def paintEvent(self, event):
unused(event)
if self.isVisible():
# Read out most important values to limit hash table lookups
# Low-pass roll, pitch and yaw
self.rollLP = self.roll#rollLP * 0.2f + 0.8f * roll
self.pitchLP = self.pitch#pitchLP * 0.2f + 0.8f * pitch
self.yawLP = self.yaw if isinf(self.yaw) == False and isnan(self.yaw) == False else self.yawLP#yawLP * 0.2f + 0.8f * yaw
# Translate for yaw
maxYawTrans = 60.0
newYawDiff = self.yawDiff
if isinf(newYawDiff):
newYawDiff = self.yawDiff
if newYawDiff > M_PI:
newYawDiff = newYawDiff - M_PI
if newYawDiff < -M_PI:
newYawDiff = newYawDiff + M_PI
newYawDiff = self.yawDiff * 0.8 + newYawDiff * 0.2
self.yawDiff = newYawDiff
self.yawInt += newYawDiff
if self.yawInt > M_PI:
self.yawInt = M_PI
if self.yawInt < -M_PI:
self.yawInt = -M_PI
yawTrans = self.yawInt * maxYawTrans
self.yawInt *= 0.6
if (yawTrans < 5.0) and (yawTrans > -5.0):
yawTrans = 0
# Negate to correct direction
yawTrans = -yawTrans
yawTrans = 0
#qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw
# And if either video or the data stream is enabled, draw the next frame.
if self.videoEnabled:
self.xImageFactor = self.width() / float(self.glImage.width())
self.yImageFactor = self.height() / float(self.glImage.height())
painter = QPainter()
painter.begin(self)
painter.setRenderHint(QPainter.Antialiasing, True)
painter.setRenderHint(QPainter.HighQualityAntialiasing, True)
pmap = QPixmap.fromImage(self.glImage).scaledToWidth(self.width())
painter.drawPixmap(0, (self.height() - pmap.height()) / 2, pmap)
# END OF OPENGL PAINTING
if self.HUDInstrumentsEnabled:
#glEnable(GL_MULTISAMPLE)
# QT PAINTING
#makeCurrent()
painter.translate((self.vwidth/2.0+self.xCenterOffset)*self.scalingFactor, (self.vheight/2.0+self.yCenterOffset)*self.scalingFactor)
# COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET
# Draw all fixed indicators
# BATTERY
self.paintText(self.fuelStatus, self.fuelColor, 6.0, (-self.vwidth/2.0) + 10, -self.vheight/2.0 + 6, painter)
# Waypoint
self.paintText(self.waypointName, self.defaultColor, 6.0, (-self.vwidth/3.0) + 10, +self.vheight/3.0 + 15, painter)
linePen = QPen(Qt.SolidLine)
linePen.setWidth(self.refLineWidthToPen(1.0))
linePen.setColor(self.defaultColor)
painter.setBrush(Qt.NoBrush)
painter.setPen(linePen)
# YAW INDICATOR
#
# .
# . .
# .......
#
_yawIndicatorWidth = 12.0
_yawIndicatorY = self.vheight/2.0 - 15.0
yawIndicator = QPolygon(4)
yawIndicator.setPoint(0, QPoint(self.refToScreenX(0.0), self.refToScreenY(_yawIndicatorY)))
yawIndicator.setPoint(1, QPoint(self.refToScreenX(_yawIndicatorWidth/2.0), self.refToScreenY(_yawIndicatorY+_yawIndicatorWidth)))
yawIndicator.setPoint(2, QPoint(self.refToScreenX(-_yawIndicatorWidth/2.0), self.refToScreenY(_yawIndicatorY+_yawIndicatorWidth)))
yawIndicator.setPoint(3, QPoint(self.refToScreenX(0.0), self.refToScreenY(_yawIndicatorY)))
painter.drawPolyline(yawIndicator)
painter.setPen(linePen)
# CENTER
# HEADING INDICATOR
#
# __ __
# \/\/
#
_hIndicatorWidth = 20.0
_hIndicatorY = -25.0
_hIndicatorYLow = _hIndicatorY + _hIndicatorWidth / 6.0
_hIndicatorSegmentWidth = _hIndicatorWidth / 7.0
hIndicator = QPolygon(7)
hIndicator.setPoint(0, QPoint(self.refToScreenX(0.0-_hIndicatorWidth/2.0), self.refToScreenY(_hIndicatorY)))
hIndicator.setPoint(1, QPoint(self.refToScreenX(0.0-_hIndicatorWidth/2.0+_hIndicatorSegmentWidth*1.75), self.refToScreenY(_hIndicatorY)))
hIndicator.setPoint(2, QPoint(self.refToScreenX(0.0-_hIndicatorSegmentWidth*1.0), self.refToScreenY(_hIndicatorYLow)))
hIndicator.setPoint(3, QPoint(self.refToScreenX(0.0), self.refToScreenY(_hIndicatorY)))
hIndicator.setPoint(4, QPoint(self.refToScreenX(0.0+_hIndicatorSegmentWidth*1.0), self.refToScreenY(_hIndicatorYLow)))
hIndicator.setPoint(5, QPoint(self.refToScreenX(0.0+_hIndicatorWidth/2.0-_hIndicatorSegmentWidth*1.75), self.refToScreenY(_hIndicatorY)))
hIndicator.setPoint(6, QPoint(self.refToScreenX(0.0+_hIndicatorWidth/2.0), self.refToScreenY(_hIndicatorY)))
painter.drawPolyline(hIndicator)
# SETPOINT
_centerWidth = 8.0
painter.drawEllipse(
QPointF(self.refToScreenX(min(10.0, self.desiredRoll * 10.0)),
self.refToScreenY(min(10.0, self.desiredPitch * 10.0))),
self.refToScreenX(_centerWidth/2.0), self.refToScreenX(_centerWidth/2.0))
_centerCrossWidth = 20.0
# left
painter.drawLine(QPointF(self.refToScreenX(-_centerWidth / 2.0), self.refToScreenY(0.0)),
QPointF(self.refToScreenX(-_centerCrossWidth / 2.0), self.refToScreenY(0.0)))
# right
painter.drawLine(QPointF(self.refToScreenX(_centerWidth / 2.0), self.refToScreenY(0.0)),
QPointF(self.refToScreenX(_centerCrossWidth / 2.0), self.refToScreenY(0.0)))
# top
painter.drawLine(QPointF(self.refToScreenX(0.0), self.refToScreenY(-_centerWidth / 2.0)),
QPointF(self.refToScreenX(0.0), self.refToScreenY(-_centerCrossWidth / 2.0)))
# COMPASS
_compassY = -self.vheight/2.0 + 6.0
compassRect = QRectF(QPointF(self.refToScreenX(-12.0), self.refToScreenY(_compassY)),
QSizeF(self.refToScreenX(24.0), self.refToScreenY(12.0)))
painter.setBrush(Qt.NoBrush)
painter.setPen(linePen)
painter.drawRoundedRect(compassRect, 3, 3)
# YAW is in compass-human readable format, so 0 .. 360 deg.
_yawDeg = (self.yawLP / M_PI) * 180.0
if _yawDeg < 0:
_yawDeg += 360
if _yawDeg > 360:
_yawDeg -= 360
# final safeguard for really stupid systems
_yawAngle = '{:3d}'.format(int(_yawDeg) % 360)
self.paintText(_yawAngle, self.defaultColor, 8.5, -9.8, _compassY + 1.7, painter)
painter.setBrush(Qt.NoBrush)
painter.setPen(linePen)
# CHANGE RATE STRIPS
self.drawChangeRateStrip(-95.0, -60.0, 40.0, -10.0, 10.0, self.zSpeed, painter)
# CHANGE RATE STRIPS
self.drawChangeRateStrip(95.0, -60.0, 40.0, -10.0, 10.0, self.totalAcc, painter,True)
# GAUGES
# Left altitude gauge
_gaugeAltitude = self.alt if self.alt != 0 else -self.zPos
painter.setBrush(Qt.NoBrush)
painter.setPen(linePen)
self.drawChangeIndicatorGauge(-self.vGaugeSpacing, 35.0, 15.0, 10.0, _gaugeAltitude, self.defaultColor, painter, False)
self.paintText('alt m', self.defaultColor, 5.5, -73.0, 50, painter)
# Right speed gauge
self.drawChangeIndicatorGauge(self.vGaugeSpacing, 35.0, 15.0, 10.0, self.totalSpeed, self.defaultColor, painter, False)
self.paintText('v m/s', self.defaultColor, 5.5, 55.0, 50, painter)
# Waypoint name
if self.waypointName != '':
self.paintText(self.waypointName, self.defaultColor, 2.0, (-self.vwidth/3.0) + 10, +self.vheight/3.0 + 15, painter)
# MOVING PARTS
painter.translate(self.refToScreenX(yawTrans), 0)
attColor = painter.pen().color()
# Draw multi-component attitude
for key in self.attitudes:
att = self.attitudes[key]
attColor = attColor.darker(200)
painter.setPen(attColor)
# Rotate view and draw all roll-dependent indicators
painter.rotate((att.x()/M_PI)* -180.0)
painter.translate(0, (-att.y()/M_PI)* -180.0 * self.refToScreenY(1.8))
#qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0)
# PITCH
self.paintPitchLines(att.y(), painter)
painter.translate(0, -(-att.y()/M_PI)* -180.0 * self.refToScreenY(1.8))
painter.rotate(-(att.x()/M_PI)* -180.0)
painter.end()
