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Fix gimbal indicator pitch value jitter #13679

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Merged
DonLakeFlyer merged 3 commits into from
Dec 1, 2025
Merged

Fix gimbal indicator pitch value jitter #13679

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9c3fce9
Prevent string conversion from return negative zeros
DonLakeFlyer Nov 26, 2025
6a579f1
Use valueString for display in order to gain benefit of -0 detection
DonLakeFlyer Nov 26, 2025
21bb9df
Use QQuaternion instead of mavlink_quaternion_to_euler
DonLakeFlyer Nov 26, 2025
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10 changes: 10 additions & 0 deletions src/FactSystem/Fact.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -323,6 +323,14 @@ QString Fact::_variantToString(const QVariant &variant, int decimalPlaces) const
{
QString valueString;

const auto stripNegativeZero = [](QString &candidate) {
static const QRegularExpression reNegativeZero(QStringLiteral("^-0\\.0+$"));
const auto match = reNegativeZero.match(candidate);
if (match.hasMatch() || candidate == QStringLiteral("-0")) {
candidate = candidate.mid(1);
}
};

switch (type()) {
case FactMetaData::valueTypeFloat:
{
Expand All @@ -331,6 +339,7 @@ QString Fact::_variantToString(const QVariant &variant, int decimalPlaces) const
valueString = QStringLiteral("--.--");
} else {
valueString = QStringLiteral("%1").arg(fValue, 0, 'f', decimalPlaces);
stripNegativeZero(valueString);
}
}
break;
Expand All @@ -341,6 +350,7 @@ QString Fact::_variantToString(const QVariant &variant, int decimalPlaces) const
valueString = QStringLiteral("--.--");
} else {
valueString = QStringLiteral("%1").arg(dValue, 0, 'f', decimalPlaces);
stripNegativeZero(valueString);
}
break;
}
Expand Down
26 changes: 19 additions & 7 deletions src/Gimbal/GimbalController.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,8 @@
#include "SettingsManager.h"
#include "Vehicle.h"

#include <QtGui/QQuaternion>

QGC_LOGGING_CATEGORY(GimbalControllerLog, "Gimbal.GimbalController")

GimbalController::GimbalController(Vehicle *vehicle)
Expand Down Expand Up @@ -234,15 +236,25 @@ void GimbalController::_handleGimbalDeviceAttitudeStatus(const mavlink_message_t
gimbal->setYawLock((attitude_status.flags & GIMBAL_DEVICE_FLAGS_YAW_LOCK) > 0);
gimbal->_neutral = (attitude_status.flags & GIMBAL_DEVICE_FLAGS_NEUTRAL) > 0;

float roll, pitch, yaw;
mavlink_quaternion_to_euler(attitude_status.q, &roll, &pitch, &yaw);

gimbal->setAbsoluteRoll(qRadiansToDegrees(roll));
gimbal->setAbsolutePitch(qRadiansToDegrees(pitch));
// Convert from QQuaternion to Euler angles. We specifically don't use mavlink_quaternion_to euler
// because that seems to spew NaNs for boundary conditions. Whereas QQuaternion seems to handle things
// more cleanly.
QQuaternion q(
attitude_status.q[0],
attitude_status.q[1],
attitude_status.q[2],
attitude_status.q[3]);
auto vector3D = q.toEulerAngles();
float roll = vector3D.z();
float pitch = vector3D.y();
float yaw = vector3D.x();

gimbal->setAbsoluteRoll(roll);
gimbal->setAbsolutePitch(pitch);

const bool yaw_in_vehicle_frame = _yawInVehicleFrame(attitude_status.flags);
if (yaw_in_vehicle_frame) {
const float bodyYaw = qRadiansToDegrees(yaw);
const float bodyYaw = yaw;
float absoluteYaw = bodyYaw + _vehicle->heading()->rawValue().toFloat();
if (absoluteYaw > 180.0f) {
absoluteYaw -= 360.0f;
Expand All @@ -252,7 +264,7 @@ void GimbalController::_handleGimbalDeviceAttitudeStatus(const mavlink_message_t
gimbal->setAbsoluteYaw(absoluteYaw);

} else {
const float absoluteYaw = qRadiansToDegrees(yaw);
const float absoluteYaw = yaw;
float bodyYaw = absoluteYaw - _vehicle->heading()->rawValue().toFloat();
if (bodyYaw < -180.0f) {
bodyYaw += 360.0f;
Expand Down
6 changes: 3 additions & 3 deletions src/UI/toolbar/GimbalIndicator.qml
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Expand Up @@ -97,16 +97,16 @@ Item {
QGCLabel {
id: pitchLabel
font.pointSize: ScreenTools.smallFontPointSize
text: activeGimbal ? qsTr("P: ") + activeGimbal.absolutePitch.rawValue.toFixed(1) : ""
text: activeGimbal ? qsTr("P: ") + activeGimbal.absolutePitch.valueString : ""
color: qgcPal.windowTransparentText
}
QGCLabel {
id: panLabel
font.pointSize: ScreenTools.smallFontPointSize
text: activeGimbal ?
(showAzimuth ?
(qsTr("Az: ") + activeGimbal.absoluteYaw.rawValue.toFixed(1)) :
(qsTr("Y: ") + activeGimbal.bodyYaw.rawValue.toFixed(1))) :
(qsTr("Az: ") + activeGimbal.absoluteYaw.valueString) :
(qsTr("Y: ") + activeGimbal.bodyYaw.valueString)) :
""
color: qgcPal.windowTransparentText
}
Expand Down
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