HSIDisplay.cc

        p.replace(1, QPointF(xRef-minWidth/2.0f, yRef-radius * 0.9f));
        p.replace(2, QPointF(xRef+minWidth/2.0f, yRef-radius * 0.9f));
        p.replace(3, QPointF(xRef+maxWidth/2.0f, yRef-radius * 0.4f));
        p.replace(4, QPointF(xRef,               yRef-radius * 0.36f));
        p.replace(5, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.4f));

        rotatePolygonClockWiseRad(p, angle, QPointF(xRef, yRef));

        QBrush indexBrush;
        indexBrush.setColor(color);
        indexBrush.setStyle(Qt::SolidPattern);
        painter->setPen(Qt::SolidLine);
        painter->setPen(color);
        painter->setBrush(indexBrush);
        drawPolygon(p, painter);

        //qDebug() << "DRAWING POS SETPOINT X:" << posXSet << "Y:" << posYSet << angle;
    }
}

void HSIDisplay::drawAttitudeDirection(float xRef, float yRef, float radius, const QColor& color, QPainter* painter)
{
    if (attControlKnown && attControlEnabled)
    {
        // Draw the needle
        const float maxWidth = radius / 10.0f;
        const float minWidth = maxWidth * 0.3f;

        float angle = atan2(attXSet, attYSet);
        angle -= (float)M_PI/2.0f;

        radius *= sqrt(pow(attXSet, 2) + pow(attYSet, 2)) / sqrt(attXSaturation + attYSaturation);

        QPolygonF p(6);

        p.replace(0, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.4f));
        p.replace(1, QPointF(xRef-minWidth/2.0f, yRef-radius * 0.9f));
        p.replace(2, QPointF(xRef+minWidth/2.0f, yRef-radius * 0.9f));
        p.replace(3, QPointF(xRef+maxWidth/2.0f, yRef-radius * 0.4f));
        p.replace(4, QPointF(xRef,               yRef-radius * 0.36f));
        p.replace(5, QPointF(xRef-maxWidth/2.0f, yRef-radius * 0.4f));

        rotatePolygonClockWiseRad(p, angle, QPointF(xRef, yRef));

        QBrush indexBrush;
        indexBrush.setColor(color);
        indexBrush.setStyle(Qt::SolidPattern);
        painter->setPen(Qt::SolidLine);
        painter->setPen(color);
        painter->setBrush(indexBrush);
        drawPolygon(p, painter);

        // TODO Draw Yaw indicator

        //qDebug() << "DRAWING ATT SETPOINT X:" << attXSet << "Y:" << attYSet << angle;
    }
}

void HSIDisplay::drawAltitudeSetpoint(float xRef, float yRef, float radius, const QColor& color, QPainter* painter)
{
    if (zControlKnown && zControlEnabled)
    {
        // Draw the circle
        QPen circlePen(Qt::SolidLine);
        circlePen.setWidth(refLineWidthToPen(0.5f));
        circlePen.setColor(color);
        painter->setBrush(Qt::NoBrush);
        painter->setPen(circlePen);
        drawCircle(xRef, yRef, radius, 200.0f, color, painter);
        //drawCircle(xRef, yRef, radius, 200.0f, 170.0f, 1.0f, color, painter);

        //    // Draw the value
        //    QString label;
        //    label.sprintf("%05.1f", value);
        //    paintText(label, color, 4.5f, xRef-7.5f, yRef-2.0f, painter);
    }
}

void HSIDisplay::wheelEvent(QWheelEvent* event)
{
    double zoomScale = 0.005; // Scaling of zoom value
    if(event->delta() > 0)
    {
        // Reduce width -> Zoom in
        metricWidth -= event->delta() * zoomScale;
    }
    else
    {
        // Increase width -> Zoom out
        metricWidth -= event->delta() * zoomScale;
    }
    metricWidth = qBound(0.1, metricWidth, 9999.0);
    emit metricWidthChanged(metricWidth);
}

void HSIDisplay::showEvent(QShowEvent* event)
{
    // React only to internal (pre-display)
    // events
    Q_UNUSED(event)
    {
        refreshTimer->start(updateInterval);
    }
}

void HSIDisplay::hideEvent(QHideEvent* event)
{
    // React only to internal (post-display)
    // events
    Q_UNUSED(event)
    {
        refreshTimer->stop();
    }
}

void HSIDisplay::updateJoystick(double roll, double pitch, double yaw, double thrust, int xHat, int yHat)
{
    Q_UNUSED(roll);
    Q_UNUSED(pitch);
    Q_UNUSED(yaw);
    Q_UNUSED(thrust);
    Q_UNUSED(xHat);
    Q_UNUSED(yHat);
}

void HSIDisplay::pressKey(int key)
{
    Q_UNUSED(key);
}