plot[a]->setPen(QPen(QColor(Def_Colors[a])));
//        Plot[a]->setRenderHint(QwtPlotItem::RenderAntialiased);
 
        if (Settings->Analog1.PlotView[a])
            Plot[a]->attach(qwtPlot);
    }
    qwtPlot->replot();
}
 
void MKTool::slot_set_Settings(cSettings *t_Settings)
{
    Settings = t_Settings;
}
 
void MKTool::slot_Test()
{
//    qDebug("Decode Data");
    sRxData RX;
 
    RX.String = IN->text();
 
//    qDebug(RX.String.toLatin1().data());
 
//    if (ToolBox::check_CRC(RX.String))
    {
        qDebug("Decode Data CRC OK");
        RX.Input = RX.String.toLatin1().data();
 
//        qDebug(RX.Input);
 
        slot_newData(RX);
    }
}
 
// KML-Datei nach Wegpunkt parsen
// TODO: Richtigen KML-Parser bauen
void MKTool::parse_TargetKML()
{
    QString Tmp = te_KML->toPlainText().simplified();
    QStringList List;
 
    if ((Tmp.contains("<kml xmlns=\"http://earth.google.com/kml/2.2\">"))  && (Tmp.contains("<coordinates>")))
    {
        List = Tmp.split("<coordinates>");
        List = List[1].split(",");
 
        le_TarLong->setText(ToolBox::get_Float((List[0].toDouble() * 10000000), 10000000));
        le_TarLat->setText(ToolBox::get_Float((List[1].toDouble() * 10000000), 10000000));
    }
}
 
// Waypoint zur NC Senden.
void MKTool::slot_pb_SendWaypoint()
{
    if ((Navi.Current.Longitude == 0) && (Navi.Current.Latitude == 0))
    {
        QMessageBox msgB;
        QString msg;
        msgB.setText("Fehler: Es konnten keine GPS-Daten vom Mikrokopter empfangen werden");
        msgB.exec();
        return;
    }
 
    //erstelle einen Wegpunkt, den die NaviCtrl auswerten kann
    Waypoint_t desired_pos;
    bool ok_lat, ok_lon;
 
    //eingegebene Daten holen
    double desired_long, desired_lat;
 
    desired_long = le_TarLong->text().toDouble(&ok_lon);
    desired_lat  = le_TarLat->text().toDouble(&ok_lat);
 
    if (ok_lon && desired_long < 100)
        desired_long *= 10000000+0.5;
 
    if (ok_lat && desired_lat < 100)
        desired_lat *= 10000000+0.5;
 
    //fülle Wegpunkt-Daten
    desired_pos.Position.Altitude = 0;
    desired_pos.Position.Longitude = int32_t(desired_long);
    desired_pos.Position.Latitude =  int32_t(desired_lat);
    desired_pos.Position.Status = NEWDATA;
    desired_pos.Heading = -1;
    desired_pos.ToleranceRadius = 1;
    desired_pos.HoldTime = 60;
    desired_pos.Event_Flag = 0;
    desired_pos.reserve[0] = 0; // reserve
    desired_pos.reserve[1] = 0; // reserve
    desired_pos.reserve[2] = 0; // reserve
    desired_pos.reserve[3] = 0; // reserve
 
    //...und sende ihn an die NaviCtrl
    int max_radius = 10000;
    if (ok_lat && ok_lon &&
        abs(Navi.Current.Longitude - desired_pos.Position.Longitude) < max_radius &&
        abs(Navi.Current.Latitude  - desired_pos.Position.Latitude) < max_radius)
    {
            o_Connection->send_Cmd('s', ADDRESS_NC, (char *)&desired_pos, sizeof(desired_pos), false);
    }
    else
    {
        QMessageBox msgB;
        QString msg;
        msg += "Bitte die Eingabe ueberpruefen!\n";
        msg += "Die Werte muessen sich in der Naehe der aktuellen Koordinaten befinden\n";
        msg += "(Lon: ";
        msg += ToolBox::get_Float(Navi.Current.Longitude,10000000);
        msg += ", ";
        msg += "Lat: ";
        msg += ToolBox::get_Float(Navi.Current.Latitude,10000000);
        msg += ")";
        msgB.setText(msg);
        msgB.exec();
    }
}
 
void MKTool::slot_ac_Hardware()
{
    QAction *Action = (QAction*)sender();
 
    if (Action->isChecked() == false)
    {
        Action->setChecked(true);
    }
 
    slot_rb_Hardware();
}
 
void MKTool::slot_rb_Hardware()
{
    if ((rb_SelNC->isChecked() == false) && (Mode.ID != ADDRESS_NC))
    {
        lb_Status->setText(tr("Schalte um auf NaviCtrl."));
        TX_Data[0] = 0x1B;
        TX_Data[1] = 0x1B;
        TX_Data[2] = 0x55;
        TX_Data[3] = 0xAA;
        TX_Data[4] = 0x00;
        TX_Data[5] = '\r';
        o_Connection->send_Cmd('#', ADDRESS_NC, TX_Data, 6, false);
        ToolBox::Wait(SLEEP);
    }
 
    if (rb_SelFC->isChecked())
    {
        lb_Status->setText(tr("Schalte um auf FlightCtrl."));
        TX_Data[0] = 0;
        o_Connection->send_Cmd('u', ADDRESS_NC, TX_Data, 1, false);
    }
    else
    if (rb_SelMag->isChecked())
    {
        lb_Status->setText(tr("Schalte um auf MK3MAG."));
        TX_Data[0] = 1;
        o_Connection->send_Cmd('u', ADDRESS_NC, TX_Data, 1, false);
    }
    else
    if (rb_SelNC->isChecked())
    {
        lb_Status->setText(tr("Schalte um auf NaviCtrl."));
        TX_Data[0] = 0x1B;
        TX_Data[1] = 0x1B;
        TX_Data[2] = 0x55;
        TX_Data[3] = 0xAA;
        TX_Data[4] = 0x00;
        TX_Data[5] = '\r';
        o_Connection->send_Cmd('#', ADDRESS_NC, TX_Data, 6, false);
    }
    ToolBox::Wait(SLEEP);
 
//    qDebug("Select RB Hardware");
    o_Connection->send_Cmd('v', ADDRESS_ALL, TX_Data, 0, true);
}
 
// Ticker-Event
///////////////
void MKTool::slot_Ticker()
{
    if (TickerDiv)
        TickerDiv = false;
    else
        TickerDiv = true;
 
    if (cb_ClipBoard->isChecked())
    {
        QString s_OLD = te_KML->toPlainText();
        te_KML->clear();
        te_KML->paste();
        if (s_OLD != te_KML->toPlainText())
        {
            parse_TargetKML();
        }
    }
 
    for (int a = 0; a < MaxTickerEvents; a++)
    {
        if (TickerEvent[a] == true)
        {
            switch(a)
            {
                case 0 :
                    if (TickerDiv)
                    {
                        QByteArray Temp(LastSend.toUtf8());
//                        serialPort->sendData(Temp);
                    }
                break;
                case 1 :
                    TX_Data[0] = 0;
                    o_Connection->send_Cmd('p', ADDRESS_FC, TX_Data, 0, false);
                break;
                case 2 :
                    if (f_LCD->cb_LCD->isChecked())
                    {
                        if (!f_LCD->isVisible())
                        {
                            Ticker->setInterval(2000);
                            TickerEvent[2] = false;
                        }
                        TX_Data[0] = LCD_Page;
                        TX_Data[1] = 0;
                        o_Connection->send_Cmd('l', ADDRESS_ALL, TX_Data, 1, true);
                    }
                break;
                case 3 :
                    if (ac_FastDebug->isChecked())
                    {
                        TX_Data[0] = Settings->Data.Debug_Fast / 10;
                        o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false);
                    }
                    else
                    {
                        TX_Data[0] = Settings->Data.Debug_Slow / 10;
                        o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false);
                    }
                break;
            }
        }
    }
}
 
void MKTool::slot_QMKS_Connect()
{
    if (ac_QMKServer->isChecked())
    {
        lb_Status->setText(tr("Verbinde zum QMK-Datenserver."));
 
        QMK_Server->Connect(Settings->Server.QMKS_Host, Settings->Server.QMKS_Port.toInt(), Settings->Server.QMKS_Login, Settings->Server.QMKS_Password);
 
        connect(QMK_Server, SIGNAL(sig_Connected()), this, SLOT(slot_QMKS_Connected()));
        connect(QMK_Server, SIGNAL(sig_Disconnected(int)), this, SLOT(slot_QMKS_Disconnected(int)));
    }
    else
    {
        if ((QMK_Server->property("Connect")) == true)
        {
            disconnect(QMK_Server, SIGNAL(sig_Disconnected(int)), 0, 0);
            lb_Status->setText(tr("Trenne vom QMK-Datenserver."));
 
            QMK_Server->Disconnect();
            QMK_Server->setProperty("Connect", false);
            ac_QMKServer->setText("QMK-Server Verbinden");
        }
    }
}
 
void MKTool::slot_QMKS_Connected()
{
    QMK_Server->setProperty("Connect", true);
    ac_QMKServer->setText("QMK-Server Trennnen");
    lb_Status->setText(tr("Verbunden mit QMK-Datenserver."));
}
 
void MKTool::slot_QMKS_Disconnected(int Error)
{
    QMK_Server->setProperty("Connect", false);
    ac_QMKServer->setText("QMK-Server Verbinden");
    ac_QMKServer->setChecked(false);
 
    disconnect(QMK_Server, SIGNAL(sig_Disconnected(int)), 0, 0);
 
    switch (Error)
    {
        case 1 :
        {
            lb_Status->setText(tr("Verbindung vom Server beendet."));
            QMessageBox::warning(this, QA_NAME,"QMK-Datenserver: Verbindung wurde vom Server beendet.", QMessageBox::Ok);
        }
        break;
        case 2 :
        {
            lb_Status->setText(tr("Server nicht gefunden."));
            QMessageBox::warning(this, QA_NAME,"QMK-Datenserver: Kann nicht zum Server verbinden.", QMessageBox::Ok);
        }
        break;
        case 3 :
        {
            lb_Status->setText(tr("Serververbindung getrennt. Logindaten falsch."));
            QMessageBox::warning(this, QA_NAME,"QMK-Datenserver: Loginname oder Password falsch.", QMessageBox::Ok);
        }
        break;
        default :
        {
            lb_Status->setText(tr("Getrennt vom QMK-Datenserver."));
        }
        break;
    }
}
 
// Slots der Actions (Menüpunkte, Buttons)
//////////////////////////////////////////
void MKTool::slot_ac_Motortest()
{
    dlg_Motortest *f_Motortest = new dlg_Motortest(this);
 
    connect(f_Motortest, SIGNAL(updateMotor(int, int, int, int)), this, SLOT(slot_Motortest(int, int, int, int)));
 
    if (f_Motortest->exec()==QDialog::Accepted)
    {
    }
 
    disconnect(f_Motortest, 0,0,0);
    slot_Motortest(0,0,0,0);
}
 
void MKTool::slot_ac_LCD()
{
    if (!f_LCD->isVisible())
    {
        delete f_LCD;
        f_LCD = new dlg_LCD(this);
 
        // LCD auf / ab
        connect(f_LCD->pb_LCDup,   SIGNAL(clicked()), this, SLOT(slot_LCD_UP()));
        connect(f_LCD->pb_LCDdown, SIGNAL(clicked()), this, SLOT(slot_LCD_DOWN()));
 
        f_LCD->show();
        TX_Data[0] = 0;
        TX_Data[1] = 0;
        o_Connection->send_Cmd('l', ADDRESS_ALL, TX_Data, 1, true);
 
        Ticker->setInterval(500);
        TickerEvent[2] = true;
    }
}
 
void MKTool::slot_ac_Map()
{
    if (!f_Map->isVisible())
    {
//        delete f_Map;
//        f_Map = new dlg_Map(this);
//        f_Map->create_Map(Settings);
 
        f_Map->show();
    }
}
 
void MKTool::slot_MAP_SetTarget(sWayPoint Target)
{
    le_TarLong->setText(QString("%1").arg(Target.Longitude));
    le_TarLat->setText(QString("%1").arg(Target.Latitude));
    sb_TarTime->setValue(Target.Time);
 
    slot_pb_SendWaypoint();
}
 
void MKTool::slot_Motortest(int Motor1, int Motor2, int Motor3, int Motor4)
{
    TX_Data[0] = Motor1;
    TX_Data[1] = Motor2;
    TX_Data[2] = Motor3;
    TX_Data[3] = Motor4;
    o_Connection->send_Cmd('t', ADDRESS_FC, TX_Data, 4, false);
}
 
void MKTool::slot_ac_Config()
{
    set_Analog Old_Analog1;
 
    Old_Analog1 = Settings->Analog1;
 
    dlg_Config *f_Config = new dlg_Config(this);
    f_Config->set_Settings(Settings, Mode.ID);
 
    if (f_Config->exec()==QDialog::Accepted)
    {
        Settings = f_Config->get_Settings();
        Settings->write_Settings_Analog(Mode.ID);
 
        // Plotter neu einrichten
        if (Old_Analog1.PlotView != Settings->Analog1.PlotView)
        {
            config_Plot();
        }
 
        // CVS-Datei neu anlegen.
        if ((logger->is_active()) && (Old_Analog1.LogView != Settings->Analog1.LogView))
        {
            logger->close();
            logger->start_Log();
        }
 
    }
}
 
//aktualisiere Logging-Status
void MKTool::update_Log()
{
    if (logger->is_active())
    {
 
        ac_RecordCSV->setText("Log Stop");
        lb_Status->setText(tr("Log-Record gestartet."));
    }
    else
    {
        ac_RecordCSV->setText("Log Aufzeichnen");
        lb_Status->setText(tr("Log-Record gestopt."));
    }
}
 
//starte/stoppe Logging, wenn auf den entsprechenden Button gedrückt wurde
void MKTool::slot_RecordLog()
{
    if (!logger->is_active())
        logger->start_Log();
    else
        logger->close();
 
    update_Log();
}
 
void MKTool::slot_ac_Preferences()
{
    dlg_Preferences *f_Preferences = new dlg_Preferences(this);
 
    Settings->TTY.Port = le_Port->text();
    f_Preferences->set_Settings(Settings);
 
    if (f_Preferences->exec()==QDialog::Accepted)
    {
        Settings = f_Preferences->get_Settings();
        Settings->write_Settings();
        le_Port->setText(Settings->TTY.Port);
        config_Plot();
    }
}
 
void MKTool::slot_ac_StartPlotter()
{
    if (ac_StartPlotter->isChecked())
    {
        lb_Status->setText(tr("Datenplotter gestartet."));
        ac_StartPlotter->setText("Stop Plotter");
        pb_StartPlotter->setText("Stop Plotter");
    }
    else
    {
        lb_Status->setText(tr("Datenplotter gestopt."));
        ac_StartPlotter->setText("Start Plotter");
        pb_StartPlotter->setText("Start Plotter");
    }
}
 
void MKTool::slot_ac_View()
{
    int Aktive = -1;
 
    QAction *Action = (QAction*)sender();
 
    if (Action->objectName() == QString("ac_View0"))
        Aktive = 0;
    if (Action->objectName() == QString("ac_View1"))
        Aktive = 1;
    if (Action->objectName() == QString("ac_View2"))
        Aktive = 2;
    if (Action->objectName() == QString("ac_View3"))
        Aktive = 3;
    if (Action->objectName() == QString("ac_View4"))
        Aktive = 4;
    if (Action->objectName() == QString("ac_View5"))
        Aktive = 5;
    if (Action->objectName() == QString("ac_View6"))
        Aktive = 6;
 
    QString TabName = QString("Tab_%1").arg(Aktive);
 
    if (!Action->isChecked())
    {
        for (int a = 0; a < tab_Main->count(); a++)
        {
            if (tab_Main->widget(a)->objectName() == TabName)
            {
                tab_Main->removeTab(a);
            }
        }
    }
    else
    {
        tab_Main->insertTab(Aktive, TabWidgets[Aktive], Action->icon(), Action->text());
    }
}
 
void MKTool::slot_ac_FastNavi() // DONE NC 0.12i
{
    if (!ac_NoNavi->isChecked())
    {
        if (ac_FastNavi->isChecked())
        {
            lb_Status->setText(tr("Fordere schnelle NaviDaten an."));
            TX_Data[0] = Settings->Data.Navi_Fast / 10;
        }
        else
        {
            lb_Status->setText(tr("Fordere langsame NaviDaten an."));
            TX_Data[0] = Settings->Data.Navi_Slow / 10;
        }
        o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false);
    }
}
 
void MKTool::slot_ac_NoNavi() // DONE NC 0.12i
{
    if (ac_NoNavi->isChecked())
    {
        lb_Status->setText(tr("NaviDaten abstellen."));
        TX_Data[0] = 0;
    }
    else
    {
        if (ac_FastNavi->isChecked())
        {
            lb_Status->setText(tr("Fordere schnelle NaviDaten an."));
            TX_Data[0] = Settings->Data.Navi_Fast / 10;
        }
        else
        {
            lb_Status->setText(tr("Fordere langsame NaviDaten an."));
            TX_Data[0] = Settings->Data.Navi_Slow / 10;
        }
    }
    o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false);
}
 
void MKTool::slot_ac_FastDebug() // DONE 0.71g
{
    if (!ac_NoDebug->isChecked())
    {
        if (ac_FastDebug->isChecked())
        {
            lb_Status->setText(tr("Fordere schnelle DebugDaten an."));
            TX_Data[0] = Settings->Data.Debug_Fast / 10;
        }
        else
        {
            lb_Status->setText(tr("Fordere langsame DebugDaten an."));
            TX_Data[0] = Settings->Data.Debug_Slow / 10;
        }
        o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false);
    }
}
 
void MKTool::slot_ac_NoDebug() // DONE 0.71g
{
    if (ac_NoDebug->isChecked())
    {
        lb_Status->setText(tr("DebugDaten abstellen."));
        TickerEvent[3] = false;
        TX_Data[0] = 0;
    }
    else
    {
        // Wenn MK3MAG dann andauernd Daten neu anfragen.
        if (Mode.ID == ADDRESS_MK3MAG)
            TickerEvent[3] = true;
 
        if (ac_FastDebug->isChecked())
        {
            lb_Status->setText(tr("Fordere schnelle DebugDaten an."));
            TX_Data[0] = Settings->Data.Debug_Fast / 10;
        }
        else
        {
            lb_Status->setText(tr("Fordere langsame DebugDaten an."));
            TX_Data[0] = Settings->Data.Debug_Slow / 10;
        }
    }
    o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false);
}
 
void MKTool::slot_ac_About()
{
    QMessageBox::about(this, trUtf8(("Über ")) + QA_NAME, QA_ABOUT);
}
 
void MKTool::slot_ac_GetLabels() // DONE 0.71g
{
    lb_Status->setText(tr("Analoglabels auslesen."));
    TX_Data[0] = 0;
    o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);
}
 
void MKTool::slot_ac_StartServer()
{
    if (ac_StartServer->isChecked())
    {
        lb_Status->setText(tr("KML-Server gestartet."));
        KML_Server->start_Server(Settings->Server.Port.toInt(), Settings);
    }
    else
    {
        lb_Status->setText(tr("KML-Server gestopt."));
        KML_Server->stop_Server();
    }
}
 
 
//  Daten-Plotter
/////////////////
void MKTool::update_Plot()
{
    for (int a = 0; a < MaxAnalog; a++)
    {
        Plot[a]->setData(aID,aData[a],NextPlot - 1);
    }
 
    if ((NextPlot > Settings->Data.Plotter_Count))
    {
        scroll_plot->setMaximum(NextPlot - Settings->Data.Plotter_Count);
    }
 
    if ((scroll_plot->value() == NextPlot - (Settings->Data.Plotter_Count + 1)))
    {
        qwtPlot->setAxisScale(QwtPlot::xBottom,NextPlot - Settings->Data.Plotter_Count,NextPlot,0);
        scroll_plot->setValue(NextPlot - Settings->Data.Plotter_Count);
    }
 
    qwtPlot->replot();
}
 
void MKTool::config_Plot()
{
//    qDebug("Plotter rekonfiguriert..!!");
    qwtPlot->setAxisScale(QwtPlot::xBottom,0,Settings->Data.Plotter_Count,0);
 
    for (int a = 0; a < MaxAnalog; a++)
    {
        Plot[a]->detach();
        Plot[a]->setPen(QPen(QColor(Def_Colors[a])));
 
        if (Settings->Analog1.PlotView[a])
        {
            Plot[a]->setTitle(Settings->Analog1.Label[a]);
            Plot[a]->attach(qwtPlot);
        }
    }
    qwtPlot->replot();
}
 
void MKTool::slot_ScrollPlot(int Pos)
{
    qwtPlot->setAxisScale(QwtPlot::xBottom,Pos,Pos + Settings->Data.Plotter_Count,0);
    qwtPlot->replot();
}
 
 
// Firmeware-Update
///////////////////
void MKTool::slot_pb_Update()
{
    QString Device;
    QString Hardware;
 
    if (rb_FC->isChecked())
    {
        Device   = "m644";
        Hardware = "FlightCtrl";
    }
    else if (rb_MK3MAG->isChecked())
    {
        Device   = "m168";
        Hardware = "MK3MAG";
    }
    else if (rb_BL->isChecked())
    {
        Device   = "m8";
        Hardware = "BL-Ctrl";
    }
 
    QString Message = "Firmeware-Datei \n\n";
    Message = Message + le_HexFile->text() + "\n\n";
    Message = Message + "an " + Hardware + trUtf8(" mit AVRDUDE - Seriel & Bootloader über ") + le_Port->text() + trUtf8(" übertragen?\n");
 
    if (le_HexFile->text() == "")
    {
        QMessageBox::warning(this, QA_NAME, trUtf8("Bitte Firmeware-Datei wählen."), QMessageBox::Ok);
    }
    else if (QMessageBox::warning(this, QA_NAME, Message, QMessageBox::Yes | QMessageBox::No) == QMessageBox::Yes)
    {
        QString Programm = Settings->DIR.AVRDUDE;
 
        QStringList Argumente;
 
        Update = new QProcess();
 
        if (o_Connection->isOpen())
        {
            slot_OpenPort();
        }
 
        Argumente << "-P";
        Argumente << le_Port->text();
        Argumente << "-p";
        Argumente << Device;
        Argumente << "-c";
        Argumente << "butterfly";
        Argumente << "-b";
        Argumente << "57600";
        Argumente << "-U";
        Argumente << "flash:w:" + le_HexFile->text();
 
//    QString Programm = "/home/Manuel/bin/avrdude -p m644 -P /dev/ttyS0 -c butterfly -b 57600 -U flash:w:/home/Manuel/Documents/Mikrokopter/Firmeware/FlightCtrl/Flight-Ctrl_MEGA644_V0_71h.hex";
 
        te_Shell->setText(""); // Ausgabefenster säubern
 
        connect(Update, SIGNAL(readyReadStandardOutput()), this, SLOT(slot_UpdateShell()) );
        connect(Update, SIGNAL(readyReadStandardError()), this, SLOT(slot_UpdateShell()) );
 
        Update->start(Programm, Argumente); // Programmaufruf
    }
}
 
void MKTool::slot_UpdateShell()
{
    QByteArray Output;
 
    Output = Update->readAllStandardError(); // Shellausgabe an Variable
    te_Shell->moveCursor(QTextCursor::End,  QTextCursor::MoveAnchor);
    te_Shell->insertPlainText(QString::fromUtf8(Output));
 
    Output = Update->readAll();
    te_Shell->moveCursor(QTextCursor::End,  QTextCursor::MoveAnchor);
    te_Shell->insertPlainText(QString::fromUtf8(Output));
}
 
void MKTool::slot_pb_HexFile()
{
    QString FileName = QFileDialog::getOpenFileName(this,trUtf8(("Firmeware-Datei wählen")),"",
                                tr("Intel Hex(*.hex);;Alle Dateien (*)"));
    if (!FileName.isEmpty())
    {
        le_HexFile->setText(FileName);
    }
}
 
 
// Wechsel der Tabs erkennen
void MKTool::slot_TabChanged(int Tab) // DONE 0.71g
{
    Tab = Tab;
    if (tab_Main->count() != 0)
    {
        if ((tab_Main->currentWidget()->objectName() == QString("Tab_2")) && (f_Settings->listWidget->currentRow() == 1))
        {
            TX_Data[0] = 0;
            o_Connection->send_Cmd('p', ADDRESS_FC, TX_Data, 0, true);
 
            Ticker->setInterval(500);
            TickerEvent[1] = true;
        }
        else
        {
            Ticker->setInterval(2000);
            TickerEvent[1] = false;
        }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
    }
}
 
// LCD-Seiten weiterschalten
void MKTool::slot_LCD_UP() // DONE 0.71g
{
    if (LCD_Page == LCD_MAX_Page)
        TX_Data[0] = 0;
    else
        TX_Data[0] = LCD_Page + 1;
 
    TX_Data[1] = 0;
    o_Connection->send_Cmd('l', ADDRESS_ALL, TX_Data, 1, true);
}
 
void MKTool::slot_LCD_DOWN() // DONE 0.71g
{
    if (LCD_Page == 0)
        TX_Data[0] = LCD_MAX_Page;
    else
        TX_Data[0] = LCD_Page - 1;
 
    TX_Data[1] = 0;
    o_Connection->send_Cmd('l', ADDRESS_ALL, TX_Data, 1, true);
}
 
// Settings aus MK lesen / in MK schreiben
void MKTool::slot_GetFCSettings() // DONE 0.71g
{
    lb_Status->setText(tr("Lese FlightCtrl-Settings aus."));
    TX_Data[0] = f_Settings->sb_Set->value();
    TX_Data[1] = 0;
    o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1);
}
 
void MKTool::slot_SetFCSettings() // DONE 0.71g
{
    char *TX_Data2 = f_Settings->GetFCSettings();
 
    lb_Status->setText(tr("Schreibe FlightCtrl-Settings."));
 
    o_Connection->send_Cmd('s', ADDRESS_FC, TX_Data2, MaxParameter + 2, false);
}
 
 
// Save GUI-Preferences
///////////////////////
void MKTool::set_Preferences()
{
    Settings->GUI.TabViews.setBit(0, ac_View0->isChecked());
    Settings->GUI.TabViews.setBit(1, ac_View1->isChecked());
    Settings->GUI.TabViews.setBit(2, ac_View2->isChecked());
    Settings->GUI.TabViews.setBit(3, ac_View3->isChecked());
    Settings->GUI.TabViews.setBit(4, ac_View4->isChecked());
    Settings->GUI.TabViews.setBit(5, ac_View5->isChecked());
    Settings->GUI.TabViews.setBit(6, ac_View6->isChecked());
 
    Settings->GUI.ToolViews.setBit(0, tb_Allgemein->isVisibleTo(this));
    Settings->GUI.ToolViews.setBit(1, tb_Werkzeuge->isVisibleTo(this));
    Settings->GUI.ToolViews.setBit(2, tb_Debug->isVisibleTo(this));
    Settings->GUI.ToolViews.setBit(3, tb_TTY->isVisibleTo(this));
    Settings->GUI.ToolViews.setBit(4, tb_Hardware->isVisibleTo(this));
 
    Settings->GUI.Term_Info   = cb_ShowMSG->isChecked();
    Settings->GUI.Term_Data   = cb_ShowData->isChecked();
    Settings->GUI.Term_Always = cb_ShowAlways->isChecked();
    Settings->GUI.Term_Send   = cb_ShowSend->isChecked();
    Settings->GUI.isMax       = isMaximized();
    Settings->GUI.Size        = size();
    Settings->GUI.Point       = pos();
 
    Settings->TTY.Port = le_Port->text();
}
 
void MKTool::show_DebugData()
{
    if (logger->is_active())
        logger->write(AnalogData);
 
    if (ac_StartPlotter->isChecked())
    {
        aID[NextPlot] = NextPlot;
 
        for (int a = 0; a < MaxAnalog; a++)
        {
            aData[a][NextPlot] = AnalogData[a];
        }
        NextPlot++;
 
        if ((tab_Main->currentWidget()->objectName() == QString("Tab_1")))
            update_Plot();
    }
 
    le_A_0->setText(QString("%1").arg(AnalogData[0]));
    le_A_1->setText(QString("%1").arg(AnalogData[1]));
    le_A_2->setText(QString("%1").arg(AnalogData[2]));
    le_A_3->setText(QString("%1").arg(AnalogData[3]));
    le_A_4->setText(QString("%1").arg(AnalogData[4]));
    le_A_5->setText(QString("%1").arg(AnalogData[5]));
    le_A_6->setText(QString("%1").arg(AnalogData[6]));
    le_A_7->setText(QString("%1").arg(AnalogData[7]));
    le_A_8->setText(QString("%1").arg(AnalogData[8]));
    le_A_9->setText(QString("%1").arg(AnalogData[9]));
    le_A_10->setText(QString("%1").arg(AnalogData[10]));
    le_A_11->setText(QString("%1").arg(AnalogData[11]));
    le_A_12->setText(QString("%1").arg(AnalogData[12]));
    le_A_13->setText(QString("%1").arg(AnalogData[13]));
    le_A_14->setText(QString("%1").arg(AnalogData[14]));
    le_A_15->setText(QString("%1").arg(AnalogData[15]));
    le_A_16->setText(QString("%1").arg(AnalogData[16]));
    le_A_17->setText(QString("%1").arg(AnalogData[17]));
    le_A_18->setText(QString("%1").arg(AnalogData[18]));
    le_A_19->setText(QString("%1").arg(AnalogData[19]));
    le_A_20->setText(QString("%1").arg(AnalogData[20]));
    le_A_21->setText(QString("%1").arg(AnalogData[21]));
    le_A_22->setText(QString("%1").arg(AnalogData[22]));
    le_A_23->setText(QString("%1").arg(AnalogData[23]));
    le_A_24->setText(QString("%1").arg(AnalogData[24]));
    le_A_25->setText(QString("%1").arg(AnalogData[25]));
    le_A_26->setText(QString("%1").arg(AnalogData[26]));
    le_A_27->setText(QString("%1").arg(AnalogData[27]));
    le_A_28->setText(QString("%1").arg(AnalogData[28]));
    le_A_29->setText(QString("%1").arg(AnalogData[29]));
    le_A_30->setText(QString("%1").arg(AnalogData[30]));
    le_A_31->setText(QString("%1").arg(AnalogData[31]));
 
    if ((Mode.ID == ADDRESS_FC) && (FCSettings[P_GYRO_ACC_FAKTOR] > 0))
    {
        bar_UBAT->setValue(AnalogData[9]);
        bar_RX->setValue(AnalogData[10]);
 
        Compass->setValue(AnalogData[8]);
 
        int Roll = (AnalogData[1] * FCSettings[P_GYRO_ACC_FAKTOR]) / 1024;
        int Nick = (AnalogData[0] * FCSettings[P_GYRO_ACC_FAKTOR]) / 1024;
 
        if (Roll > 128)
            Roll = Roll - 255;
 
        if (Nick > 128)
            Nick = Nick - 255;
 
        Attitude->setAngle(Roll);
        Attitude->setGradient(double(double(Nick) / 100.0));
    }
}
 
void MKTool::new_NaviData(sRxData RX)
{
//    qDebug("Navi-Data");
 
    switch(RX.Decode[N_NC_FLAGS])
    {
        case 1 : lb_Mode->setText("Free"); break;
        case 2 : lb_Mode->setText("Position Hold"); break;
        case 4 : lb_Mode->setText("Coming Home"); break;
        case 8 : lb_Mode->setText("Range Limit"); break;
    }
 
    Navi.Current.Longitude = ToolBox::Data2Long(RX.Decode, N_CUR_LONGITUDE, true);
    Navi.Current.Latitude  = ToolBox::Data2Long(RX.Decode, N_CUR_LATITUDE,  true);
    Navi.Current.Altitude  = ToolBox::Data2Long(RX.Decode, N_CUR_ALTITUDE,  true);
    Navi.Target.Longitude  = ToolBox::Data2Long(RX.Decode, N_TAR_LONGITUDE, true);
    Navi.Target.Latitude   = ToolBox::Data2Long(RX.Decode, N_TAR_LATITUDE,  true);
    Navi.Target.Altitude   = ToolBox::Data2Long(RX.Decode, N_TAR_ALTITUDE,  true);
 
    le_CDistance->setText(QString("%1 cm").arg(ToolBox::Data2Int(RX.Decode, N_HOME_DISTANCE)));
    le_CWPA->setText(QString("%1").arg(RX.Decode[N_WP_INDEX]));
    le_CWPT->setText(QString("%1").arg(RX.Decode[N_WP_NUMBER]));
    le_CSats->setText(QString("%1").arg(RX.Decode[N_SATS_IN_USER]));
 
    qwt_Rate->setValue(double(ToolBox::Data2Int(RX.Decode, N_VARIOMETER, true)));
 
    le_CTime->setText(QString("%1 sec.").arg(ToolBox::Data2Int(RX.Decode, N_FLYING_TIME)));
 
    bar_UBAT->setValue(RX.Decode[N_UBAT]);
 
    double Speed = double((ToolBox::Data2Int(RX.Decode, N_GROUND_SPEED)) / 10.0);
 
    if ((Speed > 4.5) && SpeedMeter->property("END") == 5)
    {
        SpeedMeter->setRange(0.0, 10.0);
        SpeedMeter->setScale(1, 2, 1);
        SpeedMeter->setProperty("END", 10);
    }
 
    if ((Speed > 9) && SpeedMeter->property("END") == 10)
    {
        SpeedMeter->setRange(0.0, 20.0);
        SpeedMeter->setScale(1, 2, 2);
        SpeedMeter->setProperty("END", 20);
    }
 
    SpeedMeter->setValue(Speed);
 
    Compass->setValue(ToolBox::Data2Int(RX.Decode, N_COMAPSS_HEADING)); //(68)
 
    bar_RX->setValue(RX.Decode[N_RC_QUALITY]);
 
    int Nick = RX.Decode[N_ANGLE_NICK];
    int Roll = RX.Decode[N_ANGLE_ROLL];
 
    if (Roll > 128)
        Roll = Roll - 255;
 
    if (Nick > 128)
        Nick = Nick - 255;
 
    Attitude->setAngle(Roll);
    Attitude->setGradient(double(0.0 - (double(Nick) / 100.0)));
 
    sNaviString NaviString;
 
    NaviString.Longitude = ToolBox::get_Float(Navi.Current.Longitude,10000000);
    NaviString.Latitude  = ToolBox::get_Float(Navi.Current.Latitude,10000000);
    NaviString.Altitude  = ToolBox::get_Float(Navi.Current.Altitude,1000);
 
    le_CurLong->setText(NaviString.Longitude);
    le_CurLat->setText(NaviString.Latitude);
 
    KML_Server->store_NaviString(NaviString);
 
    f_Map->add_Position(NaviString.Longitude.toDouble(), NaviString.Latitude.toDouble());
 
    if ((QMK_Server->property("Connect")) == true)
    {
//        qDebug("Send Data to Server..!!");
        QMK_Server->NewPosition(NaviString);
    }
}
 
// Kopter-Kommunikations-Bereich, Befehle senden und Daten empfangen
////////////////////////////////////////////////////////////////////
 
// Neues Datenpacket empfangen -> Verarbeiten
void MKTool::slot_newData(sRxData RX) // DONE 0.71g
{
    if (LastSend.length() > 2)
    {
    }
    int HardwareID = RX.Input[1] - 'a';
 
    switch(HardwareID)
    {
        case ADDRESS_FC :
            switch(RX.Input[2])
            {
                // Stick-Belegung der Fernsteuerung
                case 'P' : // DONE 0.71g
                    if (ToolBox::Decode64(RX))
                    {
                        f_Settings->pb_K1->setValue(ToolBox::Data2Int(RX.Decode,  2,true));
                        f_Settings->pb_K2->setValue(ToolBox::Data2Int(RX.Decode,  4,true));
                        f_Settings->pb_K3->setValue(ToolBox::Data2Int(RX.Decode,  6,true));
                        f_Settings->pb_K4->setValue(ToolBox::Data2Int(RX.Decode,  8,true));
                        f_Settings->pb_K5->setValue(ToolBox::Data2Int(RX.Decode, 10 ,true));
                        f_Settings->pb_K6->setValue(ToolBox::Data2Int(RX.Decode, 12,true));
                        f_Settings->pb_K7->setValue(ToolBox::Data2Int(RX.Decode, 14,true));
                        f_Settings->pb_K8->setValue(ToolBox::Data2Int(RX.Decode, 16,true));
                    }
                break;
                // Settings lesen
                case 'Q' : // DONE 0.71g
                    if (ToolBox::Decode64(RX))
                    {
                        TickerEvent[0] = false;
 
                        if (RX.Decode[1] == VERSION_SETTINGS)
                        {
                            int Settings_ID = RX.Decode[0];
                            for (int a = 0; a < MaxParameter; a++)
                            {
                                FCSettings[a] = RX.Decode[a + 2];
                            }
                            //show_ParameterSet(Settings_ID);
                            f_Settings->show_FCSettings(Settings_ID, FCSettings);
                            f_Settings->pb_Read->setEnabled(true);
                            f_Settings->pb_Write->setEnabled(true);
                        }
                        else
                        {
                            f_Settings->pb_Read->setDisabled(true);
                            f_Settings->pb_Write->setDisabled(true);
 
                            QMessageBox::warning(this, QA_NAME,
                                   "Versionen inkompatibel. \nParameterbearbeitung nicht moeglich.", QMessageBox::Ok);
                        }
                    }
                break;
                // Settings geschrieben
                case 'S' : // DONE 0.71g
                    TickerEvent[0] = false;
                break;
            }
 
        case ADDRESS_NC :
            switch(RX.Input[2])
            {
                // Navigationsdaten
                case 'O' : // NOT DONE 0.12h
                    if (ToolBox::Decode64(RX))
                    {
                        new_NaviData(RX);
                    }
                break;
            }
//        case ADDRESS_MK3MAG :
 
        default :
            switch(RX.Input[2])
            {
                // LCD-Anzeige
                case 'L' : // DONE 0.71g
                    if (ToolBox::Decode64(RX))
                    {
                        int LCD[150];
                        memcpy(LCD,RX.Decode, sizeof(RX.Decode));
 
                        f_LCD->show_Data(LCD);
 
                        LCD_Page     = RX.Decode[0];
                        LCD_MAX_Page = RX.Decode[1];
 
                        TickerEvent[0] = false;
                    }
                break;
                // Analoglabels
                case 'A' : // DONE 0.71g
                    if (ToolBox::Decode64(RX))
                    {
                        int Position = RX.Decode[0];
                        if (Position != 31)
                        {
                            Settings->Analog1.Label[Position] = ToolBox::Data2QString(RX.Decode,1,17).trimmed();
                            if (Settings->Analog1.Label[Position] == "")
                            {
                                Settings->Analog1.Label[Position] = "A-" + QString("%1").arg(Position);
                            }
                            Position ++;
                            TX_Data[0] = Position;
                            o_Connection->send_Cmd('a', ADDRESS_ALL, TX_Data, 1, true);
                        }
                        if (Position == 31)
                        {
                            for (int a = 0; a < MaxAnalog; a++)
                            {
                                lb_Analog[a]->setText(Settings->Analog1.Label[a]);
                            }
                            Settings->Analog1.Version = Mode.Version;
                            Settings->write_Settings_AnalogLabels(HardwareID);
                            config_Plot();
                        }
                    }
                break;
                // Debug-Daten
                case 'D' : // DONE 0.71g
                    if (ToolBox::Decode64(RX))
                    {
                        for (int i = 0; i < MaxAnalog; i++)
                        {
                            AnalogData[i] = ToolBox::Data2Int(RX.Decode, (i * 2) + 2);
                        }
                        show_DebugData();
                    }
                break;
                // Version
                case 'V' : // DONE 0.71h
                    if (ToolBox::Decode64(RX))
                    {
                        TickerEvent[0] = false;
 
                        Mode.ID            = HardwareID;
                        Mode.VERSION_MAJOR = RX.Decode[0];
                        Mode.VERSION_MINOR = RX.Decode[1];
                        Mode.VERSION_PATCH = RX.Decode[4];
                        Mode.VERSION_SERIAL_MAJOR = RX.Decode[2];
                        Mode.VERSION_SERIAL_MINOR = RX.Decode[3];
 
                        Mode.Hardware   = HardwareType[Mode.ID];
                        Mode.Version    = QString("%1").arg(RX.Decode[0]) + "." + QString("%1").arg(RX.Decode[1]) + QString(RX.Decode[4] + 'a');
 
                        setWindowTitle(QA_NAME + " v" + QA_VERSION + " - " + Mode.Hardware + " " + Mode.Version);
 
                        if (Mode.VERSION_SERIAL_MAJOR != VERSION_SERIAL_MAJOR)
                        {
//                                AllowSend = false;
                                QMessageBox::warning(this, QA_NAME,
                                   "Serielles Protokoll Inkompatibel. \nBitte neue Programmversion installieren,", QMessageBox::Ok);
                        }
 
                        if (ac_NoDebug->isChecked())
                        {
                            TX_Data[0] = 0;
                        }
                        else
                        if (ac_FastDebug->isChecked())
                        {
                            TX_Data[0] = Settings->Data.Debug_Fast / 10;
                        }
                        else
                        {
                            TX_Data[0] = Settings->Data.Debug_Slow / 10;
                        }
 
                        o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false);
 
                        // Wenn MK3MAG dann andauernd Daten neu anfragen.
                        if (Mode.ID == ADDRESS_MK3MAG)
                        {
                            TickerEvent[3] = true;
                            rb_SelMag->setChecked(true);
                        }
 
                        // Wenn NaviCtrl dann hier.
                        if (Mode.ID == ADDRESS_NC)
                        {
                            rb_SelNC->setChecked(true);
 
                            if (ac_NoNavi->isChecked())
                            {
                                TX_Data[0] = 0;
                            }
                            else
                            if (ac_FastNavi->isChecked())
                            {
                                TX_Data[0] = Settings->Data.Navi_Fast / 10;
                            }
                            else
                            {
                                TX_Data[0] = Settings->Data.Navi_Slow / 10;
                            }
 
                            o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false);
                        }
 
 
                        // Wenn FlightCtrl dann Settings abfragen.
                        if (Mode.ID == ADDRESS_FC)
                        {
                            rb_SelFC->setChecked(true);
                            {
                                TX_Data[0] = 0xff;
                                TX_Data[1] = 0;
 
                                // DEP: Raus wenn Resend implementiert.
                                ToolBox::Wait(SLEEP);
                                o_Connection->send_Cmd('q', ADDRESS_FC, TX_Data, 1, true);
                                qDebug("FC - Get Settings");
                            }
                        }
                        // Wenn nicht Lesen und Schreiben der Settings deaktivieren.
                        else
                        {
                                f_Settings->pb_Read->setDisabled(true);
                                f_Settings->pb_Write->setDisabled(true);
                        }
 
                        Settings->read_Settings_Analog(HardwareID);
                        Settings->read_Settings_AnalogLabels(HardwareID);
 
                        if (Settings->Analog1.Version != Mode.Version)
                        {
                            lb_Status->setText("Analoglabel-Version unterschiedlich. Lese Analoglabels neu aus.");
                            slot_ac_GetLabels();
                        }
                        else
                        for (int a = 0; a < MaxAnalog; a++)
                        {
                            lb_Analog[a]->setText(Settings->Analog1.Label[a]);
                        }
                        config_Plot();
                    }
                break;
            }
    }
 
    // TODO: Roh-Daten senden zum QMK-Server dazu Sendebuffer bauen.
    if ((QMK_Server->property("Connect")) == true)
    {
//        QMK_Server->send_RawData(RX.String);
    }
 
    slot_showTerminal(1, RX.String);
}
 
void MKTool::slot_showTerminal(int Typ, QString Text)
{
    switch(Typ)
    {
        case 1 :
        {
            if ((cb_ShowData->isChecked()) && ((tab_Main->currentWidget()->objectName() == QString("Tab_3")) || (cb_ShowAlways->isChecked())))
            {
                te_RX->moveCursor(QTextCursor::End,  QTextCursor::MoveAnchor);
                te_RX->insertHtml("<span style=\"color:#00008b;\">" + Text + "<br /></span>");
            }
        }
        break;
        case 2 :
        {
            if ((cb_ShowMSG->isChecked()) && ((tab_Main->currentWidget()->objectName() == QString("Tab_3")) || (cb_ShowAlways->isChecked())))
            {
                te_RX->moveCursor(QTextCursor::End,  QTextCursor::MoveAnchor);
                te_RX->insertHtml("<span style=\"color:#008b00;\">" + Text + "</span>");
            }
        }
        break;
        case 3 :
        {
            if (cb_ShowSend->isChecked())
            {
                te_RX->moveCursor(QTextCursor::End,  QTextCursor::MoveAnchor);
                te_RX->insertHtml("<span style='color:#8b0000;'>" + Text + "<br /></span>");
            }
        }
        break;
    }
}
 
// Verbindung zum Kopter herstellen / Trennen
void MKTool::slot_OpenPort()
{
    if (o_Connection->isOpen())
    {
        TX_Data[0] = Settings->Data.Debug_Off / 10;
        o_Connection->send_Cmd('d', ADDRESS_ALL, TX_Data, 1, false);
        ToolBox::Wait(SLEEP);
 
        if (Mode.ID == ADDRESS_NC)
        {
            TX_Data[0] = Settings->Data.Navi_Off / 10;
            o_Connection->send_Cmd('o', ADDRESS_NC, TX_Data, 1, false);
            ToolBox::Wait(SLEEP);
        }
 
        if (Mode.ID == ADDRESS_FC)
        {
            TX_Data[0] = 0;
            TX_Data[1] = 0;
            TX_Data[2] = 0;
            TX_Data[3] = 0;
            o_Connection->send_Cmd('t', ADDRESS_FC, TX_Data, 4, false);
            ToolBox::Wait(SLEEP);
        }
 
        o_Connection->Close();
 
        ac_ConnectTTY->setText("Kopter Verbinden");
        le_Port->setEnabled(true);
 
        Ticker->stop();
    }
    else
    {
        int i_Type;
        if (le_Port->text().contains(QString("IP:")))
        {
            i_Type = C_IP;
        }
        else
        {
            i_Type = C_TTY;
        }
 
        if (o_Connection->Open(i_Type, le_Port->text()))
        {
            ac_ConnectTTY->setText("Kopter Trennen");
            le_Port->setEnabled(false);
 
            o_Connection->send_Cmd('v', ADDRESS_ALL, TX_Data, 0, true);
 
            Ticker->start(2000);
        }
    }
}
 
// Programm beenden
///////////////////
 
MKTool::~MKTool()
{
    if (o_Connection->isOpen())
    {
        o_Connection->Close();
    }
 
    set_Preferences();
    Settings->write_Settings();
 
    logger->close();
}
 

Rev 305	Rev 306
1	/***************************************************************************	1	/***************************************************************************
2	* Copyright (C) 2008 by Manuel Schrape *	2	* Copyright (C) 2008 by Manuel Schrape *
3	* manuel.schrape@gmx.de *	3	* manuel.schrape@gmx.de *
4	* *	4	* *
5	* This program is free software; you can redistribute it and/or modify *	5	* This program is free software; you can redistribute it and/or modify *
6	* it under the terms of the GNU General Public License as published by *	6	* it under the terms of the GNU General Public License as published by *
7	* the Free Software Foundation; either version 2 of the License. *	7	* the Free Software Foundation; either version 2 of the License. *
8	* *	8	* *
9	* This program is distributed in the hope that it will be useful, *	9	* This program is distributed in the hope that it will be useful, *
10	* but WITHOUT ANY WARRANTY; without even the implied warranty of *	10	* but WITHOUT ANY WARRANTY; without even the implied warranty of *
11	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *	11	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
12	* GNU General Public License for more details. *	12	* GNU General Public License for more details. *
13	* *	13	* *
14	* You should have received a copy of the GNU General Public License *	14	* You should have received a copy of the GNU General Public License *
15	* along with this program; if not, write to the *	15	* along with this program; if not, write to the *
16	* Free Software Foundation, Inc., *	16	* Free Software Foundation, Inc., *
17	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *	17	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
18	***************************************************************************/	18	***************************************************************************/
19		19
20	// TODO: Wiederholungssenden wieder einbauen	20	// TODO: Wiederholungssenden wieder einbauen
21		21
22	#include <QtGui>	22	#include <QtGui>
23		23
24	#include <QLineEdit>	24	#include <QLineEdit>
25	#include <QString>	25	#include <QString>
26	#include <QTimer>	26	#include <QTimer>
27	#include <QIcon>	27	#include <QIcon>
28	#include <QToolButton>	28	#include <QToolButton>
29	#include <QSpinBox>	29	#include <QSpinBox>
30	#include <QAction>	30	#include <QAction>
31	#include <QPalette>	31	#include <QPalette>
32		32
33	#include "mktool.h"	33	#include "mktool.h"
34	#include "dlg_Config.h"	34	#include "dlg_Config.h"
35	#include "dlg_Motortest.h"	35	#include "dlg_Motortest.h"
36	#include "dlg_Preferences.h"	36	#include "dlg_Preferences.h"
37	#include "../global.h"	37	#include "../global.h"
38	#include "../Classes/ToolBox.h"	38	#include "../Classes/ToolBox.h"
39		39
40	#include <stdlib.h>	40	#include <stdlib.h>
41		41
42	MKTool::MKTool()	42	MKTool::MKTool()
43	{	43	{
44	setupUi(this);	44	setupUi(this);
45		45
46	Settings = new cSettings;	46	Settings = new cSettings;
47		47
48	init_Arrays();	48	init_Arrays();
49	init_GUI();	49	init_GUI();
-		50	init_Cockpit();
50		51
51	init_Objects();	52	init_Objects();
52	init_Connections();	53	init_Connections();
53		54
54	init_Plot();	55	init_Plot();
55	}	56	}
56		57
57	void MKTool::init_GUI()	58	void MKTool::init_GUI()
58	{	59	{
59	setWindowTitle(QA_NAME + " v" + QA_VERSION);	60	setWindowTitle(QA_NAME + " v" + QA_VERSION);
60		61
61	// Tab mit Debug-Elementen verbergen	62	// Tab mit Debug-Elementen verbergen
62	tab_Main->removeTab(6);	63	tab_Main->removeTab(6);
63	// Develop - Nicht gebrauchte sachen abschalten.	64	// Develop - Nicht gebrauchte sachen abschalten.
64	pb_SettingsReset->hide();	65	pb_SettingsReset->hide();
65	pb_Flash->hide();	66	pb_Flash->hide();
66	rb_NC->hide();	67	rb_NC->hide();
67		68
68	// Beta-Sachen einschalten.	69	// Beta-Sachen einschalten.
69	#ifdef _BETA_	70	#ifdef _BETA_
70	ac_QMKServer->setEnabled(true);	71	ac_QMKServer->setEnabled(true);
71	#endif	72	#endif
72	// Settings-Tab hinzufügen.	73	// Settings-Tab hinzufügen.
73	f_Settings = new wdg_Settings( this );	74	f_Settings = new wdg_Settings( this );
74	f_Settings->set_Config(Settings);	75	f_Settings->set_Config(Settings);
75	tab_Main->insertTab ( 2, f_Settings, ac_View2->icon(), "FC-Settings");	76	tab_Main->insertTab ( 2, f_Settings, ac_View2->icon(), "FC-Settings");
76	tab_Main->widget(2)->setObjectName("Tab_2");	77	tab_Main->widget(2)->setObjectName("Tab_2");
77		78
78	// Zusätzliche Widgets in die Toolbar.	79	// Zusätzliche Widgets in die Toolbar.
79	tb_TTY->addWidget(lb_Port);	80	tb_TTY->addWidget(lb_Port);
80	tb_TTY->addWidget(le_Port);	81	tb_TTY->addWidget(le_Port);
81		82
82	tb_Hardware->addWidget(rb_SelFC);	83	tb_Hardware->addWidget(rb_SelFC);
83	tb_Hardware->addWidget(rb_SelNC);	84	tb_Hardware->addWidget(rb_SelNC);
84	tb_Hardware->addWidget(rb_SelMag);	85	tb_Hardware->addWidget(rb_SelMag);
85		86
86	tb_Allgemein->setVisible(Settings->GUI.ToolViews[0]);	87	tb_Allgemein->setVisible(Settings->GUI.ToolViews[0]);
87	tb_Werkzeuge->setVisible(Settings->GUI.ToolViews[1]);	88	tb_Werkzeuge->setVisible(Settings->GUI.ToolViews[1]);
88	tb_Debug->setVisible(Settings->GUI.ToolViews[2]);	89	tb_Debug->setVisible(Settings->GUI.ToolViews[2]);
89	tb_TTY->setVisible(Settings->GUI.ToolViews[3]);	90	tb_TTY->setVisible(Settings->GUI.ToolViews[3]);
90	tb_Hardware->setVisible(Settings->GUI.ToolViews[4]);	91	tb_Hardware->setVisible(Settings->GUI.ToolViews[4]);
91		92
92	#ifdef _EEEPC_	93	#ifdef _EEEPC_
93	lb_Status->hide();	94	lb_Status->hide();
94	#endif	95	#endif
95		96
96	lb_Status->setText(tr("Hallo bei QMK-Groundstation...!!!"));	97	lb_Status->setText(tr("Hallo bei QMK-Groundstation...!!!"));
97		-
98	// Cockpit-Elemente	-
99	QPalette newPalette;	-
100		-
101	newPalette.setColor(QPalette::Base, Qt::darkBlue);	-
102	newPalette.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120));	-
103	newPalette.setColor(QPalette::Text, Qt::white);	-
104		-
105	Compass->setScaleOptions(QwtDial::ScaleTicks \| QwtDial::ScaleLabel);	-
106	Compass->setScaleTicks(0, 0, 3);	-
107	Compass->setScale(36, 5, 0);	-
108		-
109	Compass->setNeedle(new QwtDialSimpleNeedle(QwtDialSimpleNeedle::Arrow, true, Qt::red, QColor(Qt::gray).light(130)));	-
110	Compass->setPalette(newPalette);	-
111	Compass->setMaximumSize(QSize(MeterSize, MeterSize));	-
112	Compass->setMinimumSize(QSize(MeterSize, MeterSize));	-
113		-
114	QPalette newPalette1;	-
115		-
116	newPalette1.setColor(QPalette::Base, Qt::darkBlue);	-
117	newPalette1.setColor(QPalette::Foreground, QColor(255,128,0).dark(120));	-
118	newPalette1.setColor(QPalette::Text, Qt::white);	-
119		-
120	Attitude = new AttitudeIndicator(this);	-
121	Attitude->setMaximumSize(QSize(MeterSize, MeterSize));	-
122	Attitude->setMinimumSize(QSize(MeterSize, MeterSize));	-
123	Attitude->setPalette(newPalette1);	-
124		-
125	verticalLayout->addWidget(Attitude);	-
126		-
127	qwt_Rate->setRange(-10.0, 10.0, 0.1, 0);	-
128		-
129	newPalette1.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120));	-
130		-
131	SpeedMeter = new cSpeedMeter(this);	-
132	SpeedMeter->setMaximumSize(QSize(MeterSize, MeterSize));	-
133	SpeedMeter->setMinimumSize(QSize(MeterSize, MeterSize));	-
134	SpeedMeter->setPalette(newPalette1);	-
135	SpeedMeter->setRange(0.0, 5.0);	-
136	SpeedMeter->setScale(1, 2, 0.5);	-
137	SpeedMeter->setProperty("END", 5);	-
138		-
139	LayOut_Speed->addWidget(SpeedMeter);	-
140		98
141	resize(Settings->GUI.Size);	99	resize(Settings->GUI.Size);
142	move(Settings->GUI.Point);	100	move(Settings->GUI.Point);
143		101
144	if (Settings->GUI.isMax)	102	if (Settings->GUI.isMax)
145	{	103	{
146	showMaximized();	104	showMaximized();
147	}	105	}
148		106
149	// Analoglabels anzeigen	107	// Analoglabels anzeigen
150	for (int a = 0; a < MaxAnalog; a++)	108	for (int a = 0; a < MaxAnalog; a++)
151	{	109	{
152	lb_Analog[a]->setText(Settings->Analog1.Label[a]);	110	lb_Analog[a]->setText(Settings->Analog1.Label[a]);
153	}	111	}
154		112
155	// Kopie der Tabs anlegen	113	// Kopie der Tabs anlegen
156	for (int b = 0; b < 7; b++)	114	for (int b = 0; b < 7; b++)
157	{	115	{
158	TabWidgets[b] = tab_Main->widget(b);	116	TabWidgets[b] = tab_Main->widget(b);
159	}	117	}
160		118
161	// Ausgeblendete Tabs ausblenden	119	// Ausgeblendete Tabs ausblenden
162	for (int c = 0; c < 7; c++)	120	for (int c = 0; c < 7; c++)
163	{	121	{
164	if (Settings->GUI.TabViews[c] == false)	122	if (Settings->GUI.TabViews[c] == false)
165	{	123	{
166	QString TabName = QString("Tab_%1").arg(c);	124	QString TabName = QString("Tab_%1").arg(c);
167		125
168	for (int d = 0; d < tab_Main->count(); d++)	126	for (int d = 0; d < tab_Main->count(); d++)
169	{	127	{
170	if (tab_Main->widget(d)->objectName() == TabName)	128	if (tab_Main->widget(d)->objectName() == TabName)
171	{	129	{
172	tab_Main->removeTab(d);	130	tab_Main->removeTab(d);
173	}	131	}
174	}	132	}
175	}	133	}
176	}	134	}
177		135
178	ac_View0->setChecked(Settings->GUI.TabViews[0]);	136	ac_View0->setChecked(Settings->GUI.TabViews[0]);
179	ac_View1->setChecked(Settings->GUI.TabViews[1]);	137	ac_View1->setChecked(Settings->GUI.TabViews[1]);
180	ac_View2->setChecked(Settings->GUI.TabViews[2]);	138	ac_View2->setChecked(Settings->GUI.TabViews[2]);
181	ac_View3->setChecked(Settings->GUI.TabViews[3]);	139	ac_View3->setChecked(Settings->GUI.TabViews[3]);
182	ac_View4->setChecked(Settings->GUI.TabViews[4]);	140	ac_View4->setChecked(Settings->GUI.TabViews[4]);
183	ac_View5->setChecked(Settings->GUI.TabViews[5]);	141	ac_View5->setChecked(Settings->GUI.TabViews[5]);
184	ac_View6->setChecked(Settings->GUI.TabViews[6]);	142	ac_View6->setChecked(Settings->GUI.TabViews[6]);
185		143
186	le_Port->setText(Settings->TTY.Port);	144	le_Port->setText(Settings->TTY.Port);
187		145
188	cb_ShowMSG->setChecked(Settings->GUI.Term_Info);	146	cb_ShowMSG->setChecked(Settings->GUI.Term_Info);
189	cb_ShowData->setChecked(Settings->GUI.Term_Data);	147	cb_ShowData->setChecked(Settings->GUI.Term_Data);
190	cb_ShowAlways->setChecked(Settings->GUI.Term_Always);	148	cb_ShowAlways->setChecked(Settings->GUI.Term_Always);
191	}	149	}
-		150
-		151	void MKTool::init_Cockpit()
-		152	{
-		153	// Cockpit-Elemente
-		154	QPalette newPalette;
-		155
-		156	newPalette.setColor(QPalette::Base, Qt::darkBlue);
-		157	newPalette.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120));
-		158	newPalette.setColor(QPalette::Text, Qt::white);
-		159
-		160	Compass->setScaleOptions(QwtDial::ScaleTicks \| QwtDial::ScaleLabel);
-		161	Compass->setScaleTicks(0, 0, 3);
-		162	Compass->setScale(36, 5, 0);
-		163
-		164	Compass->setNeedle(new QwtDialSimpleNeedle(QwtDialSimpleNeedle::Arrow, true, Qt::red, QColor(Qt::gray).light(130)));
-		165	Compass->setPalette(newPalette);
-		166	Compass->setMaximumSize(QSize(MeterSize, MeterSize));
-		167	Compass->setMinimumSize(QSize(MeterSize, MeterSize));
-		168
-		169	QPalette newPalette1;
-		170
-		171	newPalette1.setColor(QPalette::Base, Qt::darkBlue);
-		172	newPalette1.setColor(QPalette::Foreground, QColor(255,128,0).dark(120));
-		173	newPalette1.setColor(QPalette::Text, Qt::white);
-		174
-		175	Attitude = new AttitudeIndicator(this);
-		176	Attitude->setMaximumSize(QSize(MeterSize, MeterSize));
-		177	Attitude->setMinimumSize(QSize(MeterSize, MeterSize));
-		178	Attitude->setPalette(newPalette1);
-		179
-		180	verticalLayout->addWidget(Attitude);
-		181
-		182	qwt_Rate->setRange(-10.0, 10.0, 0.1, 0);
-		183
-		184	newPalette1.setColor(QPalette::Foreground, QColor(Qt::darkBlue).dark(120));
-		185
-		186	SpeedMeter = new cSpeedMeter(this);
-		187	SpeedMeter->setMaximumSize(QSize(MeterSize, MeterSize));
-		188	SpeedMeter->setMinimumSize(QSize(MeterSize, MeterSize));
-		189	SpeedMeter->setPalette(newPalette1);
-		190	SpeedMeter->setRange(0.0, 5.0);
-		191	SpeedMeter->setScale(1, 2, 0.5);
-		192	SpeedMeter->setProperty("END", 5);
-		193
-		194	LayOut_Speed->addWidget(SpeedMeter);
-		195	}
192		196
193	void MKTool::init_Objects()	197	void MKTool::init_Objects()
194	{	198	{
195	// QTimer-Instanzen	199	// QTimer-Instanzen
196	Ticker = new QTimer(this);	200	Ticker = new QTimer(this);
-		201
197		202	// Verbindungsobject
198	Conn = new cConnection();	203	o_Connection = new cConnection();
199		204
200	// neuer Logger	205	// neuer Logger
201	logger = new Logger(Settings, &Mode);	206	logger = new Logger(Settings, &Mode);
202		207
203	// LCD-Dialog	208	// LCD-Dialog
204	f_LCD = new dlg_LCD(this);	209	f_LCD = new dlg_LCD(this);
205		210
206	// LCD-Dialog	211	// LCD-Dialog
207	f_Map = new dlg_Map(this);	212	f_Map = new dlg_Map(this);
-		213	f_Map->create_Map(Settings);
208		214
209	GE_Server = new cServer();	215	KML_Server = new cKML_Server();
210		216
211	QMK_Server = new cQMK_Server();	217	QMK_Server = new cQMK_Server();
212	QMK_Server->setProperty("Connect", false);	218	QMK_Server->setProperty("Connect", false);
213		219
214	if (Settings->Server.StartServer)	220	if (Settings->Server.StartServer)
215	{	221	{
216	ac_StartServer->setChecked(true);	222	ac_StartServer->setChecked(true);
217	GE_Server->start_Server(Settings->Server.Port.toInt(), Settings);	223	KML_Server->start_Server(Settings->Server.Port.toInt(), Settings);
218	}	224	}
219	}	225	}
220		226
221	void MKTool::init_Connections()	227	void MKTool::init_Connections()
222	{	228	{
223	connect(Dec, SIGNAL(clicked()), this, SLOT(slot_Test()));	229	connect(Dec, SIGNAL(clicked()), this, SLOT(slot_Test()));
-		230
-		231	// Waypoints übergeben
-		232	connect(f_Map, SIGNAL(set_Target(sWayPoint)), this , SLOT(slot_MAP_SetTarget(sWayPoint)));
224		233
225	// Daten Senden / Empfangen	234	// Daten Senden / Empfangen
226	connect(Conn, SIGNAL(newData(sRxData)), this, SLOT(slot_newData(sRxData)));	235	connect(o_Connection, SIGNAL(newData(sRxData)), this, SLOT(slot_newData(sRxData)));
227	connect(Conn, SIGNAL(showTerminal(int, QString)), this, SLOT(slot_showTerminal(int, QString)));	236	connect(o_Connection, SIGNAL(showTerminal(int, QString)), this, SLOT(slot_showTerminal(int, QString)));
228		237
229	// Serielle Verbundung öffnen / schließen	238	// Serielle Verbundung öffnen / schließen
230	connect(ac_ConnectTTY, SIGNAL(triggered()), this, SLOT(slot_OpenPort()));	239	connect(ac_ConnectTTY, SIGNAL(triggered()), this, SLOT(slot_OpenPort()));
231		240
232	// TCP-Connection verbinden / trennen	241	// TCP-Connection verbinden / trennen
233	connect(ac_QMKServer, SIGNAL(triggered()), this, SLOT(slot_QMKS_Connect()));	242	connect(ac_QMKServer, SIGNAL(triggered()), this, SLOT(slot_QMKS_Connect()));
234		243
235	// Buttons Settings lesen / schreiben	244	// Buttons Settings lesen / schreiben
236	connect(f_Settings->pb_Read, SIGNAL(clicked()), this, SLOT(slot_GetFCSettings()));	245	connect(f_Settings->pb_Read, SIGNAL(clicked()), this, SLOT(slot_GetFCSettings()));
237	connect(f_Settings->pb_Write, SIGNAL(clicked()), this, SLOT(slot_SetFCSettings()));	246	connect(f_Settings->pb_Write, SIGNAL(clicked()), this, SLOT(slot_SetFCSettings()));
238		247
239	// Actions	248	// Actions
240	connect(ac_Config, SIGNAL(triggered()), this, SLOT(slot_ac_Config()));	249	connect(ac_Config, SIGNAL(triggered()), this, SLOT(slot_ac_Config()));
241	connect(ac_Preferences, SIGNAL(triggered()), this, SLOT(slot_ac_Preferences()));	250	connect(ac_Preferences, SIGNAL(triggered()), this, SLOT(slot_ac_Preferences()));
242	connect(ac_Motortest, SIGNAL(triggered()), this, SLOT(slot_ac_Motortest()));	251	connect(ac_Motortest, SIGNAL(triggered()), this, SLOT(slot_ac_Motortest()));
243	connect(ac_LCD, SIGNAL(triggered()), this, SLOT(slot_ac_LCD()));	252	connect(ac_LCD, SIGNAL(triggered()), this, SLOT(slot_ac_LCD()));
244	connect(ac_Map, SIGNAL(triggered()), this, SLOT(slot_ac_Map()));	253	connect(ac_Map, SIGNAL(triggered()), this, SLOT(slot_ac_Map()));
245	connect(ac_FastDebug, SIGNAL(triggered()), this, SLOT(slot_ac_FastDebug()));	254	connect(ac_FastDebug, SIGNAL(triggered()), this, SLOT(slot_ac_FastDebug()));
246	connect(ac_NoDebug, SIGNAL(triggered()), this, SLOT(slot_ac_NoDebug()));	255	connect(ac_NoDebug, SIGNAL(triggered()), this, SLOT(slot_ac_NoDebug()));
247	connect(ac_FastNavi, SIGNAL(triggered()), this, SLOT(slot_ac_FastNavi()));	256	connect(ac_FastNavi, SIGNAL(triggered()), this, SLOT(slot_ac_FastNavi()));
248	connect(ac_NoNavi, SIGNAL(triggered()), this, SLOT(slot_ac_NoNavi()));	257	connect(ac_NoNavi, SIGNAL(triggered()), this, SLOT(slot_ac_NoNavi()));
249	connect(ac_GetLabels, SIGNAL(triggered()), this, SLOT(slot_ac_GetLabels()));	258	connect(ac_GetLabels, SIGNAL(triggered()), this, SLOT(slot_ac_GetLabels()));
250		259
251	// Plotter starten / scrollen	260	// Plotter starten / scrollen
252	connect(scroll_plot, SIGNAL(valueChanged(int)), this, SLOT(slot_ScrollPlot(int)));	261	connect(scroll_plot, SIGNAL(valueChanged(int)), this, SLOT(slot_ScrollPlot(int)));
253	connect(ac_StartPlotter, SIGNAL(triggered()), this, SLOT(slot_ac_StartPlotter()));	262	connect(ac_StartPlotter, SIGNAL(triggered()), this, SLOT(slot_ac_StartPlotter()));
254	connect(ac_StartServer, SIGNAL(triggered()), this, SLOT(slot_ac_StartServer()));	263	connect(ac_StartServer, SIGNAL(triggered()), this, SLOT(slot_ac_StartServer()));
255		264
256	// Tabs ein & ausblenden	265	// Tabs ein & ausblenden
257	connect(ac_View0, SIGNAL(triggered()), this, SLOT(slot_ac_View()));	266	connect(ac_View0, SIGNAL(triggered()), this, SLOT(slot_ac_View()));
258	connect(ac_View1, SIGNAL(triggered()), this, SLOT(slot_ac_View()));	267	connect(ac_View1, SIGNAL(triggered()), this, SLOT(slot_ac_View()));
259	connect(ac_View2, SIGNAL(triggered()), this, SLOT(slot_ac_View()));	268	connect(ac_View2, SIGNAL(triggered()), this, SLOT(slot_ac_View()));
260	connect(ac_View3, SIGNAL(triggered()), this, SLOT(slot_ac_View()));	269	connect(ac_View3, SIGNAL(triggered()), this, SLOT(slot_ac_View()));
261	connect(ac_View4, SIGNAL(triggered()), this, SLOT(slot_ac_View()));	270	connect(ac_View4, SIGNAL(triggered()), this, SLOT(slot_ac_View()));
262	connect(ac_View5, SIGNAL(triggered()), this, SLOT(slot_ac_View()));	271	connect(ac_View5, SIGNAL(triggered()), this, SLOT(slot_ac_View()));
263	connect(ac_View6, SIGNAL(triggered()), this, SLOT(slot_ac_View()));	272	connect(ac_View6, SIGNAL(triggered()), this, SLOT(slot_ac_View()));
264		273
265	connect(ac_SelNC, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware()));	274	connect(ac_SelNC, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware()));
266	connect(ac_SelFC, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware()));	275	connect(ac_SelFC, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware()));
267	connect(ac_SelMag, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware()));	276	connect(ac_SelMag, SIGNAL(triggered()), this, SLOT(slot_ac_Hardware()));
268		277
269	connect(rb_SelNC, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));	278	connect(rb_SelNC, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));
270	connect(rb_SelFC, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));	279	connect(rb_SelFC, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));
271	connect(rb_SelMag, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));	280	connect(rb_SelMag, SIGNAL(clicked()), this, SLOT(slot_rb_Hardware()));
272		281
273	// firmeware Updateen / flashen	282	// firmeware Updateen / flashen
274	connect(pb_Update, SIGNAL(clicked()), this, SLOT(slot_pb_Update()));	283	connect(pb_Update, SIGNAL(clicked()), this, SLOT(slot_pb_Update()));
275	connect(pb_HexFile, SIGNAL(clicked()), this, SLOT(slot_pb_HexFile()));	284	connect(pb_HexFile, SIGNAL(clicked()), this, SLOT(slot_pb_HexFile()));
276		285
277	// Wegpunkt-Befehl	286	// Wegpunkt-Befehl
278	connect(pb_FlyTo, SIGNAL(clicked()), this, SLOT(slot_pb_SendWaypoint()));	287	connect(pb_FlyTo, SIGNAL(clicked()), this, SLOT(slot_pb_SendWaypoint()));
279		288
280	// CVS-Record starten / stoppen	289	// CVS-Record starten / stoppen
281	connect(ac_RecordCSV, SIGNAL(triggered()), this, SLOT(slot_RecordLog()));	290	connect(ac_RecordCSV, SIGNAL(triggered()), this, SLOT(slot_RecordLog()));
282		291
283	// Timer-Events	292	// Timer-Events
284	connect(Ticker, SIGNAL(timeout()), SLOT(slot_Ticker()));	293	connect(Ticker, SIGNAL(timeout()), SLOT(slot_Ticker()));
285		294
286	// Seitenwechsel	295	// Seitenwechsel
287	connect(tab_Main, SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int)));	296	connect(tab_Main, SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int)));
288	connect(f_Settings->tab_Par, SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int)));	297	// connect(f_Settings->tab_Par, SIGNAL(currentChanged(int)), this, SLOT(slot_TabChanged(int)));
-		298	connect(f_Settings->listWidget, SIGNAL(currentRowChanged(int)), this, SLOT(slot_TabChanged(int)));
289		299
290	// About QMK & About-QT Dialog einfügen	300	// About QMK & About-QT Dialog einfügen
291	connect(ac_About, SIGNAL(triggered()), this, SLOT(slot_ac_About()));	301	connect(ac_About, SIGNAL(triggered()), this, SLOT(slot_ac_About()));
292	menu_Help->addAction(trUtf8("Über &Qt"), qApp, SLOT(aboutQt()));	302	menu_Help->addAction(trUtf8("Über &Qt"), qApp, SLOT(aboutQt()));
293	}	303	}
294		304
295	void MKTool::init_Arrays()	305	void MKTool::init_Arrays()
296	{	306	{
297	lb_Analog[0] = lb_A_0;	307	lb_Analog[0] = lb_A_0;
298	lb_Analog[1] = lb_A_1;	308	lb_Analog[1] = lb_A_1;
299	lb_Analog[2] = lb_A_2;	309	lb_Analog[2] = lb_A_2;
300	lb_Analog[3] = lb_A_3;	310	lb_Analog[3] = lb_A_3;
301	lb_Analog[4] = lb_A_4;	311	lb_Analog[4] = lb_A_4;
302	lb_Analog[5] = lb_A_5;	312	lb_Analog[5] = lb_A_5;
303	lb_Analog[6] = lb_A_6;	313	lb_Analog[6] = lb_A_6;
304	lb_Analog[7] = lb_A_7;	314	lb_Analog[7] = lb_A_7;
305	lb_Analog[8] = lb_A_8;	315	lb_Analog[8] = lb_A_8;
306	lb_Analog[9] = lb_A_9;	316	lb_Analog[9] = lb_A_9;
307	lb_Analog[10] = lb_A_10;	317	lb_Analog[10] = lb_A_10;
308	lb_Analog[11] = lb_A_11;	318	lb_Analog[11] = lb_A_11;
309	lb_Analog[12] = lb_A_12;	319	lb_Analog[12] = lb_A_12;
310	lb_Analog[13] = lb_A_13;	320	lb_Analog[13] = lb_A_13;
311	lb_Analog[14] = lb_A_14;	321	lb_Analog[14] = lb_A_14;
312	lb_Analog[15] = lb_A_15;	322	lb_Analog[15] = lb_A_15;
313	lb_Analog[16] = lb_A_16;	323	lb_Analog[16] = lb_A_16;
314	lb_Analog[17] = lb_A_17;	324	lb_Analog[17] = lb_A_17;
315	lb_Analog[18] = lb_A_18;	325	lb_Analog[18] = lb_A_18;
316	lb_Analog[19] = lb_A_19;	326	lb_Analog[19] = lb_A_19;
317	lb_Analog[20] = lb_A_20;	327	lb_Analog[20] = lb_A_20;
318	lb_Analog[21] = lb_A_21;	328	lb_Analog[21] = lb_A_21;
319	lb_Analog[22] = lb_A_22;	329	lb_Analog[22] = lb_A_22;
320	lb_Analog[23] = lb_A_23;	330	lb_Analog[23] = lb_A_23;
321	lb_Analog[24] = lb_A_24;	331	lb_Analog[24] = lb_A_24;
322	lb_Analog[25] = lb_A_25;	332	lb_Analog[25] = lb_A_25;
323	lb_Analog[26] = lb_A_26;	333	lb_Analog[26] = lb_A_26;
324	lb_Analog[27] = lb_A_27;	334	lb_Analog[27] = lb_A_27;
325	lb_Analog[28] = lb_A_28;	335	lb_Analog[28] = lb_A_28;
326	lb_Analog[29] = lb_A_29;	336	lb_Analog[29] = lb_A_29;
327	lb_Analog[30] = lb_A_30;	337	lb_Analog[30] = lb_A_30;
328	lb_Analog[31] = lb_A_31;	338	lb_Analog[31] = lb_A_31;
329	}	339	}
330		340
331	void MKTool::init_Plot()	341	void MKTool::init_Plot()
332	{	342	{
333	NextPlot = 0;	343	NextPlot = 0;
334		344
335	qwtPlot->setCanvasBackground(QColor(QRgb(0x00000000)));	345	qwtPlot->setCanvasBackground(QColor(QRgb(0x00000000)));
336		346
337	qwtPlot->insertLegend(new QwtLegend(), QwtPlot::RightLegend);	347	qwtPlot->insertLegend(new QwtLegend(), QwtPlot::RightLegend);
338		348
339	QwtPlotGrid *Grid = new QwtPlotGrid();	349	QwtPlotGrid *Grid = new QwtPlotGrid();
340	Grid->setMajPen(QPen(Qt::gray, 0, Qt::DotLine));	350	Grid->setMajPen(QPen(Qt::gray, 0, Qt::DotLine));
341		351
342	Grid->attach(qwtPlot);	352	Grid->attach(qwtPlot);
343		353
344	qwtPlot->setAxisScale(QwtPlot::xBottom,0,Settings->Data.Plotter_Count,0);	354	qwtPlot->setAxisScale(QwtPlot::xBottom,0,Settings->Data.Plotter_Count,0);
345		355
346	for (int a = 0; a < MaxAnalog; a++)	356	for (int a = 0; a < MaxAnalog; a++)
347	{	357	{
348	Plot[a] = new QwtPlotCurve(Settings->Analog1.Label[a]);	358	Plot[a] = new QwtPlotCurve(Settings->Analog1.Label[a]);
349	Plot[a]->setPen(QPen(QColor(Def_Colors[a])));	359	Plot[a]->setPen(QPen(QColor(Def_Colors[a])));
350	// Plot[a]->setRenderHint(QwtPlotItem::RenderAntialiased);	360	// Plot[a]->setRenderHint(QwtPlotItem::RenderAntialiased);
351		361
352	if (Settings->Analog1.PlotView[a])	362	if (Settings->Analog1.PlotView[a])
353	Plot[a]->attach(qwtPlot);	363	Plot[a]->attach(qwtPlot);
354	}	364	}
355	qwtPlot->replot();	365	qwtPlot->replot();
356	}	366	}
-		367
-		368	void MKTool::slot_set_Settings(cSettings *t_Settings)
-		369	{
-		370	Settings = t_Settings;
-		371	}
357		372
358	void MKTool::slot_Test()	373	void MKTool::slot_Test()
359	{	374	{
360	// qDebug("Decode Data");	375	// qDebug("Decode Data");
361	sRxData RX;	376	sRxData RX;
362		377
363	RX.String = IN->text();	378	RX.String = IN->text();
364		379
365	// qDebug(RX.String.toLatin1().data());	380	// qDebug(RX.String.toLatin1().data());
366		381
367	// if (ToolBox::check_CRC(RX.String))	382	// if (ToolBox::check_CRC(RX.String))
368	{	383	{
369	qDebug("Decode Data CRC OK");	384	qDebug("Decode Data CRC OK");
370	RX.Input = RX.String.toLatin1().data();	385	RX.Input = RX.String.toLatin1().data();
371		386
372	// qDebug(RX.Input);	387	// qDebug(RX.Input);
373		388
374	slot_newData(RX);	389	slot_newData(RX);
375	}	390	}
376	}	391	}
377		392
378	// KML-Datei nach Wegpunkt parsen	393	// KML-Datei nach Wegpunkt parsen
379	// TODO: Richtigen KML-Parser bauen	394	// TODO: Richtigen KML-Parser bauen
380	void MKTool::parse_TargetKML()	395	void MKTool::parse_TargetKML()
381	{	396	{
382	QString Tmp = te_KML->toPlainText().simplified();	397	QString Tmp = te_KML->toPlainText().simplified();
383	QStringList List;	398	QStringList List;
384		399
385	if ((Tmp.contains("<kml xmlns=\"http://earth.google.com/kml/2.2\">")) && (Tmp.contains("<coordinates>")))	400	if ((Tmp.contains("<kml xmlns=\"http://earth.google.com/kml/2.2\">")) && (Tmp.contains("<coordinates>")))
386	{	401	{
387	List = Tmp.split("<coordinates>");	402	List = Tmp.split("<coordinates>");
388	List = List[1].split(",");	403	List = List[1].split(",");
389		404
390	le_TarLong->setText(ToolBox::get_Float((List[0].toDouble() * 10000000), 10000000));	405	le_TarLong->setText(ToolBox::get_Float((List[0].toDouble() * 10000000), 10000000));
391	le_TarLat->setText(ToolBox::get_Float((List[1].toDouble() * 10000000), 10000000));	406	le_TarLat->setText(ToolBox::get_Float((List[1].toDouble() * 10000000), 10000000));
392	}	407	}
393	}	408	}
394		409
395	// Waypoint zur NC Senden.	410	// Waypoint zur NC Senden.
396	void MKTool::slot_pb_SendWaypoint()	411	void MKTool::slot_pb_SendWaypoint()
397	{	412	{
398	if ((Navi.Current.Longitude == 0) && (Navi.Current.Latitude == 0))	413	if ((Navi.Current.Longitude == 0) && (Navi.Current.Latitude == 0))
399	{	414	{
400	QMessageBox msgB;	415	QMessageBox msgB;
401	QString msg;	416	QString msg;
402	msgB.setText("Fehler: Es konnten keine GPS-Daten vom Mikrokopter empfangen werden");	417	msgB.setText("Fehler: Es konnten keine GPS-Daten vom Mikrokopter empfangen werden");
403	msgB.exec();	418	msgB.exec();
404	return;	419	return;
405	}	420	}
406		421
407	//erstelle einen Wegpunkt, den die NaviCtrl auswerten kann	422	//erstelle einen Wegpunkt, den die NaviCtrl auswerten kann
408	Waypoint_t desired_pos;	423	Waypoint_t desired_pos;
409	bool ok_lat, ok_lon;	424	bool ok_lat, ok_lon;
410		425
411	//eingegebene Daten holen	426	//eingegebene Daten holen
412	double desired_long, desired_lat;	427	double desired_long, desired_lat;
413		428
414	desired_long = le_TarLong->text().toDouble(&ok_lon);	429	desired_long = le_TarLong->text().toDouble(&ok_lon);
415	desired_lat = le_TarLat->text().toDouble(&ok_lat);	430	desired_lat = le_TarLat->text().toDouble(&ok_lat);
416		431
417	if (ok_lon && desired_long < 100)	432	if (ok_lon && desired_long < 100)
418	desired_long *= 10000000+0.5;	433	desired_long *= 10000000+0.5;
419		434
420	if (ok_lat && desired_lat < 100)	435	if (ok_lat && desired_lat < 100)
421	desired_lat *= 10000000+0.5;	436	desired_lat *= 10000000+0.5;
422		437
423	//fülle Wegpunkt-Daten	438	//fülle Wegpunkt-Daten
424	desired_pos.Position.Altitude = 0;	439	desired_pos.Position.Altitude = 0;
425	desired_pos.Position.Longitude = int32_t(desired_long);	440	desired_pos.Position.Longitude = int32_t(desired_long);
426	desired_pos.Position.Latitude = int32_t(desired_lat);	441	desired_pos.Position.Latitude = int32_t(desired_lat);
427	desired_pos.Position.Status = NEWDATA;	442	desired_pos.Position.Status = NEWDATA;
428	desired_pos.Heading = -1;	443	desired_pos.Heading = -1;
429	desired_pos.ToleranceRadius = 1;	444	desired_pos.ToleranceRadius = 1;
430	desired_pos.HoldTime = 60;	445	desired_pos.HoldTime = 60;
431	desired_pos.Event_Flag = 0;	446	desired_pos.Event_Flag = 0;
432	desired_pos.reserve[0] = 0; // reserve	447	desired_pos.reserve[0] = 0; // reserve
433	desired_pos.reserve[1] = 0; // reserve	448	desired_pos.reserve[1] = 0; // reserve
434	desired_pos.reserve[2] = 0; // reserve	449	desired_pos.reserve[2] = 0; // reserve
435	desired_pos.reserve[3] = 0; // reserve	450	desired_pos.reserve[3] = 0; // reserve
436		451
437	//...und sende ihn an die NaviCtrl	452	//...und sende ihn an die NaviCtrl
438	int max_radius = 10000;	453	int max_radius = 10000;
439	if (ok_lat && ok_lon &&	454	if (ok_lat && ok_lon &&
440	abs(Navi.Current.Longitude - desired_pos.Position.Longitude) < max_radius &&	455	abs(Navi.Current.Longitude - desired_pos.Position.Longitude) < max_radius &&
441	abs(Navi.Current.Latitude - desired_pos.Position.Latitude) < max_radius)	456	abs(Navi.Current.Latitude - desired_pos.Position.Latitude) < max_radius)
442	{	457	{

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(root)/QMK-Groundstation/trunk/Forms/mktool.cpp - Rev 305 → 306