Merge branch 'experimental' of git@pixhawk.ethz.ch:qgroundcontrol into dev

src/ui/designer/QGCActionButton.cc

@@ -42,15 +42,12 @@ const char* kActionLabels[MAV_ACTION_NB] =
  "RESET MAP"};
 
 QGCActionButton::QGCActionButton(QWidget *parent) :
-    QGCToolWidgetItem(parent),
+    QGCToolWidgetItem("Button", parent),
     ui(new Ui::QGCActionButton),
     uas(NULL)
 {
     ui->setupUi(this);
 
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
-            this, SLOT(setActiveUAS(UASInterface*)));
-
     connect(ui->actionButton, SIGNAL(clicked()), this, SLOT(sendAction()));
     connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode()));
     connect(ui->editButtonName, SIGNAL(textChanged(QString)), this, SLOT(setActionButtonName(QString)));
@@ -71,12 +68,16 @@ QGCActionButton::~QGCActionButton()
 
 void QGCActionButton::sendAction()
 {
-    if (uas)
+    if (QGCToolWidgetItem::uas)
     {
         MAV_ACTION action = static_cast<MAV_ACTION>(
                 ui->editActionComboBox->currentIndex());
 
-        uas->setAction(action);
+        QGCToolWidgetItem::uas->setAction(action);
+    }
+    else
+    {
+        qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
     }
 }
 
@@ -90,6 +91,8 @@ void QGCActionButton::startEditMode()
     ui->editActionComboBox->show();
     ui->editActionsRefreshButton->show();
     ui->editFinishButton->show();
+    ui->editNameLabel->show();
+    ui->editButtonName->show();
     isInEditMode = true;
 }
 
@@ -98,10 +101,11 @@ void QGCActionButton::endEditMode()
     ui->editActionComboBox->hide();
     ui->editActionsRefreshButton->hide();
     ui->editFinishButton->hide();
-    isInEditMode = false;
-}
+    ui->editNameLabel->hide();
+    ui->editButtonName->hide();
 
-void QGCActionButton::setActiveUAS(UASInterface *uas)
-{
-    this->uas = uas;
+    // Write to settings
+
+
+    isInEditMode = false;
 }

src/ui/designer/QGCActionButton.h

@@ -23,9 +23,6 @@ public slots:
     void startEditMode();
     void endEditMode();
 
-private slots:
-    void setActiveUAS(UASInterface* uas);
-
 private:
     Ui::QGCActionButton *ui;
     UASInterface* uas;

src/ui/designer/QGCParamSlider.cc

@@ -3,9 +3,16 @@
 
 #include "QGCParamSlider.h"
 #include "ui_QGCParamSlider.h"
+#include "UASInterface.h"
 
 QGCParamSlider::QGCParamSlider(QWidget *parent) :
-    QGCToolWidgetItem(parent),
+    QGCToolWidgetItem("Slider", parent),
+    parameterName(""),
+    parameterValue(0.0f),
+    parameterScalingFactor(0.0),
+    parameterMin(0.0f),
+    parameterMax(0.0f),
+    component(0),
     ui(new Ui::QGCParamSlider)
 {
     ui->setupUi(this);
@@ -48,6 +55,18 @@ void QGCParamSlider::endEditMode()
     isInEditMode = false;
 }
 
+void QGCParamSlider::sendParameter()
+{
+    if (QGCToolWidgetItem::uas)
+    {
+        QGCToolWidgetItem::uas->setParameter(component, parameterName, parameterValue);
+    }
+    else
+    {
+        qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
+    }
+}
+
 void QGCParamSlider::changeEvent(QEvent *e)
 {
     QWidget::changeEvent(e);

src/ui/designer/QGCParamSlider.h

@@ -22,8 +22,16 @@ public:
 public slots:
     void startEditMode();
     void endEditMode();
+    /** @brief Send the parameter to the MAV */
+    void sendParameter();
 
 protected:
+    QString parameterName;         ///< Key/Name of the parameter
+    float parameterValue;          ///< Value of the parameter
+    double parameterScalingFactor; ///< Factor to scale the parameter between slider and true value
+    float parameterMin;
+    float parameterMax;
+    int component;                 ///< ID of the MAV component to address
     void changeEvent(QEvent *e);
 
 private:

src/ui/designer/QGCToolWidget.cc

@@ -50,7 +50,7 @@ void QGCToolWidget::addUAS(UASInterface* uas)
 void QGCToolWidget::contextMenuEvent (QContextMenuEvent* event)
 {
     QMenu menu(this);
-    menu.addAction(addParamAction);
+    //menu.addAction(addParamAction);
     menu.addAction(addButtonAction);
     menu.addAction(setTitleAction);
     menu.exec(event->globalPos());

src/ui/designer/QGCToolWidgetItem.cc

@@ -3,16 +3,25 @@
 #include <QMenu>
 #include <QContextMenuEvent>
 
-QGCToolWidgetItem::QGCToolWidgetItem(QWidget *parent) :
+#include "UASManager.h"
+
+QGCToolWidgetItem::QGCToolWidgetItem(const QString& name, QWidget *parent) :
     QWidget(parent),
     isInEditMode(false),
+    qgcToolWidgetItemName(name),
+    uas(NULL),
     _component(-1)
 {
-    startEditAction = new QAction("Edit Slider", this);
+    startEditAction = new QAction("Edit "+qgcToolWidgetItemName, this);
     connect(startEditAction, SIGNAL(triggered()), this, SLOT(startEditMode()));
     stopEditAction = new QAction("Finish Editing Slider", this);
     connect(stopEditAction, SIGNAL(triggered()), this, SLOT(endEditMode()));
 
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
+            this, SLOT(setActiveUAS(UASInterface*)));
+    // Set first UAS if it exists
+    setActiveUAS(UASManager::instance()->getActiveUAS());
+
     endEditMode();
 }
 
@@ -35,3 +44,8 @@ void QGCToolWidgetItem::contextMenuEvent (QContextMenuEvent* event)
     }
     menu.exec(event->globalPos());
 }
+
+void QGCToolWidgetItem::setActiveUAS(UASInterface *uas)
+{
+    this->uas = uas;
+}

src/ui/designer/QGCToolWidgetItem.h

@@ -4,11 +4,13 @@
 #include <QWidget>
 #include <QAction>
 
+#include "UASInterface.h"
+
 class QGCToolWidgetItem : public QWidget
 {
     Q_OBJECT
 public:
-    explicit QGCToolWidgetItem(QWidget *parent = 0);
+    QGCToolWidgetItem(const QString& name, QWidget *parent = 0);
     ~QGCToolWidgetItem();
 
     int component() {return _component;}
@@ -17,12 +19,14 @@ public slots:
     virtual void startEditMode() {}
     virtual void endEditMode() {}
     virtual void setComponent(int comp) {_component = comp;}
+    void setActiveUAS(UASInterface *uas);
 
 protected:
     QAction* startEditAction;
     QAction* stopEditAction;
-
     bool isInEditMode;
+    QString qgcToolWidgetItemName;
+    UASInterface* uas;
     int _component;          ///< The MAV component (the process or device ID)
 
     void contextMenuEvent (QContextMenuEvent* event);

src/ui/linechart/LinechartPlot.cc

@@ -228,7 +228,8 @@ void LinechartPlot::appendData(QString dataname, quint64 ms, double value)
     datalock.lock();
 
     /* Check if dataset identifier already exists */
-    if(!data.contains(dataname)) {
+    if(!data.contains(dataname))
+    {
         addCurve(dataname);
     }
 

src/ui/linechart/LinechartWidget.cc

@@ -35,6 +35,7 @@ This file is part of the PIXHAWK project
 #include <QGridLayout>
 #include <QComboBox>
 #include <QToolButton>
+#include <QSizePolicy>
 #include <QScrollBar>
 #include <QLabel>
 #include <QMenu>
@@ -69,6 +70,7 @@ curveMenu(new QMenu(this)),
 logFile(new QFile()),
 logindex(1),
 logging(false),
+logStartTime(0),
 updateTimer(new QTimer())
 {
     // Add elements defined in Qt Designer
@@ -78,47 +80,57 @@ updateTimer(new QTimer())
     // Add and customize curve list elements (left side)
     curvesWidget = new QWidget(ui.curveListWidget);
     ui.curveListWidget->setWidget(curvesWidget);
-    curvesWidgetLayout = new QVBoxLayout(curvesWidget);
+    curvesWidgetLayout = new QGridLayout(curvesWidget);
     curvesWidgetLayout->setMargin(2);
     curvesWidgetLayout->setSpacing(4);
-    curvesWidgetLayout->setSizeConstraint(QLayout::SetMinimumSize);
+    //curvesWidgetLayout->setSizeConstraint(QSizePolicy::Expanding);
     curvesWidgetLayout->setAlignment(Qt::AlignTop);
+
+    curvesWidgetLayout->setColumnStretch(0, 0);
+    curvesWidgetLayout->setColumnStretch(1, 0);
+    curvesWidgetLayout->setColumnStretch(2, 80);
+    curvesWidgetLayout->setColumnStretch(3, 50);
+    curvesWidgetLayout->setColumnStretch(4, 50);
+    curvesWidgetLayout->setColumnStretch(5, 50);
+//    horizontalLayout->setColumnStretch(median, 50);
+    curvesWidgetLayout->setColumnStretch(6, 50);
+
     curvesWidget->setLayout(curvesWidgetLayout);
 
     // Create curve list headings
-    QWidget* form = new QWidget(this);
-    QHBoxLayout *horizontalLayout;
     QLabel* label;
     QLabel* value;
     QLabel* mean;
     QLabel* variance;
-    form->setAutoFillBackground(false);
-    horizontalLayout = new QHBoxLayout(form);
-    horizontalLayout->setSpacing(5);
-    horizontalLayout->setMargin(0);
-    horizontalLayout->setSizeConstraint(QLayout::SetMinimumSize);
 
     //horizontalLayout->addWidget(checkBox);
 
-    label = new QLabel(form);
+    int labelRow = curvesWidgetLayout->rowCount();
+
+    curvesWidgetLayout->addWidget(new QLabel(tr("On")), labelRow, 0, 1, 2);
+
+    label = new QLabel(this);
     label->setText("Name");
-    horizontalLayout->addWidget(label);
+    curvesWidgetLayout->addWidget(label, labelRow, 2);
 
     // Value
-    value = new QLabel(form);
+    value = new QLabel(this);
     value->setText("Val");
-    horizontalLayout->addWidget(value);
+    curvesWidgetLayout->addWidget(value, labelRow, 3);
+
+    // Unit
+    label->setText("Unit");
+    curvesWidgetLayout->addWidget(new QLabel(tr("Unit")), labelRow, 4);
 
     // Mean
-    mean = new QLabel(form);
+    mean = new QLabel(this);
     mean->setText("Mean");
-    horizontalLayout->addWidget(mean);
+    curvesWidgetLayout->addWidget(mean, labelRow, 5);
 
     // Variance
-    variance = new QLabel(form);
+    variance = new QLabel(this);
     variance->setText("Variance");
-    horizontalLayout->addWidget(variance);
-    curvesWidgetLayout->addWidget(form);
+    curvesWidgetLayout->addWidget(variance, labelRow, 6);
 
     // Add and customize plot elements (right side)
 
@@ -260,14 +272,83 @@ void LinechartWidget::createLayout()
 
 void LinechartWidget::appendData(int uasId, QString curve, double value, quint64 usec)
 {
-    // Order matters here, first append to plot, then update curve list
-    activePlot->appendData(curve, usec, value);
-    // Store data
-    QLabel* label = curveLabels->value(curve, NULL);
-    // Make sure the curve will be created if it does not yet exist
-    if(!label)
+    static const QString unit("-");
+    if (isVisible())
+    {
+        // Order matters here, first append to plot, then update curve list
+        activePlot->appendData(curve+unit, usec, value);
+        // Store data
+        QLabel* label = curveLabels->value(curve+unit, NULL);
+        // Make sure the curve will be created if it does not yet exist
+        if(!label)
+        {
+            addCurve(curve, unit);
+        }
+    }
+
+    // Log data
+    if (logging)
+    {
+        if (activePlot->isVisible(curve))
+        {
+            if (logStartTime == 0) logStartTime = usec;
+            qint64 time = usec - logStartTime;
+            if (time < 0) time = 0;
+
+            logFile->write(QString(QString::number(time) + "\t" + QString::number(uasId) + "\t" + curve + "\t" + QString::number(value) + "\n").toLatin1());
+            logFile->flush();
+        }
+    }
+}
+
+
+void LinechartWidget::appendData(int uasId, const QString& curve, const QString& unit, double value, quint64 usec)
+{
+    if (isVisible())
+    {
+        // Order matters here, first append to plot, then update curve list
+        activePlot->appendData(curve+unit, usec, value);
+        // Store data
+        QLabel* label = curveLabels->value(curve+unit, NULL);
+        // Make sure the curve will be created if it does not yet exist
+        if(!label)
+        {
+            qDebug() << "ADDING CURVE IN APPENDDATE DOUBLE";
+            addCurve(curve, unit);
+        }
+    }
+
+    // Log data
+    if (logging)
+    {
+        if (activePlot->isVisible(curve+unit))
+        {
+            if (logStartTime == 0) logStartTime = usec;
+            qint64 time = usec - logStartTime;
+            if (time < 0) time = 0;
+
+            logFile->write(QString(QString::number(time) + "\t" + QString::number(uasId) + "\t" + curve + "\t" + QString::number(value) + "\n").toLatin1());
+            logFile->flush();
+        }
+    }
+}
+
+void LinechartWidget::appendData(int uasId, const QString& curve, const QString& unit, int value, quint64 usec)
+{
+    if (isVisible())
     {
-        addCurve(curve);
+        // Order matters here, first append to plot, then update curve list
+        activePlot->appendData(curve+unit, usec, value);
+        // Store data
+        QLabel* label = curveLabels->value(curve+unit, NULL);
+        // Make sure the curve will be created if it does not yet exist
+        if(!label)
+        {
+            addCurve(curve, unit);
+        }
+
+        // Add int data
+        intData.insert(curve+unit, value);
     }
 
     // Log data
@@ -275,16 +356,9 @@ void LinechartWidget::appendData(int uasId, QString curve, double value, quint64
     {
         if (activePlot->isVisible(curve))
         {
-            quint64 time = 0;
-            // Adjust time
-            if (activePlot->groundTime())
-            {
-                time = QGC::groundTimeUsecs() - logStartTime;
-            }
-            else
-            {
-                time = usec - logStartTime;
-            }
+            if (logStartTime == 0) logStartTime = usec;
+            qint64 time = usec - logStartTime;
+            if (time < 0) time = 0;
 
             logFile->write(QString(QString::number(time) + "\t" + QString::number(uasId) + "\t" + curve + "\t" + QString::number(value) + "\n").toLatin1());
             logFile->flush();
@@ -295,11 +369,28 @@ void LinechartWidget::appendData(int uasId, QString curve, double value, quint64
 void LinechartWidget::refresh()
 {
     QString str;
-
+    // Value
     QMap<QString, QLabel*>::iterator i;
     for (i = curveLabels->begin(); i != curveLabels->end(); ++i)
     {
-        str.sprintf("%+.2f", activePlot->getCurrentValue(i.key()));
+        double val = activePlot->getCurrentValue(i.key());
+        int intval = static_cast<int>(val);
+        if (intval >= 100000 || intval <= -100000)
+        {
+            str.sprintf("% 11i", intval);
+        }
+        else if (intval >= 10000 || intval <= -10000)
+        {
+            str.sprintf("% 11.2f", val);
+        }
+        else if (intval >= 1000 || intval <= -1000)
+        {
+            str.sprintf("% 11.4f", val);
+        }
+        else
+        {
+            str.sprintf("% 11.6f", val);
+        }
         // Value
         i.value()->setText(str);
     }
@@ -307,7 +398,19 @@ void LinechartWidget::refresh()
     QMap<QString, QLabel*>::iterator j;
     for (j = curveMeans->begin(); j != curveMeans->end(); ++j)
     {
-        str.sprintf("%+.2f", activePlot->getMean(j.key()));
+        double val = activePlot->getCurrentValue(j.key());
+        if (val > 9999 || val < -9999)
+        {
+            str.sprintf("% 11.2f", val);
+        }
+        else if (val > 99999 || val < -99999)
+        {
+            str.sprintf("% 11d", (int)val);
+        }
+        else
+        {
+            str.sprintf("% 11.6f", val);
+        }
         j.value()->setText(str);
     }
 //    QMap<QString, QLabel*>::iterator k;
@@ -321,7 +424,7 @@ void LinechartWidget::refresh()
     for (l = curveVariances->begin(); l != curveVariances->end(); ++l)
     {
       // Variance
-       str.sprintf("%.2e", activePlot->getVariance(l.key()));
+       str.sprintf("% 9.4e", activePlot->getVariance(l.key()));
       l.value()->setText(str);
    }
 }
@@ -381,7 +484,8 @@ void LinechartWidget::startLogging()
         if (logFile->open(QIODevice::WriteOnly | QIODevice::Text))
         {
             logging = true;
-            logStartTime = QGC::groundTimeUsecs();
+            logStartTime = 0;
+            curvesWidget->setEnabled(false);
             logindex++;
             logButton->setText(tr("Stop logging"));
             disconnect(logButton, SIGNAL(clicked()), this, SLOT(startLogging()));
@@ -393,12 +497,13 @@ void LinechartWidget::startLogging()
 void LinechartWidget::stopLogging()
 {
     logging = false;
+    curvesWidget->setEnabled(true);
     if (logFile->isOpen())
     {
         logFile->flush();
         logFile->close();
         // Postprocess log file
-        compressor = new LogCompressor(logFile->fileName());
+        compressor = new LogCompressor(logFile->fileName(), logFile->fileName());
         connect(compressor, SIGNAL(finishedFile(QString)), this, SIGNAL(logfileWritten(QString)));
         connect(compressor, SIGNAL(logProcessingStatusChanged(QString)), MainWindow::instance(), SLOT(showStatusMessage(QString)));
         MainWindow::instance()->showInfoMessage("Logging ended", "QGroundControl is now compressing the logfile in a consistent CVS file. This may take a while, you can continue to use QGroundControl. Status updates appear at the bottom of the window.");
@@ -432,47 +537,41 @@ void LinechartWidget::createActions()
  * @param curve The id-string of the curve
  * @see removeCurve()
  **/
-void LinechartWidget::addCurve(QString curve)
+void LinechartWidget::addCurve(const QString& curve, const QString& unit)
 {
-    curvesWidgetLayout->addWidget(createCurveItem(curve));
-}
+    intData.insert(curve+unit, 0);
 
-QWidget* LinechartWidget::createCurveItem(QString curve)
-{
     LinechartPlot* plot = activePlot;
-    QWidget* form = new QWidget(this);
-    QHBoxLayout *horizontalLayout;
+//    QHBoxLayout *horizontalLayout;
     QCheckBox *checkBox;
     QLabel* label;
     QLabel* value;
+    QLabel* unitLabel;
     QLabel* mean;
     QLabel* variance;
-    form->setAutoFillBackground(false);
-    horizontalLayout = new QHBoxLayout(form);
-    horizontalLayout->setSpacing(5);
-    horizontalLayout->setMargin(0);
-    horizontalLayout->setSizeConstraint(QLayout::SetMinimumSize);
 
-    checkBox = new QCheckBox(form);
+    int labelRow = curvesWidgetLayout->rowCount();
+
+    checkBox = new QCheckBox(this);
     checkBox->setCheckable(true);
-    checkBox->setObjectName(curve);
+    checkBox->setObjectName(curve+unit);
     checkBox->setToolTip(tr("Enable the curve in the graph window"));
     checkBox->setWhatsThis(tr("Enable the curve in the graph window"));
 
-    horizontalLayout->addWidget(checkBox);
+    curvesWidgetLayout->addWidget(checkBox, labelRow, 0);
 
-    QWidget* colorIcon = new QWidget(form);
+    QWidget* colorIcon = new QWidget(this);
     colorIcon->setMinimumSize(QSize(5, 14));
     colorIcon->setMaximumSize(4, 14);
 
-    horizontalLayout->addWidget(colorIcon);
+    curvesWidgetLayout->addWidget(colorIcon, labelRow, 1);
 
-    label = new QLabel(form);
-    horizontalLayout->addWidget(label);
+    label = new QLabel(this);
+    curvesWidgetLayout->addWidget(label, labelRow, 2);
 
     //checkBox->setText(QString());
     label->setText(curve);
-    QColor color = plot->getColorForCurve(curve);
+    QColor color = plot->getColorForCurve(curve+unit);
     if(color.isValid()) {
         QString colorstyle;
         colorstyle = colorstyle.sprintf("QWidget { background-color: #%X%X%X; }", color.red(), color.green(), color.blue());
@@ -481,20 +580,30 @@ QWidget* LinechartWidget::createCurveItem(QString curve)
     }
 
     // Value
-    value = new QLabel(form);
+    value = new QLabel(this);
     value->setNum(0.00);
+    value->setStyleSheet(QString("QLabel {font-family:\"Courier\"; font-weight: bold;}"));
     value->setToolTip(tr("Current value of ") + curve);
     value->setWhatsThis(tr("Current value of ") + curve);
-    curveLabels->insert(curve, value);
-    horizontalLayout->addWidget(value);
+    curveLabels->insert(curve+unit, value);
+    curvesWidgetLayout->addWidget(value, labelRow, 3);
+
+    // Unit
+    unitLabel = new QLabel(this);
+    unitLabel->setText(unit);
+    unitLabel->setStyleSheet(QString("QLabel {color: %1;}").arg("#AAAAAA"));
+    qDebug() << "UNIT" << unit;
+    unitLabel->setToolTip(tr("Unit of ") + curve);
+    unitLabel->setWhatsThis(tr("Unit of ") + curve);
+    curvesWidgetLayout->addWidget(unitLabel, labelRow, 4);
 
     // Mean
-    mean = new QLabel(form);
+    mean = new QLabel(this);
     mean->setNum(0.00);
     mean->setToolTip(tr("Arithmetic mean of ") + curve);
     mean->setWhatsThis(tr("Arithmetic mean of ") + curve);
-    curveMeans->insert(curve, mean);
-    horizontalLayout->addWidget(mean);
+    curveMeans->insert(curve+unit, mean);
+    curvesWidgetLayout->addWidget(mean, labelRow, 5);
 
 //    // Median
 //    median = new QLabel(form);
@@ -503,12 +612,12 @@ QWidget* LinechartWidget::createCurveItem(QString curve)
 //    horizontalLayout->addWidget(median);
 
     // Variance
-    variance = new QLabel(form);
+    variance = new QLabel(this);
     variance->setNum(0.00);
     variance->setToolTip(tr("Variance of ") + curve);
     variance->setWhatsThis(tr("Variance of ") + curve);
-    curveVariances->insert(curve, variance);
-    horizontalLayout->addWidget(variance);
+    curveVariances->insert(curve+unit, variance);
+    curvesWidgetLayout->addWidget(variance, labelRow, 6);
 
     /* Color picker
     QColor color = QColorDialog::getColor(Qt::green, this);
@@ -520,13 +629,6 @@ QWidget* LinechartWidget::createCurveItem(QString curve)
         */
 
     // Set stretch factors so that the label gets the whole space
-    horizontalLayout->setStretchFactor(checkBox, 0);
-    horizontalLayout->setStretchFactor(colorIcon, 0);
-    horizontalLayout->setStretchFactor(label, 80);
-    horizontalLayout->setStretchFactor(value, 50);
-    horizontalLayout->setStretchFactor(mean, 50);
-//    horizontalLayout->setStretchFactor(median, 50);
-    horizontalLayout->setStretchFactor(variance, 50);
 
     // Connect actions
     QObject::connect(checkBox, SIGNAL(clicked(bool)), this, SLOT(takeButtonClick(bool)));
@@ -534,9 +636,7 @@ QWidget* LinechartWidget::createCurveItem(QString curve)
 
     // Set UI components to initial state
     checkBox->setChecked(false);
-    plot->setVisible(curve, false);
-
-    return form;
+    plot->setVisible(curve+unit, false);
 }
 
 /**

src/ui/linechart/LinechartWidget.h

@@ -70,9 +70,14 @@ public:
     static const int MAX_TIME_SCROLLBAR_VALUE = 16383; ///< The maximum scrollbar value
 
 public slots:
-    void addCurve(QString curve);
+    void addCurve(const QString& curve, const QString& unit);
     void removeCurve(QString curve);
+    /** @brief Append data without unit */
     void appendData(int uasId, QString curve, double data, quint64 usec);
+    /** @brief Append data with unit */
+    void appendData(int uasId, const QString& curve, const QString& unit, double value, quint64 usec);
+    /** @brief Append data as int with unit */
+    void appendData(int uasId, const QString& curve, const QString& unit, int value, quint64 usec);
     void takeButtonClick(bool checked);
     void setPlotWindowPosition(int scrollBarValue);
     void setPlotWindowPosition(quint64 position);
@@ -95,7 +100,7 @@ protected:
     void addCurveToList(QString curve);
     void removeCurveFromList(QString curve);
     QToolButton* createButton(QWidget* parent);
-    QWidget* createCurveItem(QString curve);
+    void createCurveItem(QString curve);
     void createLayout();
 
     int sysid;                            ///< ID of the unmanned system this plot belongs to
@@ -110,9 +115,10 @@ protected:
     QMap<QString, QLabel*>* curveMeans;   ///< References to the curve means
     QMap<QString, QLabel*>* curveMedians; ///< References to the curve medians
     QMap<QString, QLabel*>* curveVariances; ///< References to the curve variances
+    QMap<QString, int> intData;           ///< Current values for integer-valued curves
 
     QWidget* curvesWidget;                ///< The QWidget containing the curve selection button
-    QVBoxLayout* curvesWidgetLayout;      ///< The layout for the curvesWidget QWidget
+    QGridLayout* curvesWidgetLayout;      ///< The layout for the curvesWidget QWidget
     QScrollBar* scrollbar;                ///< The plot window scroll bar
     QSpinBox* averageSpinBox;             ///< Spin box to setup average window filter size
 
@@ -130,9 +136,9 @@ protected:
     QFile* logFile;
     unsigned int logindex;
     bool logging;
+    quint64 logStartTime;
     QTimer* updateTimer;
     LogCompressor* compressor;
-    quint64 logStartTime;
 
     static const int MAX_CURVE_MENUITEM_NUMBER = 8;
     static const int PAGESTEP_TIME_SCROLLBAR_VALUE = (MAX_TIME_SCROLLBAR_VALUE - MIN_TIME_SCROLLBAR_VALUE) / 10;

src/ui/linechart/Linecharts.cc

@@ -96,7 +96,12 @@ void Linecharts::addSystem(UASInterface* uas)
         addWidget(widget);
         plots.insert(uas->getUASID(), widget);
 #ifndef MAVLINK_ENABLED_SLUGS
-        connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), widget, SLOT(appendData(int,QString,double,quint64)));
+        // Values without unit
+        //connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), widget, SLOT(appendData(int,QString,double,quint64)));
+        // Values with unit as double
+        connect(uas, SIGNAL(valueChanged(int,QString,QString,double,quint64)), widget, SLOT(appendData(int,QString,QString,double,quint64)));
+        // Values with unit as integer
+        connect(uas, SIGNAL(valueChanged(int,QString,QString,double,quint64)), widget, SLOT(appendData(int,QString,QString,double,quint64)));
 #endif
         connect(widget, SIGNAL(logfileWritten(QString)), this, SIGNAL(logfileWritten(QString)));
         // Set system active if this is the only system

src/ui/uas/UASControlWidget.cc

@@ -114,18 +114,18 @@ void UASControlWidget::setUAS(UASInterface* uas)
     // Check if additional controls should be loaded
     UAS* mav = dynamic_cast<UAS*>(uas);
     if (mav)
-    {
+    {     
         QPushButton* startRecButton = new QPushButton(tr("Record"));
         connect(startRecButton, SIGNAL(clicked()), mav, SLOT(startDataRecording()));
-        ui.gridLayout->addWidget(startRecButton, 10, 0, 0, 2);
+        ui.gridLayout->addWidget(startRecButton, 7, 1);
 
         QPushButton* pauseRecButton = new QPushButton(tr("Pause"));
         connect(pauseRecButton, SIGNAL(clicked()), mav, SLOT(pauseDataRecording()));
-        ui.gridLayout->addWidget(pauseRecButton, 10, 2, 0, 2);
+        ui.gridLayout->addWidget(pauseRecButton, 7, 3);
 
         QPushButton* stopRecButton = new QPushButton(tr("Stop"));
         connect(stopRecButton, SIGNAL(clicked()), mav, SLOT(stopDataRecording()));
-        ui.gridLayout->addWidget(stopRecButton, 10, 4, 0, 2);
+        ui.gridLayout->addWidget(stopRecButton, 7, 4);
     }