HUD.cc

/*=====================================================================

QGroundControl Open Source Ground Control Station

(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

This file is part of the QGROUNDCONTROL project

    QGROUNDCONTROL 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 3 of the License, or
    (at your option) any later version.

    QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.

======================================================================*/

/**
 * @file
 *   @brief Head Up Display (HUD)
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QShowEvent>
#include <QContextMenuEvent>
#include <QMenu>
#include <QDesktopServices>
#include <QFileDialog>

#include <QDebug>
#include <cmath>
#include <qmath.h>
#include <limits>

#include "UASManager.h"
#include "UAS.h"
#include "HUD.h"
#include "MG.h"
#include "QGC.h"

// Fix for some platforms, e.g. windows
#ifndef GL_MULTISAMPLE
#define GL_MULTISAMPLE  0x809D
#endif

template<typename T>
inline bool isnan(T value)
{
    return value != value;

}

// requires #include <limits>
template<typename T>
inline bool isinf(T value)
{
    return std::numeric_limits<T>::has_infinity && (value == std::numeric_limits<T>::infinity() || (-1*value) == std::numeric_limits<T>::infinity());
}

/**
 * @warning The HUD widget will not start painting its content automatically
 *          to update the view, start the auto-update by calling HUD::start().
 *
 * @param width
 * @param height
 * @param parent
 */
HUD::HUD(int width, int height, QWidget* parent)
    : QGLWidget(QGLFormat(QGL::SampleBuffers), parent),
      u(NULL),
      uas(NULL),
      yawInt(0.0f),
      mode(tr("UNKNOWN MODE")),
      state(tr("UNKNOWN STATE")),
      fuelStatus(tr("00.0V (00m:00s)")),
      xCenterOffset(0.0f),
      yCenterOffset(0.0f),
      vwidth(200.0f),
      vheight(150.0f),
      vGaugeSpacing(50.0f),
      vPitchPerDeg(6.0f), ///< 4 mm y translation per degree)
      rawBuffer1(NULL),
      rawBuffer2(NULL),
      rawImage(NULL),
      rawLastIndex(0),
      rawExpectedBytes(0),
      bytesPerLine(1),
      imageStarted(false),
      receivedDepth(8),
      receivedChannels(1),
      receivedWidth(640),
      receivedHeight(480),
      defaultColor(QColor(70, 200, 70)),
      setPointColor(QColor(200, 20, 200)),
      warningColor(Qt::yellow),
      criticalColor(Qt::red),
      infoColor(QColor(20, 200, 20)),
      fuelColor(criticalColor),
      warningBlinkRate(5),
      refreshTimer(new QTimer(this)),
      imageTimer(new QTimer(this)),
      noCamera(true),
      hardwareAcceleration(true),
      strongStrokeWidth(1.5f),
      normalStrokeWidth(1.0f),
      fineStrokeWidth(0.5f),
      waypointName(""),
      roll(0.0f),
      pitch(0.0f),
      yaw(0.0f),
      rollLP(0.0f),
      pitchLP(0.0f),
      yawLP(0.0f),
      yawDiff(0.0f),
      xPos(0.0),
      yPos(0.0),
      zPos(0.0),
      xSpeed(0.0),
      ySpeed(0.0),
      zSpeed(0.0),
      lastSpeedUpdate(0),
      totalSpeed(0.0),
      totalAcc(0.0),
      lat(0.0),
      lon(0.0),
      alt(0.0),
      load(0.0f),
      offlineDirectory(""),
      nextOfflineImage(""),
      hudInstrumentsEnabled(true),
      videoEnabled(false),
      xImageFactor(1.0),
      yImageFactor(1.0)
      imageRequested(false),
{
    // Set auto fill to false
    setAutoFillBackground(false);

    // Set minimum size
    setMinimumSize(80, 60);
    // Set preferred size
    setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);

    // Fill with black background
    QImage fill = QImage(width, height, QImage::Format_Indexed8);
    fill.setNumColors(3);
    fill.setColor(0, qRgb(0, 0, 0));
    fill.setColor(1, qRgb(0, 0, 0));
    fill.setColor(2, qRgb(0, 0, 0));
    fill.fill(0);

    //QString imagePath = "/Users/user/Desktop/frame0000.png";
    //qDebug() << __FILE__ << __LINE__ << "template image:" << imagePath;
    //fill = QImage(imagePath);

    //glImage = QGLWidget::convertToGLFormat(fill);

    // Refresh timer
    refreshTimer->setInterval(updateInterval);
    imageTimer->setInterval(1);
    //connect(refreshTimer, SIGNAL(timeout()), this, SLOT(update()));
    connect(refreshTimer, SIGNAL(timeout()), this, SLOT(paintHUD()));
    connect(imageTimer, SIGNAL(timeout()), this, SLOT(requestNewImage()));

    // Resize to correct size and fill with image
    //glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());

    // Set size once
    //setFixedSize(fill.size());
    //setMinimumSize(fill.size());
    //setMaximumSize(fill.size());
    // Lock down the size
    //setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));

    fontDatabase = QFontDatabase();
    const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
    const QString fontFamilyName = "Bitstream Vera Sans";
    if(!QFile::exists(fontFileName)) qDebug() << "ERROR! font file: " << fontFileName << " DOES NOT EXIST!";

    fontDatabase.addApplicationFont(fontFileName);
    font = fontDatabase.font(fontFamilyName, "Roman", qMax(5,(int)(10.0f*scalingFactor*1.2f+0.5f)));
    QFont* fontPtr = &font;
    if (!fontPtr) {
        qDebug() << "ERROR! FONT NOT LOADED!";
    } else {
        if (font.family() != fontFamilyName) qDebug() << "ERROR! WRONG FONT LOADED: " << fontFamilyName;
    }

    // Connect with UAS
    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));

    createActions();

    if (UASManager::instance()->getActiveUAS() != NULL) setActiveUAS(UASManager::instance()->getActiveUAS());

    setVisible(false);
}

HUD::~HUD()
{
    refreshTimer->stop();
    imageTimer->stop();
}

QSize HUD::sizeHint() const
{
    return QSize(width(), (width()*3.0f)/4);
}

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

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

void HUD::contextMenuEvent (QContextMenuEvent* event)
{
    QMenu menu(this);
    // Update actions
    enableHUDAction->setChecked(hudInstrumentsEnabled);
    enableVideoAction->setChecked(videoEnabled);

    menu.addAction(enableHUDAction);
    //menu.addAction(selectHUDColorAction);
    menu.addAction(enableVideoAction);
    menu.addAction(selectOfflineDirectoryAction);
    //menu.addAction(selectVideoChannelAction);
    menu.exec(event->globalPos());
}

void HUD::createActions()
{
    enableHUDAction = new QAction(tr("Enable HUD"), this);
    enableHUDAction->setStatusTip(tr("Show the HUD instruments in this window"));
    enableHUDAction->setCheckable(true);
    enableHUDAction->setChecked(hudInstrumentsEnabled);
    connect(enableHUDAction, SIGNAL(triggered(bool)), this, SLOT(enableHUDInstruments(bool)));

    enableVideoAction = new QAction(tr("Enable Video Live feed"), this);
    enableVideoAction->setStatusTip(tr("Show the video live feed"));
    enableVideoAction->setCheckable(true);
    enableVideoAction->setChecked(videoEnabled);
    connect(enableVideoAction, SIGNAL(triggered(bool)), this, SLOT(enableVideo(bool)));

    selectOfflineDirectoryAction = new QAction(tr("Select image log"), this);
    selectOfflineDirectoryAction->setStatusTip(tr("Load previously logged images into simulation / replay"));
    connect(selectOfflineDirectoryAction, SIGNAL(triggered()), this, SLOT(selectOfflineDirectory()));
}

/**
 *
 * @param uas the UAS/MAV to monitor/display with the HUD
 */
void HUD::setActiveUAS(UASInterface* uas)
{
    if (this->uas != NULL) {
        // Disconnect any previously connected active MAV
        disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
        disconnect(this->uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
        disconnect(this->uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
        disconnect(this->uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
        disconnect(this->uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));

        disconnect(this->uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
        disconnect(this->uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
        disconnect(this->uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
        disconnect(this->uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));

        // Try to disconnect the image link
        UAS* u = dynamic_cast<UAS*>(this->uas);
        if (u) {
            disconnect(u, SIGNAL(imageStarted(quint64)), this, SLOT(startImage(quint64)));
            disconnect(u, SIGNAL(imageReady(UASInterface*)), this, SLOT(requestNewImage()));
        }
    }

    if (uas) {
        // Now connect the new UAS
        // Setup communication
        connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
        connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
        connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
        connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
        connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));

        connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
        connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
        connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
        connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));

        // Try to connect the image link
        UAS* u = dynamic_cast<UAS*>(uas);
        if (u) {
            connect(u, SIGNAL(imageStarted(quint64)), this, SLOT(startImage(quint64)));
            connect(u, SIGNAL(imageReady(UASInterface*)), this, SLOT(requestNewImage()));
        }

        // Set new UAS
        this->uas = uas;
        this->u = dynamic_cast<UAS*>(this->uas);
    }
}

//void HUD::updateAttitudeThrustSetPoint(UASInterface* uas, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 msec)
//{
////    updateValue(uas, "roll desired", rollDesired, msec);
////    updateValue(uas, "pitch desired", pitchDesired, msec);
////    updateValue(uas, "yaw desired", yawDesired, msec);
////    updateValue(uas, "thrust desired", thrustDesired, msec);
//}

void HUD::updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp)
{
    Q_UNUSED(uas);
    Q_UNUSED(timestamp);
    this->roll = roll;
    this->pitch = pitch;
    this->yaw = yaw;
}

void HUD::updateBattery(UASInterface* uas, double voltage, double percent, int seconds)
{
    Q_UNUSED(uas);
    fuelStatus = tr("BAT [%1% | %2V] (%3:%4)").arg(percent, 2, 'f', 0, QChar('0')).arg(voltage, 4, 'f', 1, QChar('0')).arg(seconds/60, 2, 10, QChar('0')).arg(seconds%60, 2, 10, QChar('0'));
    if (percent < 20.0f) {
        fuelColor = warningColor;
    } else if (percent < 10.0f) {
        fuelColor = criticalColor;
    } else {
        fuelColor = infoColor;
    }
}

void HUD::receiveHeartbeat(UASInterface*)
{
}

void HUD::updateThrust(UASInterface* uas, double thrust)
{
    Q_UNUSED(uas);
    Q_UNUSED(thrust);
//    updateValue(uas, "thrust", thrust, MG::TIME::getGroundTimeNow());
}

void HUD::updateLocalPosition(UASInterface* uas,double x,double y,double z,quint64 timestamp)
{
    Q_UNUSED(uas);
    Q_UNUSED(timestamp);
    this->xPos = x;
    this->yPos = y;
    this->zPos = z;
}

void HUD::updateGlobalPosition(UASInterface* uas,double lat, double lon, double altitude, quint64 timestamp)
{
    Q_UNUSED(uas);
    Q_UNUSED(timestamp);
    this->lat = lat;
    this->lon = lon;
    this->alt = altitude;
}

void HUD::updateSpeed(UASInterface* uas,double x,double y,double z,quint64 timestamp)
{
    Q_UNUSED(uas);
    Q_UNUSED(timestamp);
    this->xSpeed = x;
    this->ySpeed = y;
    this->zSpeed = z;
    double newTotalSpeed = sqrt(xSpeed*xSpeed + ySpeed*ySpeed + zSpeed*zSpeed);
    totalAcc = (newTotalSpeed - totalSpeed) / ((double)(lastSpeedUpdate - timestamp)/1000.0);
    totalSpeed = newTotalSpeed;
}

/**
 * Updates the current system state, but only if the uas matches the currently monitored uas.
 *
 * @param uas the system the state message originates from
 * @param state short state text, displayed in HUD
 */
void HUD::updateState(UASInterface* uas,QString state)
{
    // Only one UAS is connected at a time
    Q_UNUSED(uas);
    this->state = state;
}

/**
 * Updates the current system mode, but only if the uas matches the currently monitored uas.
 *
 * @param uas the system the state message originates from
 * @param mode short mode text, displayed in HUD
 */
void HUD::updateMode(int id,QString mode, QString description)
{
    // Only one UAS is connected at a time
    Q_UNUSED(id);
    Q_UNUSED(description);
    this->mode = mode;
}

void HUD::updateLoad(UASInterface* uas, double load)
{
    Q_UNUSED(uas);
    this->load = load;
    //updateValue(uas, "load", load, MG::TIME::getGroundTimeNow());
}

/**
 * @param y coordinate in pixels to be converted to reference mm units
 * @return the screen coordinate relative to the QGLWindow origin
 */
float HUD::refToScreenX(float x)
{
    //qDebug() << "sX: " << (scalingFactor * x);
    return (scalingFactor * x);
}
/**
 * @param x coordinate in pixels to be converted to reference mm units
 * @return the screen coordinate relative to the QGLWindow origin
 */
float HUD::refToScreenY(float y)
{
    //qDebug() << "sY: " << (scalingFactor * y);
    return (scalingFactor * y);
}

/**
 * This functions works in the OpenGL view, which is already translated by
 * the x and y center offsets.
 *
 */
void HUD::paintCenterBackground(float roll, float pitch, float yaw)
{
    // Center indicator is 100 mm wide
    float referenceWidth = 70.0;
    float referenceHeight = 70.0;

    // HUD is assumed to be 200 x 150 mm
    // so that positions can be hardcoded
    // but can of course be scaled.

    double referencePositionX = vwidth / 2.0 - referenceWidth/2.0;
    double referencePositionY = vheight / 2.0 - referenceHeight/2.0;

    //this->width()/2.0+(xCenterOffset*scalingFactor), this->height()/2.0+(yCenterOffset*scalingFactor);

    setupGLView(referencePositionX, referencePositionY, referenceWidth, referenceHeight);

    // Store current position in the model view
    // the position will be restored after drawing
    glMatrixMode(GL_MODELVIEW);
    glPushMatrix();

    // Move to the center of the window
    glTranslatef(referenceWidth/2.0f,referenceHeight/2.0f,0);

    // Move based on the yaw difference
    glTranslatef(yaw, 0.0f, 0.0f);

    // Rotate based on the bank
    glRotatef((roll/M_PI)*180.0f, 0.0f, 0.0f, 1.0f);

    // Translate in the direction of the rotation based
    // on the pitch. On the 777, a pitch of 1 degree = 2 mm
    //glTranslatef(0, ((-pitch/M_PI)*180.0f * vPitchPerDeg), 0);
    glTranslatef(0.0f, (-pitch * vPitchPerDeg * 16.5f), 0.0f);

    // Ground
    glColor3ub(179,102,0);

    glBegin(GL_POLYGON);
    glVertex2f(-300,-300);
    glVertex2f(-300,0);
    glVertex2f(300,0);
    glVertex2f(300,-300);
    glVertex2f(-300,-300);
    glEnd();

    // Sky
    glColor3ub(0,153,204);

    glBegin(GL_POLYGON);
    glVertex2f(-300,0);
    glVertex2f(-300,300);
    glVertex2f(300,300);
    glVertex2f(300,0);
    glVertex2f(-300,0);

    glEnd();
}

/**
 * Paint text on top of the image and OpenGL drawings
 *
 * @param text chars to write
 * @param color text color
 * @param fontSize text size in mm
 * @param refX position in reference units (mm of the real instrument). This is relative to the measurement unit position, NOT in pixels.
 * @param refY position in reference units (mm of the real instrument). This is relative to the measurement unit position, NOT in pixels.
 */
void HUD::paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter)
{
    QPen prevPen = painter->pen();
    float pPositionX = refToScreenX(refX) - (fontSize*scalingFactor*0.072f);
    float pPositionY = refToScreenY(refY) - (fontSize*scalingFactor*0.212f);

    QFont font("Bitstream Vera Sans");
    // Enforce minimum font size of 5 pixels
    int fSize = qMax(5, (int)(fontSize*scalingFactor*1.26f));
    font.setPixelSize(fSize);

    QFontMetrics metrics = QFontMetrics(font);
    int border = qMax(4, metrics.leading());
    QRect rect = metrics.boundingRect(0, 0, width() - 2*border, int(height()*0.125),
                                      Qt::AlignLeft | Qt::TextWordWrap, text);
    painter->setPen(color);
    painter->setFont(font);
    painter->setRenderHint(QPainter::TextAntialiasing);
    painter->drawText(pPositionX, pPositionY,
                      rect.width(), rect.height(),
                      Qt::AlignCenter | Qt::TextWordWrap, text);
    painter->setPen(prevPen);
}

void HUD::initializeGL()
{
    bool antialiasing = true;

    // Antialiasing setup
    if(antialiasing) {
        glEnable(GL_MULTISAMPLE);
        glEnable(GL_BLEND);

        glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);

        glEnable(GL_POINT_SMOOTH);
        glEnable(GL_LINE_SMOOTH);

        glHint(GL_POINT_SMOOTH_HINT, GL_NICEST);
        glHint(GL_LINE_SMOOTH_HINT, GL_NICEST);
    } else {
        glDisable(GL_BLEND);
        glDisable(GL_POINT_SMOOTH);
        glDisable(GL_LINE_SMOOTH);
    }
}

/**
 * @param referencePositionX horizontal position in the reference mm-unit space
 * @param referencePositionY horizontal position in the reference mm-unit space
 * @param referenceWidth width in the reference mm-unit space
 * @param referenceHeight width in the reference mm-unit space
 */
void HUD::setupGLView(float referencePositionX, float referencePositionY, float referenceWidth, float referenceHeight)
{
    int pixelWidth  = (int)(referenceWidth * scalingFactor);
    int pixelHeight = (int)(referenceHeight * scalingFactor);
    // Translate and scale the GL view in the virtual reference coordinate units on the screen
    int pixelPositionX = (int)((referencePositionX * scalingFactor) + xCenterOffset);
    int pixelPositionY = this->height() - (referencePositionY * scalingFactor) + yCenterOffset - pixelHeight;

    //qDebug() << "Pixel x" << pixelPositionX << "pixelY" << pixelPositionY;
    //qDebug() << "xCenterOffset:" << xCenterOffset << "yCenterOffest" << yCenterOffset


    //The viewport is established at the correct pixel position and clips everything
    // out of the desired instrument location
    glViewport(pixelPositionX, pixelPositionY, pixelWidth, pixelHeight);
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();

    // The ortho projection is setup in a way that so that the drawing is done in the
    // reference coordinate space
    glOrtho(0, referenceWidth, 0, referenceHeight, -1, 1);
    glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();
    //glScalef(scaleX, scaleY, 1.0f);
}

void HUD::paintRollPitchStrips()
{
}


void HUD::paintEvent(QPaintEvent *event)
{
    // Event is not needed
    // the event is ignored as this widget
    // is refreshed automatically
    Q_UNUSED(event);
}

void HUD::paintHUD()
{
    if (isVisible()) {
        //    static quint64 interval = 0;
        //    qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
        //    interval = MG::TIME::getGroundTimeNow();

#if (QGC_EVENTLOOP_DEBUG)
        qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif

        // Read out most important values to limit hash table lookups
        // Low-pass roll, pitch and yaw
        rollLP = rollLP * 0.2f + 0.8f * roll;
        pitchLP = pitchLP * 0.2f + 0.8f * pitch;
        yawLP = yawLP * 0.2f + 0.8f * yaw;

        // Translate for yaw
        const float maxYawTrans = 60.0f;

        float newYawDiff = yawDiff;
        if (isinf(newYawDiff)) newYawDiff = yawDiff;
        if (newYawDiff > M_PI) newYawDiff = newYawDiff - M_PI;

        if (newYawDiff < -M_PI) newYawDiff = newYawDiff + M_PI;

        newYawDiff = yawDiff * 0.8 + newYawDiff * 0.2;

        yawDiff = newYawDiff;

        yawInt += newYawDiff;

        if (yawInt > M_PI) yawInt = (float)M_PI;
        if (yawInt < -M_PI) yawInt = (float)-M_PI;

        float yawTrans = yawInt * (float)maxYawTrans;
        yawInt *= 0.6f;

        if ((yawTrans < 5.0) && (yawTrans > -5.0)) yawTrans = 0;

        // Negate to correct direction
        yawTrans = -yawTrans;

        //qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw;

        // Update scaling factor
        // adjust scaling to fit both horizontally and vertically
        scalingFactor = this->width()/vwidth;
        double scalingFactorH = this->height()/vheight;
        if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH;



        // OPEN GL PAINTING
        // Store model view matrix to be able to reset it to the previous state
        makeCurrent();
        glMatrixMode(GL_MODELVIEW);
        glPushMatrix();
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

        // Fill with black background
        if (videoEnabled) {
            if (nextOfflineImage != "" && QFileInfo(nextOfflineImage).exists()) {
                qDebug() << __FILE__ << __LINE__ << "template image:" << nextOfflineImage;
                QImage fill = QImage(nextOfflineImage);

                xImageFactor = width() / (float)fill.width();
                yImageFactor = height() / (float)fill.height();

                glImage = QGLWidget::convertToGLFormat(fill);

                // Reset to save load efforts
                nextOfflineImage = "";
            }

            glRasterPos2i(0, 0);

            glPixelZoom(xImageFactor, yImageFactor);
            // Resize to correct size and fill with image
            glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
        } else {
            // Blue / brown background
            paintCenterBackground(roll, pitch, yawTrans);
        }

        glMatrixMode(GL_MODELVIEW);
        glPopMatrix();

        // END OF OPENGL PAINTING

        if (hudInstrumentsEnabled) {

            //glEnable(GL_MULTISAMPLE);

            // QT PAINTING
            //makeCurrent();
            QPainter painter;
            painter.begin(this);
            painter.setRenderHint(QPainter::Antialiasing, true);
            painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
            painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);



            // COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET


            // Draw all fixed indicators
            // MODE
            paintText(mode, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 10, &painter);
            // STATE
            paintText(state, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
            // BATTERY
            paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 20, &painter);
            // Waypoint
            paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);

            // YAW INDICATOR
            //
            //      .
            //    .   .
            //   .......
            //
            const float yawIndicatorWidth = 4.0f;
            const float yawIndicatorY = vheight/2.0f - 10.0f;
            QPolygon yawIndicator(4);
            yawIndicator.setPoint(0, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
            yawIndicator.setPoint(1, QPoint(refToScreenX(yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
            yawIndicator.setPoint(2, QPoint(refToScreenX(-yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
            yawIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
            painter.setPen(defaultColor);
            painter.drawPolyline(yawIndicator);

            // CENTER

            // HEADING INDICATOR
            //
            //    __      __
            //       \/\/
            //
            const float hIndicatorWidth = 7.0f;
            const float hIndicatorY = -25.0f;
            const float hIndicatorYLow = hIndicatorY + hIndicatorWidth / 6.0f;
            const float hIndicatorSegmentWidth = hIndicatorWidth / 7.0f;
            QPolygon hIndicator(7);
            hIndicator.setPoint(0, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
            hIndicator.setPoint(1, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f+hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
            hIndicator.setPoint(2, QPoint(refToScreenX(0.0f-hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
            hIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(hIndicatorY)));
            hIndicator.setPoint(4, QPoint(refToScreenX(0.0f+hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
            hIndicator.setPoint(5, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f-hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
            hIndicator.setPoint(6, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
            painter.setPen(defaultColor);
            painter.drawPolyline(hIndicator);


            // SETPOINT
            const float centerWidth = 4.0f;
            painter.setPen(defaultColor);
            painter.setBrush(Qt::NoBrush);
            // TODO
            //painter.drawEllipse(QPointF(refToScreenX(qMin(10.0f, values.value("roll desired", 0.0f) * 10.0f)), refToScreenY(qMin(10.0f, values.value("pitch desired", 0.0f) * 10.0f))), refToScreenX(centerWidth/2.0f), refToScreenX(centerWidth/2.0f));

            const float centerCrossWidth = 10.0f;
            // left
            painter.drawLine(QPointF(refToScreenX(-centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(-centerCrossWidth / 2.0f), refToScreenY(0.0f)));
            // right
            painter.drawLine(QPointF(refToScreenX(centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(centerCrossWidth / 2.0f), refToScreenY(0.0f)));
            // top
            painter.drawLine(QPointF(refToScreenX(0.0f), refToScreenY(-centerWidth / 2.0f)), QPointF(refToScreenX(0.0f), refToScreenY(-centerCrossWidth / 2.0f)));



            // COMPASS
            const float compassY = -vheight/2.0f + 10.0f;
            QRectF compassRect(QPointF(refToScreenX(-5.0f), refToScreenY(compassY)), QSizeF(refToScreenX(10.0f), refToScreenY(5.0f)));
            painter.setBrush(Qt::NoBrush);
            painter.setPen(Qt::SolidLine);
            painter.setPen(defaultColor);
            painter.drawRoundedRect(compassRect, 2, 2);
            QString yawAngle;

            //    const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;

            // YAW is in compass-human readable format, so 0 - 360deg. This is normal in aviation, not -180 - +180.
            const float yawDeg = ((yawLP/M_PI)*180.0f)+180.0f+180.0f;
            int yawCompass = static_cast<int>(yawDeg) % 360;
            yawAngle.sprintf("%03d", yawCompass);
            paintText(yawAngle, defaultColor, 3.5f, -4.3f, compassY+ 0.97f, &painter);

            // CHANGE RATE STRIPS
            drawChangeRateStrip(-51.0f, -50.0f, 15.0f, -1.0f, 1.0f, -zSpeed, &painter);

            // CHANGE RATE STRIPS
            drawChangeRateStrip(49.0f, -50.0f, 15.0f, -1.0f, 1.0f, totalAcc, &painter);

            // GAUGES

            // Left altitude gauge
            float gaugeAltitude;

            if (this->alt != 0) {
                gaugeAltitude = alt;
            } else {
                gaugeAltitude = -zPos;
            }

            drawChangeIndicatorGauge(-vGaugeSpacing, -15.0f, 10.0f, 2.0f, gaugeAltitude, defaultColor, &painter, false);

            // Right speed gauge
            drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, totalSpeed, defaultColor, &painter, false);


            // Waypoint name
            if (waypointName != "") paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);

            // MOVING PARTS


            painter.translate(refToScreenX(yawTrans), 0);

            // Rotate view and draw all roll-dependent indicators
            painter.rotate((rollLP/M_PI)* -180.0f);

            painter.translate(0, (-pitchLP/(float)M_PI)* -180.0f * refToScreenY(1.8f));

            //qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);

            // PITCH

            paintPitchLines(pitchLP, &painter);
            painter.end();
        } else {
            QPainter painter;
            painter.begin(this);
            painter.end();
        }
        //glDisable(GL_MULTISAMPLE);



        //glFlush();
    }
}

/*
void HUD::paintGL()
{
    static float roll = 0.0;
    static float pitch = 0.0;
    static float yaw = 0.0;

    // Read out most important values to limit hash table lookups
    roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f);
    pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f);
    yaw = yaw * 0.5 + 0.5 * values.value("yaw", 0.0f);

    //qDebug() << __FILE__ << __LINE__ << "ROLL:" << roll << "PITCH:" << pitch << "YAW:" << yaw;


    // Update scaling factor
    // adjust scaling to fit both horizontally and vertically
    scalingFactor = this->width()/vwidth;
    double scalingFactorH = this->height()/vheight;
    if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH;

    makeCurrent();
    glClear(GL_COLOR_BUFFER_BIT);
    //if(!noCamera) glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
    //glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits()); // FIXME Remove after testing


    // Blue / Brown background
    if (noCamera) paintCenterBackground(roll, pitch, yaw);

    glFlush();

    //    // Store current GL model view
    //    glMatrixMode(GL_MODELVIEW);
    //    glPushMatrix();
    //
    //    // Setup GL view
    //    setupGLView(0.0f, 0.0f, vwidth, vheight);
    //
    //    // Restore previous view
    //    glPopMatrix();

    // Now draw QPainter overlay

    //painter.setRenderHint(QPainter::Antialiasing);

    // Position the coordinate frame according to the setup

    makeOverlayCurrent();
    QPainter painter(this);
    //painter.setRenderHint(QPainter::Antialiasing, true);
    //painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
    painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);

    // COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET


    // Draw all fixed indicators
    // MODE
    paintText(mode, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 10, &painter);
    // STATE
    paintText(state, infoColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 15, &painter);
    // BATTERY
    paintText(fuelStatus, fuelColor, 2.0f, (-vwidth/2.0) + 10, -vheight/2.0 + 20, &painter);
    // Waypoint
    paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);

    // YAW INDICATOR
    //
    //      .
    //    .   .
    //   .......
    //
    const float yawIndicatorWidth = 4.0f;
    const float yawIndicatorY = vheight/2.0f - 10.0f;
    QPolygon yawIndicator(4);
    yawIndicator.setPoint(0, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
    yawIndicator.setPoint(1, QPoint(refToScreenX(yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
    yawIndicator.setPoint(2, QPoint(refToScreenX(-yawIndicatorWidth/2.0f), refToScreenY(yawIndicatorY+yawIndicatorWidth)));
    yawIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(yawIndicatorY)));
    painter.setPen(defaultColor);
    painter.drawPolyline(yawIndicator);

    // CENTER

    // HEADING INDICATOR
    //
    //    __      __
    //       \/\/
    //
    const float hIndicatorWidth = 7.0f;
    const float hIndicatorY = -25.0f;
    const float hIndicatorYLow = hIndicatorY + hIndicatorWidth / 6.0f;
    const float hIndicatorSegmentWidth = hIndicatorWidth / 7.0f;
    QPolygon hIndicator(7);
    hIndicator.setPoint(0, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
    hIndicator.setPoint(1, QPoint(refToScreenX(0.0f-hIndicatorWidth/2.0f+hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
    hIndicator.setPoint(2, QPoint(refToScreenX(0.0f-hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
    hIndicator.setPoint(3, QPoint(refToScreenX(0.0f), refToScreenY(hIndicatorY)));
    hIndicator.setPoint(4, QPoint(refToScreenX(0.0f+hIndicatorSegmentWidth*1.0f), refToScreenY(hIndicatorYLow)));
    hIndicator.setPoint(5, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f-hIndicatorSegmentWidth*1.75f), refToScreenY(hIndicatorY)));
    hIndicator.setPoint(6, QPoint(refToScreenX(0.0f+hIndicatorWidth/2.0f), refToScreenY(hIndicatorY)));
    painter.setPen(defaultColor);
    painter.drawPolyline(hIndicator);


    // SETPOINT
    const float centerWidth = 4.0f;
    painter.setPen(defaultColor);
    painter.setBrush(Qt::NoBrush);
    // TODO
    //painter.drawEllipse(QPointF(refToScreenX(qMin(10.0f, values.value("roll desired", 0.0f) * 10.0f)), refToScreenY(qMin(10.0f, values.value("pitch desired", 0.0f) * 10.0f))), refToScreenX(centerWidth/2.0f), refToScreenX(centerWidth/2.0f));

    const float centerCrossWidth = 10.0f;
    // left
    painter.drawLine(QPointF(refToScreenX(-centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(-centerCrossWidth / 2.0f), refToScreenY(0.0f)));
    // right
    painter.drawLine(QPointF(refToScreenX(centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(centerCrossWidth / 2.0f), refToScreenY(0.0f)));
    // top
    painter.drawLine(QPointF(refToScreenX(0.0f), refToScreenY(-centerWidth / 2.0f)), QPointF(refToScreenX(0.0f), refToScreenY(-centerCrossWidth / 2.0f)));



    // COMPASS
    const float compassY = -vheight/2.0f + 10.0f;
    QRectF compassRect(QPointF(refToScreenX(-5.0f), refToScreenY(compassY)), QSizeF(refToScreenX(10.0f), refToScreenY(5.0f)));
    painter.setBrush(Qt::NoBrush);
    painter.setPen(Qt::SolidLine);
    painter.setPen(defaultColor);
    painter.drawRoundedRect(compassRect, 2, 2);
    QString yawAngle;

    const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;
    //qDebug() << "YAW: " << yawDeg;
    yawAngle.sprintf("%03d", (int)yawDeg);
    paintText(yawAngle, defaultColor, 3.5f, -3.7f, compassY+ 0.9f, &painter);

    // CHANGE RATE STRIPS
    drawChangeRateStrip(-51.0f, -50.0f, 15.0f, -1.0f, 1.0f, valuesDot.value("z", 0.0f), &painter);

    // CHANGE RATE STRIPS
    drawChangeRateStrip(49.0f, -50.0f, 15.0f, -1.0f, 1.0f, valuesDot.value("x", 0.0f), &painter);

    // GAUGES