Merge branch 'experimental' of github.com:pixhawk/qgroundcontrol into experimental

images/earth.html

@@ -19,6 +19,7 @@ var followEnabled = false;
 
 var lastLat = 0;
 var lastLon = 0;
+var lastAlt = 0;
 var currLat = 47.3769;
 var currLon = 8.549444;
 var currAlt = 470;
@@ -44,6 +45,8 @@ var planeOrient;
 var planeLoc;
 
 var aircraft = [];
+var aircraftLocations = [];
+var aircraftLastLocations = [];
 var attitudes = [];
 var locations = [];
 var trails = [];
@@ -133,7 +136,8 @@ function createAircraft(id, type, color)
           // Write into global structure
           aircraft[id] = planePlacemark;
           attitudes[id] = planeOrient;
-          locations[id] = planeLoc;
+          aircraftLocations[id] = planeLoc;
+		  aircraftLastLocations[id] = ge.createLocation('');
           //planeColor = color;
           
           createTrail(id, color);
@@ -191,7 +195,7 @@ function addTrailPosition(id, lat, lon, alt)
 trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
 
 // Add LineString points
-trails[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
+	trails[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
 
 // Create a style and set width and color of line
 trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
@@ -228,24 +232,27 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
 {
 	if (id == currAircraft)
 	{
-		lastLat = currLat;
-		lastLon = lastLon;
+		if (lastLat == 0)
+		{
+			lastLat = currLat;
+			lastLon = lastLon;
+		}
 		currLat = lat;
 		currLon = lon;
 		currAlt = alt;
 		//currFollowHeading = ((yaw/M_PI)+1.0)*360.0;
-	}
+	
 	
 	// FIXME Currently invalid conversion from right-handed z-down to z-up frame
 	planeOrient.setRoll(((roll/M_PI)+1.0)*360.0);
 	planeOrient.setTilt(((pitch/M_PI)+1.0)*360.0);
 	planeOrient.setHeading(((yaw/M_PI)+1.0)*360.0);
-        
+    }
         
                 
-    planeLoc.setLatitude(lat);
-    planeLoc.setLongitude(lon);
-    planeLoc.setAltitude(alt);
+    //planeLoc.setLatitude(lat);
+    //planeLoc.setLongitude(lon);
+    //planeLoc.setAltitude(alt);
 	
 }
 
@@ -280,13 +287,24 @@ function setCurrentAircraft(id)
 function updateFollowAircraft()
 {
 	currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
-	currView.setLatitude(currLat);
-	currView.setLongitude(currLon);
-	currView.setAltitude(currAlt);
+	// Interpolate between t-1 and t and set new states
+	lastLat = lastLat*0.7+currLat*0.3;
+	lastLon = lastLon*0.7+currLon*0.3;
+	lastAlt = lastAlt*0.7+currAlt*0.3;
+	currView.setLatitude(lastLat);
+	currView.setLongitude(lastLon);
+	currView.setAltitude(lastAlt);
+
 	currView.setRange(currViewRange);
 	currView.setTilt(currFollowTilt);
-	currFollowHeading = 0.9*currFollowHeading+0.1*((Math.atan2(lastLat-currLat, lastLon-currLon)/M_PI)+1.0)*360.0;
+	currFollowHeading = 0;// 0.9*currFollowHeading+0.1*((Math.atan2(lastLat-currLat, lastLon-currLon)/M_PI)+1.0)*360.0;
 	currView.setHeading(currFollowHeading-0.0);
+	
+	// FIXME Shouldn't update aircraft in here, but works for now
+	planeLoc.setLatitude(lastLat);
+    planeLoc.setLongitude(lastLon);
+    planeLoc.setAltitude(lastAlt);
+	
 	ge.getView().setAbstractView(currView);
 }
 

lib/QMapControl/src/layermanager.cpp

@@ -29,12 +29,9 @@ namespace qmapcontrol
     LayerManager::LayerManager(MapControl* mapcontrol, QSize size)
         :mapcontrol(mapcontrol), scroll(QPoint(0,0)), size(size), whilenewscroll(QPoint(0,0))
     {
-        // genauer berechnen?
-        offSize = size *2;
-        composedOffscreenImage = QPixmap(offSize);
-        composedOffscreenImage2 = QPixmap(offSize);
+        setOffscreenImageFactor(2);
         zoomImage = QPixmap(size);
-        zoomImage.fill(Qt::white);
+        zoomImage.fill(Qt::black);
         screenmiddle = QPoint(size.width()/2, size.height()/2);
     }
 
@@ -44,6 +41,19 @@ namespace qmapcontrol
         mylayers.clear();
     }
 
+    void LayerManager::setOffscreenImageFactor(float factor)
+    {
+        offSize = size * factor;
+        offFactor = factor;
+        composedOffscreenImage = QPixmap(offSize);
+        composedOffscreenImage2 = QPixmap(offSize);
+    }
+
+    float LayerManager::offscreenImageFactor()
+    {
+        return offFactor;
+    }
+
     QPointF LayerManager::currentCoordinate() const
     {
         return mapmiddle;
@@ -264,7 +274,7 @@ namespace qmapcontrol
         // layer rendern abbrechen?
         zoomImageScroll = QPoint(0,0);
 
-        zoomImage.fill(Qt::white);
+        zoomImage.fill(Qt::black);
         QPixmap tmpImg = composedOffscreenImage.copy(screenmiddle.x()+scroll.x(),screenmiddle.y()+scroll.y(), size.width(), size.height());
 
         QPainter painter(&zoomImage);
@@ -471,11 +481,11 @@ namespace qmapcontrol
     void LayerManager::resize(QSize newSize)
     {
         size = newSize;
-        offSize = newSize *2;
+        offSize = newSize *offFactor;
         composedOffscreenImage = QPixmap(offSize);
         composedOffscreenImage2 = QPixmap(offSize);
         zoomImage = QPixmap(newSize);
-        zoomImage.fill(Qt::white);
+        zoomImage.fill(Qt::black);
 
         screenmiddle = QPoint(newSize.width()/2, newSize.height()/2);
 

lib/QMapControl/src/layermanager.h

@@ -121,6 +121,11 @@ namespace qmapcontrol
          */
         void setZoom(int zoomlevel);
 
+        //! Sets the factor the offscreen image should be larger than the visible area
+        void setOffscreenImageFactor(float factor);
+        //! Get the factor the offscreen image is larger than the screen
+        float offscreenImageFactor();
+
         //! The Viewport of the display
         /*!
          * Returns the visible viewport in world coordinates
@@ -174,7 +179,7 @@ namespace qmapcontrol
     private:
         LayerManager& operator=(const LayerManager& rhs);
         LayerManager(const LayerManager& old);
-        //! This method have to be invoked to draw a new offscreen image
+        //! This method has to be invoked to draw a new offscreen image
         /*!
          * @param clearImage if the current offscreeen image should be cleared
          * @param showZoomImage if a zoom image should be painted
@@ -190,8 +195,9 @@ namespace qmapcontrol
         QPoint scroll; // scrollvalue of the offscreen image
         QPoint zoomImageScroll; // scrollvalue of the zoom image
 
-        QSize size; // widget size
-        QSize offSize; // size of the offscreen image
+        QSize size;      ///< widget size
+        QSize offSize;   ///< size of the offscreen image
+        float offFactor; ///< Size of the offscreen image
 
         QPixmap composedOffscreenImage;
         QPixmap composedOffscreenImage2;

lib/QMapControl/src/mapcontrol.cpp

@@ -23,6 +23,9 @@
 *
 */
 
+#include <QDialog>
+#include <QDesktopServices>
+
 #include "mapcontrol.h"
 namespace qmapcontrol
 {
@@ -61,6 +64,29 @@ namespace qmapcontrol
         return layermanager->layer(layername);
     }
 
+    void MapControl::setOffscreenImageFactor(double factor)
+    {
+        layermanager->setOffscreenImageFactor(factor);
+    }
+
+    float MapControl::offscreenImageFactor()
+    {
+        return layermanager->offscreenImageFactor();
+    }
+
+    void MapControl::openImageSaveDialog()
+    {
+        QString fileName = QFileDialog::getSaveFileName(this, tr("Save Image as"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("Image file (*.jpg *.png);;"));
+        if (fileName != "")
+        {
+            if (!fileName.contains(".png") && !fileName.contains(".jpg"))
+            {
+                fileName.append(".png");
+            }
+            layermanager->getImage().save(fileName, fileName.split(".").last().toUpper().toAscii(), 95);
+        }
+    }
+
     QList<QString> MapControl::layers() const
     {
         return layermanager->layers();

lib/QMapControl/src/mapcontrol.h

@@ -92,6 +92,9 @@ namespace qmapcontrol
          */
         Layer* layer ( const QString& layername ) const;
 
+        //! The factor the offscreen image is larger than the current viewport
+        float offscreenImageFactor();
+
         //! returns the names of all layers
         /*!
          * @return returns a QList with the names of all layers
@@ -356,6 +359,12 @@ namespace qmapcontrol
          */
         void resize(const QSize newSize);
 
+        //! Open a popup to save the current offscreen image to disk
+        void openImageSaveDialog();
+
+        //! Sets the factor the offscreen image should be larger than the visible area */
+        void setOffscreenImageFactor(double factor);
+
     private slots:
         void tick();
         void loadingFinished();

qgroundcontrol.pri

@@ -58,12 +58,18 @@ macx {
                 debug {
                         #QMAKE_CXXFLAGS += -finstrument-functions
                         #LIBS += -lSaturn
+                        CONFIG += console
                 }
     } else {
         # x64 Mac OS X Snow Leopard 10.6 and later
         CONFIG += x86_64 cocoa
         CONFIG -= x86 phonon
         message(Building for Mac OS X 64bit/Snow Leopard 10.6 and later)
+                debug {
+                        #QMAKE_CXXFLAGS += -finstrument-functions
+                        #LIBS += -lSaturn
+                        CONFIG += console
+                }
     }
 
     QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.5
@@ -154,12 +160,13 @@ linux-g++ {
 
     debug {
         DESTDIR = $$TARGETDIR/debug
-        CONFIG += debug
+        CONFIG += debug console
     }
 
     release {
         DESTDIR = $$TARGETDIR/release
         DEFINES += QT_NO_DEBUG
+        CONFIG -= console
     }
 
     QMAKE_POST_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
@@ -224,12 +231,13 @@ linux-g++-64 {
 
     debug {
         DESTDIR = $$TARGETDIR/debug
-        CONFIG += debug
+        CONFIG += debug console
     }
 
     release {
         DESTDIR = $$TARGETDIR/release
         DEFINES += QT_NO_DEBUG
+        CONFIG -= console
     }
 
     QMAKE_POST_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.

qgroundcontrol.pro

@@ -39,7 +39,6 @@ BASEDIR = $$IN_PWD
 TARGETDIR = $$OUT_PWD
 BUILDDIR = $$TARGETDIR/build
 LANGUAGE = C++
-CONFIG += console
 OBJECTS_DIR = $$BUILDDIR/obj
 MOC_DIR = $$BUILDDIR/moc
 UI_HEADERS_DIR = src/ui/generated

src/comm/MAVLinkProtocol.cc

@@ -109,7 +109,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
             // Log data
             if (m_loggingEnabled)
             {
-                int len = MAVLINK_MAX_PACKET_LEN+sizeof(quint64);
+                const int len = MAVLINK_MAX_PACKET_LEN+sizeof(quint64);
                 uint8_t buf[len];
                 quint64 time = QGC::groundTimeUsecs();
                 memcpy(buf, (void*)&time, sizeof(quint64));

src/ui/MapWidget.cc

@@ -13,6 +13,7 @@
 #include <QComboBox>
 #include <QGridLayout>
 #include <QDir>
+#include <QDoubleSpinBox>
 
 #include "QGC.h"
 #include "MapWidget.h"
@@ -38,7 +39,7 @@ MapWidget::MapWidget(QWidget *parent) :
     mc = new qmapcontrol::MapControl(QSize(320, 240));
 
     //   VISUAL MAP STYLE
-    QString buttonStyle("QAbstractButton { background-color: rgba(20, 20, 20, 45%); border-color: rgba(10, 10, 10, 50%)}");
+    QString buttonStyle("QAbstractButton { background-color: rgba(20, 20, 20, 45%); border-color: rgba(10, 10, 10, 50%)}  QDoubleSpinBox { background-color: rgba(20, 20, 20, 45%); border-color: rgba(10, 10, 10, 50%)}");
     mc->setPen(QGC::colorCyan.darker(400));
 
 
@@ -163,6 +164,19 @@ MapWidget::MapWidget(QWidget *parent) :
     QPushButton* goToButton = new QPushButton(QIcon(""), "T", this);
     goToButton->setStyleSheet(buttonStyle);
 
+    // SAVE FILES
+    QPushButton* saveButton = new QPushButton(QIcon(""), "S", this);
+    saveButton->setStyleSheet(buttonStyle);
+
+    // SET OFFSCREEN BUFFER SIZE
+    QDoubleSpinBox* offscreenSpinBox = new QDoubleSpinBox(this);
+    offscreenSpinBox->setStyleSheet(buttonStyle);
+    offscreenSpinBox->setMinimum(2);
+    offscreenSpinBox->setMaximum(30);
+    offscreenSpinBox->setValue(mc->offscreenImageFactor());
+    connect(offscreenSpinBox, SIGNAL(valueChanged(double)), mc, SLOT(setOffscreenImageFactor(double)));
+
+
     zoomin->setMaximumWidth(30);
     zoomout->setMaximumWidth(30);
     createPath->setMaximumWidth(30);
@@ -188,8 +202,10 @@ MapWidget::MapWidget(QWidget *parent) :
     // Add spacers to compress buttons on the top left
     innerlayout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 5, 0);
     innerlayout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 0, 1, 0, 7);
-    innerlayout->addWidget(mapButton, 0, 6);
-    innerlayout->addWidget(goToButton, 0, 7);
+    innerlayout->addWidget(mapButton, 0, 2);
+    innerlayout->addWidget(goToButton, 0, 3);
+    innerlayout->addWidget(saveButton, 0, 4);
+    innerlayout->addWidget(offscreenSpinBox, 0, 5);
     innerlayout->setRowStretch(0, 1);
     innerlayout->setRowStretch(1, 100);
     mc->setLayout(innerlayout);
@@ -204,6 +220,8 @@ MapWidget::MapWidget(QWidget *parent) :
 
     connect(goToButton, SIGNAL(clicked()), this, SLOT(goTo()));
 
+    connect(saveButton, SIGNAL(clicked()), mc, SLOT(openImageSaveDialog()));
+
     QList<UASInterface*> systems = UASManager::instance()->getUASList();
     foreach(UASInterface* system, systems)
     {
@@ -248,6 +266,8 @@ MapWidget::MapWidget(QWidget *parent) :
 
     drawCamBorder = false;
     radioCamera = 10;
+
+    //mc->setOffscreenImageFactor(15);
 }
 
 void MapWidget::goTo()