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

images/style-outdoor.css

+* { font-family: "Bitstream Vera Sans"; font: "Roman"; font-size: 12px; }
+QWidget#colorIcon {}
+
+QWidget {
+background-color: #F6F6F6;
+color: #000000;
+background-clip: border;
+font-size: 11px;
+}
+
+QGroupBox {
+border: 1px solid #222216;
+border-radius: 3px;
+padding: 10px 0px 0px 0px;
+margin-top: 1ex; /* leave space at the top for the title */
+}
+
+QCheckBox {
+/*background-color: #252528;*/
+color: #222221;
+}
+
+QCheckBox::indicator {
+    border: 1px solid #111111;
+    border-radius: 2px;
+    color: #222221;
+         width: 10px;
+     height: 10px;
+}
+
+QLineEdit {
+border: 1px solid #111111;
+    border-radius: 2px;
+}
+
+QTextEdit {
+border: 1px solid #111111;
+    border-radius: 2px;
+}
+
+QPlainTextEdit {
+border: 1px solid #111111;
+    border-radius: 2px;
+}
+
+QComboBox {
+border: 1px solid #111111;
+    border-radius: 2px;
+    }
+
+ QCheckBox::indicator:checked {
+     background-color: #222222;
+ }
+
+ QCheckBox::indicator:checked:hover {
+     background-color: #222222;
+ }
+
+ QCheckBox::indicator:checked:pressed {
+     background-color: #222222;
+ }
+
+ QCheckBox::indicator:indeterminate:hover {
+     image: url(:/images/checkbox_indeterminate_hover.png);
+ }
+
+ QCheckBox::indicator:indeterminate:pressed {
+     image: url(:/images/checkbox_indeterminate_pressed.png);
+ }
+
+ QGroupBox::title {
+     subcontrol-origin: margin;
+     subcontrol-position: top center; /* position at the top center */
+     margin: 0 3px 0px 3px;
+     padding: 0 3px 0px 0px;
+     font: bold 8px;
+     color: #DDDDDF;
+ }
+ 
+ QMainWindow::separator {
+     background: #090909;
+     width: 2px; /* when vertical */
+     height: 2px; /* when horizontal */
+ }
+
+ QMainWindow::separator:hover {
+     background: white;
+ }
+
+ QDockWidget {
+     border: 1px solid #32345E;
+  /*   titlebar-close-icon: url(close.png);
+     titlebar-normal-icon: url(undock.png);*/
+ }
+
+ QDockWidget::title {
+     text-align: left; /* align the text to the left */
+     background: lightgray;
+     padding-left: 5px;
+ }
+
+ QDockWidget::close-button, QDockWidget::float-button {
+     border: 1px solid transparent;
+     background: darkgray;
+     padding: 0px;
+ }
+
+ QDockWidget::close-button:hover, QDockWidget::float-button:hover {
+     background: gray;
+ }
+
+ QDockWidget::close-button:pressed, QDockWidget::float-button:pressed {
+     padding: 1px -1px -1px 1px;
+ }
+
+
+
+QDockWidget::close-button, QDockWidget::float-button {
+	background-color: #181820;
+	color: #EEEEEE;
+}
+
+QDockWidget::title {
+    text-align: left;
+    background: #121214;
+    color: #4A4A4F;
+    padding-left: 5px;
+    height: 10px;
+	border-bottom: 1px solid #222222;
+}
+
+QSeparator {
+    color: #EEEEEE;
+    }
+
+
+QSpinBox {
+	min-height: 14px;
+	max-height: 18px;
+    border: 1px solid #4A4A4F;
+	border-radius: 5px;
+}
+
+QSpinBox::up-button {
+    subcontrol-origin: border;
+    subcontrol-position: top right; /* position at the top right corner */
+    border-image: url(:/images/actions/go-up.svg) 1;
+    border-width: 1px;
+}
+QSpinBox::down-button {
+    subcontrol-origin: border;
+    subcontrol-position: bottom right; /* position at the top right corner */
+    border-image: url(:/images/actions/go-down.svg) 1;
+    border-width: 1px;
+}
+
+QDoubleSpinBox {
+	min-height: 14px;
+	max-height: 18px;
+    border: 1px solid #4A4A4F;
+	border-radius: 5px;
+}
+
+QDoubleSpinBox::up-button {
+    subcontrol-origin: border;
+    subcontrol-position: top right; /* position at the top right corner */
+    border-image: url(:/images/actions/go-up.svg) 1;
+    border-width: 1px;
+    max-width: 5px;
+}
+QDoubleSpinBox::down-button {
+    subcontrol-origin: border;
+    subcontrol-position: bottom right; /* position at the top right corner */
+    border-image: url(:/images/actions/go-down.svg) 1;
+    border-width: 1px;
+    max-width: 5px;
+}
+
+QPushButton {
+	font-weight: bold;
+	min-height: 18px;
+	max-height: 18px;
+	border: 2px solid #4A4A4F;
+	border-radius: 5px;
+	padding-left: 10px;
+	padding-right: 10px;
+	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #232228, stop: 1 #020208);
+}
+
+QPushButton:checked {
+	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #404040, stop: 1 #808080);
+}
+
+QPushButton:pressed {
+	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0);
+}
+
+QToolButton {
+	font-weight: bold;
+	min-height: 16px;
+	min-width: 24px;
+	max-height: 18px;
+	border: 2px solid #4A4A4F;
+	border-radius: 5px;
+	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #232228, stop: 1 #020208);
+}
+
+QToolButton:checked {
+	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #090909, stop: 1 #353535);
+}
+
+QToolButton:pressed {
+	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0);
+}
+
+QToolTip {
+        background-color: #404040;
+	border-radius: 3px;
+}
+
+QPushButton#forceLandButton {
+	font-weight: bold;
+	min-height: 30px;
+	color: #000000;
+	background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
+                             stop:0 #ffee01, stop:1 #ae8f00) url("ICONDIR/control/emergency-button.png");
+	background-clip: border;
+	border-width: 1px;
+	border-color: #222222;
+	border-radius: 5px;
+}
+
+QPushButton:pressed#forceLandButton {
+	font-weight: bold;
+	min-height: 30px;
+	color: #000000;
+	background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
+                             stop:0 #bbaa00, stop:1 #a05b00) url("ICONDIR/control/emergency-button.png");
+	background-clip: border;
+	border-width: 1px;
+	border-color: #222222;
+	border-radius: 5px;
+}
+
+QPushButton#killButton {
+	font-weight: bold;
+	min-height: 30px;
+	color: #000000;
+	background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
+                             stop:0 #ffb917, stop:1 #b37300) url("ICONDIR/control/emergency-button.png");
+	background-clip: border;
+	border-width: 1px;
+	border-color: #222222;
+	border-radius: 5px;
+}
+
+QPushButton:pressed#killButton {
+	font-weight: bold;
+	min-height: 30px;
+	color: #000000;
+	background: qlineargradient(x1:0, y1:0, x2:0, y2:1,
+                             stop:0 #bb8500, stop:1 #903000) url("ICONDIR/control/emergency-button.png");
+	background-clip: border;
+	border-width: 1px;
+	border-color: #222222;
+	border-radius: 5px;
+}
+
+QPushButton#controlButton {
+    min-height: 25px;
+	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #A0AE00, stop: 1 #909E00);
+}
+
+QPushButton:checked#controlButton {
+	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #b76f11, stop: 1 #e1a718);
+}
+
+QProgressBar {
+	border: 1px solid #4A4A4F;
+	border-radius: 4px;
+	text-align: center;
+	padding: 2px;
+	color: #DDDDDF;
+	background-color: #111118;
+}
+
+QProgressBar:horizontal {
+    height: 9px;
+}
+
+QProgressBar:vertical {
+    width: 9px;
+}
+
+QProgressBar::chunk {
+	background-color: #3C7B9E;
+}
+
+QProgressBar::chunk#batteryBar {
+	background-color: green;
+}
+
+QProgressBar::chunk#speedBar {
+	background-color: yellow;
+}
+
+QProgressBar::chunk#thrustBar {
+	background-color: orange;
+}

qgroundcontrol.pri

@@ -83,6 +83,9 @@ macx {
     QMAKE_POST_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/qgroundcontrol.app/Contents/MacOs
     # Copy google earth starter file
     QMAKE_POST_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/qgroundcontrol.app/Contents/MacOs
+    # Copy CSS stylesheets
+    QMAKE_POST_LINK += && cp -f $$BASEDIR/images/style-mission.css $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/style-indoor.css
+    QMAKE_POST_LINK += && cp -f $$BASEDIR/images/style-outdoor.css $$TARGETDIR/qgroundcontrol.app/Contents/MacOs
     # Copy model files
     #QMAKE_POST_LINK += && cp -f $$BASEDIR/models/*.dae $$TARGETDIR/qgroundcontrol.app/Contents/MacOs
 

src/LogCompressor.cc

@@ -63,7 +63,7 @@ void LogCompressor::run()
     
     if (!file.exists() || !file.open(QIODevice::ReadOnly | QIODevice::Text))
     {
-        qDebug() << "LOG COMPRESSOR: INPUT FILE DOES NOT EXIST";
+        //qDebug() << "LOG COMPRESSOR: INPUT FILE DOES NOT EXIST";
         emit logProcessingStatusChanged(tr("Log Compressor: Cannot start/compress log file, since input file %1 is not readable").arg(QFileInfo(fileName).absoluteFilePath()));
         return;
     }
@@ -71,7 +71,7 @@ void LogCompressor::run()
         // Check if file is writeable
         if (outFileName == ""/* || !QFileInfo(outfile).isWritable()*/)
         {
-            qDebug() << "LOG COMPRESSOR: OUTPUT FILE DOES NOT EXIST" << outFileName;
+            //qDebug() << "LOG COMPRESSOR: OUTPUT FILE DOES NOT EXIST" << outFileName;
             emit logProcessingStatusChanged(tr("Log Compressor: Cannot start/compress log file, since output file %1 is not writable").arg(QFileInfo(outFileName).absoluteFilePath()));
             return;
         }
@@ -214,7 +214,7 @@ void LogCompressor::run()
             }
         }
 
-        if (index % (dataLines/100) == 0) emit logProcessingStatusChanged(tr("Log compressor: Processed %1% of %2 lines").arg(index/(float)dataLines*100, 0, 'f', 2).arg(dataLines));
+        if (dataLines > 100) if (index % (dataLines/100) == 0) emit logProcessingStatusChanged(tr("Log compressor: Processed %1% of %2 lines").arg(index/(float)dataLines*100, 0, 'f', 2).arg(dataLines));
         
         if (!failed)
         {
@@ -233,14 +233,16 @@ void LogCompressor::run()
     // Add header, write out file
     file.close();
     
-    if (outFileName == "")
+    if (outFileName == logFileName)
     {
         QFile::remove(file.fileName());
         outfile.setFileName(file.fileName());
+
     }
     if (!outfile.open(QIODevice::WriteOnly | QIODevice::Text))
         return;
     outfile.write(QString(QString("unix_timestamp") + separator + header.replace(" ", "_") + QString("\n")).toLatin1());
+    emit logProcessingStatusChanged(tr("Log Compressor: Writing output to file %1").arg(QFileInfo(outFileName).absoluteFilePath()));
     //QString fileHeader = QString("unix_timestamp") + header.replace(" ", "_") + QString("\n");
     
     // File output

src/QGC.cc

@@ -34,4 +34,9 @@ quint64 groundTimeUsecs()
     return static_cast<quint64>(microseconds + (time.time().msec()*1000));
 }
 
+int applicationVersion()
+{
+    return APPLICATIONVERSION;
+}
+
 }

src/QGC.h

@@ -15,9 +15,11 @@ namespace QGC
 
     /** @brief Get the current ground time in microseconds */
     quint64 groundTimeUsecs();
+    int applicationVersion();
 
     const QString APPNAME = "QGROUNDCONTROL";
     const QString COMPANYNAME = "OPENMAV";
+    const int APPLICATIONVERSION = 80; // 0.8.0
 }
 
 #define QGC_EVENTLOOP_DEBUG 0

src/comm/MAVLinkSimulationLink.cc

@@ -375,13 +375,20 @@ void MAVLinkSimulationLink::mainloop()
     {
         rate10hzCounter = 1;
 
-
+        float lastX = x;
+        float lastY = y;
+        float lastZ = z;
+        float hackDt = 0.1f; // 100 ms
 
         // Move X Position
         x = 12.0*sin(((double)circleCounter)/100.0);
         y = 5.0*cos(((double)circleCounter)/100.0);
         z = 1.8 + 1.2*sin(((double)circleCounter)/60.0);
 
+        float xSpeed = (x - lastX)/hackDt;
+        float ySpeed = (y - lastY)/hackDt;
+        float zSpeed = (z - lastZ)/hackDt;
+
         circleCounter++;
 
 
@@ -402,7 +409,7 @@ void MAVLinkSimulationLink::mainloop()
         streampointer += bufferlength;
 
         // Send back new position
-        mavlink_msg_local_position_pack(systemId, componentId, &ret, 0, x, y, -fabs(z), 0, 0, 0);
+        mavlink_msg_local_position_pack(systemId, componentId, &ret, 0, x, y, -fabs(z), xSpeed, ySpeed, zSpeed);
         bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);
@@ -416,14 +423,14 @@ void MAVLinkSimulationLink::mainloop()
 //        streampointer += bufferlength;
 
         // GLOBAL POSITION
-        mavlink_msg_global_position_int_pack(systemId, componentId, &ret, (473780.28137103+(x))*1E3, (85489.9892510421+(y))*1E3, (z+550.0)*1000.0, 0*100.0, 0*100.0, 0*100.0);
+        mavlink_msg_global_position_int_pack(systemId, componentId, &ret, (473780.28137103+(x))*1E3, (85489.9892510421+(y))*1E3, (z+550.0)*1000.0, xSpeed*15.0*100.0, ySpeed*15.0*100.0, zSpeed*15*100.0);
         bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);
         streampointer += bufferlength;
 
         // GLOBAL POSITION VEHICLE 2
-        mavlink_msg_global_position_int_pack(54, componentId, &ret, (473780.28137103+(x+0.002))*1E3, (85489.9892510421+((y/2)+0.3))*1E3, (z+570.0)*1000.0, 0*100.0, 0*100.0, 0*100.0);
+        mavlink_msg_global_position_int_pack(54, componentId, &ret, (473780.28137103+(x+0.002))*1E3, (85489.9892510421+((y/2)+0.3))*1E3, (z+570.0)*1000.0, xSpeed*15.0*100.0, ySpeed*15.0*100.0, zSpeed*15.0*100.0);
         bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);
@@ -447,7 +454,7 @@ void MAVLinkSimulationLink::mainloop()
             chan.chan5_raw = (chan.chan3_raw + chan.chan4_raw) / 2.0f;
             chan.chan6_raw = (chan.chan3_raw + chan.chan2_raw) / 2.0f;
             chan.chan7_raw = (chan.chan4_raw + chan.chan2_raw) / 2.0f;
-            chan.chan8_raw = (chan.chan6_raw + chan.chan2_raw) / 2.0f;
+            chan.chan8_raw = 0;
             chan.rssi = 100;
             messageSize = mavlink_msg_rc_channels_raw_encode(systemId, componentId, &msg, &chan);
             // Allocate buffer with packet data

src/comm/MAVLinkXMLParser.cc

@@ -464,7 +464,7 @@ bool MAVLinkXMLParser::generate()
                                                     // Add field to C structure
                                                     cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText);
                                                     // Add pack line to message_xx_pack function
-                                                    packLines += QString("\ti += put_array_by_index((int8_t*)%1, sizeof(%2)*%3, i, msg->payload); // %4\n").arg(fieldName, arrayType, QString::number(arrayLength), fieldText);
+                                                    packLines += QString("\ti += put_array_by_index((const int8_t*)%1, sizeof(%2)*%3, i, msg->payload); // %4\n").arg(fieldName, arrayType, QString::number(arrayLength), fieldText);
                                                     // Add decode function for this type
                                                     decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
                                                     arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));

src/uas/PxQuadMAV.cc

@@ -60,8 +60,8 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_raw_aux_t raw;
                 mavlink_msg_raw_aux_decode(&message, &raw);
                 quint64 time = getUnixTime(0);
-                emit valueChanged(uasId, "Pressure", raw.baro, time);
-                emit valueChanged(uasId, "Temperature", raw.temp, time);
+                emit valueChanged(uasId, "Pressure", "raw", raw.baro, time);
+                emit valueChanged(uasId, "Temperature", "raw", raw.temp, time);
             }
             break;
         case MAVLINK_MSG_ID_PATTERN_DETECTED:
@@ -110,12 +110,12 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_vision_position_estimate_decode(&message, &pos);
                 quint64 time = getUnixTime(pos.usec);
                 //emit valueChanged(uasId, "vis. time", pos.usec, time);
-                emit valueChanged(uasId, "vis. roll", pos.roll, time);
-                emit valueChanged(uasId, "vis. pitch", pos.pitch, time);
-                emit valueChanged(uasId, "vis. yaw", pos.yaw, time);
-                emit valueChanged(uasId, "vis. x", pos.x, time);
-                emit valueChanged(uasId, "vis. y", pos.y, time);
-                emit valueChanged(uasId, "vis. z", pos.z, time);
+                emit valueChanged(uasId, "vis. roll", "rad", pos.roll, time);
+                emit valueChanged(uasId, "vis. pitch", "rad", pos.pitch, time);
+                emit valueChanged(uasId, "vis. yaw", "rad", pos.yaw, time);
+                emit valueChanged(uasId, "vis. x", "rad/s", pos.x, time);
+                emit valueChanged(uasId, "vis. y", "rad/s", pos.y, time);
+                emit valueChanged(uasId, "vis. z", "rad/s", pos.z, time);
             }
             break;
         case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE:
@@ -124,12 +124,12 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     mavlink_msg_vicon_position_estimate_decode(&message, &pos);
                     quint64 time = getUnixTime(pos.usec);
                     //emit valueChanged(uasId, "vis. time", pos.usec, time);
-                    emit valueChanged(uasId, "vicon roll", pos.roll, time);
-                    emit valueChanged(uasId, "vicon pitch", pos.pitch, time);
-                    emit valueChanged(uasId, "vicon yaw", pos.yaw, time);
-                    emit valueChanged(uasId, "vicon x", pos.x, time);
-                    emit valueChanged(uasId, "vicon y", pos.y, time);
-                    emit valueChanged(uasId, "vicon z", pos.z, time);
+                    emit valueChanged(uasId, "vicon roll", "rad", pos.roll, time);
+                    emit valueChanged(uasId, "vicon pitch", "rad", pos.pitch, time);
+                    emit valueChanged(uasId, "vicon yaw", "rad", pos.yaw, time);
+                    emit valueChanged(uasId, "vicon x", "rad/s", pos.x, time);
+                    emit valueChanged(uasId, "vicon y", "rad/s", pos.y, time);
+                    emit valueChanged(uasId, "vicon z", "rad/s", pos.z, time);
                     emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
                 }
                 break;
@@ -143,7 +143,7 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit errCountChanged(uasId, "IMU", "SPI0", status.spi0_err_count);
                 emit errCountChanged(uasId, "IMU", "SPI1", status.spi1_err_count);
                 emit errCountChanged(uasId, "IMU", "UART", status.uart_total_err_count);
-                emit UAS::valueChanged(this, "Load", ((float)status.load)/1000.0f, MG::TIME::getGroundTimeNow());
+                emit valueChanged(uasId, "Load", "%", ((float)status.load)/1000.0f, MG::TIME::getGroundTimeNow());
             }
             break;
         case MAVLINK_MSG_ID_CONTROL_STATUS:

src/uas/UAS.cc

@@ -181,7 +181,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     emit statusChanged(this, uasState, stateDescription);
                     emit statusChanged(this->status);
                     emit loadChanged(this,state.load/10.0f);
-                    emit UAS::valueChanged(uasId, "Load", ((float)state.load)/1000.0f, MG::TIME::getGroundTimeNow());
+                    emit valueChanged(uasId, "Load", "%", ((float)state.load)/1000.0f, MG::TIME::getGroundTimeNow());
                     stateAudio = " changed status to " + uasState;
                 }
 
@@ -279,15 +279,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_raw_imu_decode(&message, &raw);
                 quint64 time = getUnixTime(raw.usec);
 
-                emit valueChanged(uasId, "Accel. X", raw.xacc, time);
-                emit valueChanged(uasId, "Accel. Y", raw.yacc, time);
-                emit valueChanged(uasId, "Accel. Z", raw.zacc, time);
-                emit valueChanged(uasId, "Gyro Phi", static_cast<double>(raw.xgyro), time);
-                emit valueChanged(uasId, "Gyro Theta", static_cast<double>(raw.ygyro), time);
-                emit valueChanged(uasId, "Gyro Psi", static_cast<double>(raw.zgyro), time);
-                emit valueChanged(uasId, "Mag. X", raw.xmag, time);
-                emit valueChanged(uasId, "Mag. Y", raw.ymag, time);
-                emit valueChanged(uasId, "Mag. Z", raw.zmag, time);
+                emit valueChanged(uasId, "accel x", "raw", raw.xacc, time);
+                emit valueChanged(uasId, "accel y", "raw", raw.yacc, time);
+                emit valueChanged(uasId, "accel z", "raw", raw.zacc, time);
+                emit valueChanged(uasId, "gyro roll", "raw", static_cast<double>(raw.xgyro), time);
+                emit valueChanged(uasId, "gyro pitch", "raw", static_cast<double>(raw.ygyro), time);
+                emit valueChanged(uasId, "gyro yaw", "raw", static_cast<double>(raw.zgyro), time);
+                emit valueChanged(uasId, "mag x", "raw", raw.xmag, time);
+                emit valueChanged(uasId, "mag y", "raw", raw.ymag, time);
+                emit valueChanged(uasId, "mag z", "raw", raw.zmag, time);
             }
             break;
         case MAVLINK_MSG_ID_ATTITUDE:
@@ -303,20 +303,20 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 //                emit valueChanged(uasId, "roll IMU", mavlink_msg_attitude_get_roll(&message), time);
 //                emit valueChanged(uasId, "pitch IMU", mavlink_msg_attitude_get_pitch(&message), time);
 //                emit valueChanged(uasId, "yaw IMU", mavlink_msg_attitude_get_yaw(&message), time);
-                emit valueChanged(uasId, "roll IMU", mavlink_msg_attitude_get_roll(&message), time);
-                emit valueChanged(uasId, "pitch IMU", mavlink_msg_attitude_get_pitch(&message), time);
-                emit valueChanged(uasId, "yaw IMU", mavlink_msg_attitude_get_yaw(&message), time);
-                emit valueChanged(uasId, "rollspeed IMU", attitude.rollspeed, time);
-                emit valueChanged(uasId, "pitchspeed IMU", attitude.pitchspeed, time);
-                emit valueChanged(uasId, "yawspeed IMU", attitude.yawspeed, time);
+                emit valueChanged(uasId, "roll", "rad", mavlink_msg_attitude_get_roll(&message), time);
+                emit valueChanged(uasId, "pitch", "rad", mavlink_msg_attitude_get_pitch(&message), time);
+                emit valueChanged(uasId, "yaw", "rad", mavlink_msg_attitude_get_yaw(&message), time);
+                emit valueChanged(uasId, "rollspeed", "rad/s", attitude.rollspeed, time);
+                emit valueChanged(uasId, "pitchspeed", "rad/s", attitude.pitchspeed, time);
+                emit valueChanged(uasId, "yawspeed", "rad/s", attitude.yawspeed, time);
 
                 // Emit in angles
-                emit valueChanged(uasId, "roll (deg)", (attitude.roll/M_PI)*180.0, time);
-                emit valueChanged(uasId, "pitch (deg)", (attitude.pitch/M_PI)*180.0, time);
-                emit valueChanged(uasId, "yaw (deg)", (attitude.yaw/M_PI)*180.0, time);
-                emit valueChanged(uasId, "roll V (deg/s)", (attitude.rollspeed/M_PI)*180.0, time);
-                emit valueChanged(uasId, "pitch V (deg/s)", (attitude.pitchspeed/M_PI)*180.0, time);
-                emit valueChanged(uasId, "yaw V (deg/s)", (attitude.yawspeed/M_PI)*180.0, time);
+                emit valueChanged(uasId, "roll", "deg", (attitude.roll/M_PI)*180.0, time);
+                emit valueChanged(uasId, "pitch", "deg", (attitude.pitch/M_PI)*180.0, time);
+                emit valueChanged(uasId, "yaw", "deg", (attitude.yaw/M_PI)*180.0, time);
+                emit valueChanged(uasId, "rollspeed", "deg/s", (attitude.rollspeed/M_PI)*180.0, time);
+                emit valueChanged(uasId, "pitchspeed", "deg/s", (attitude.pitchspeed/M_PI)*180.0, time);
+                emit valueChanged(uasId, "yawspeed", "deg/s", (attitude.yawspeed/M_PI)*180.0, time);
 
                 emit attitudeChanged(this, attitude.roll, attitude.pitch, attitude.yaw, time);
             }
@@ -331,12 +331,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 localX = pos.x;
                 localY = pos.y;
                 localZ = pos.z;
-                emit valueChanged(uasId, "x", pos.x, time);
-                emit valueChanged(uasId, "y", pos.y, time);
-                emit valueChanged(uasId, "z", pos.z, time);
-                emit valueChanged(uasId, "Vx", pos.vx, time);
-                emit valueChanged(uasId, "Vy", pos.vy, time);
-                emit valueChanged(uasId, "Vz", pos.vz, time);
+                emit valueChanged(uasId, "x", "m", pos.x, time);
+                emit valueChanged(uasId, "y", "m", pos.y, time);
+                emit valueChanged(uasId, "z", "m", pos.z, time);
+                emit valueChanged(uasId, "x speed", "m/s", pos.vx, time);
+                emit valueChanged(uasId, "y speed", "m/s", pos.vy, time);
+                emit valueChanged(uasId, "z speed", "m/s", pos.vz, time);
                 emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
                 emit speedChanged(this, pos.vx, pos.vy, pos.vz, time);
 
@@ -366,12 +366,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 speedX = pos.vx/100.0;
                 speedY = pos.vy/100.0;
                 speedZ = pos.vz/100.0;
-                emit valueChanged(uasId, "lat", pos.lat, time);
-                emit valueChanged(uasId, "lon", pos.lon, time);
-                emit valueChanged(uasId, "alt", pos.alt, time);
-                emit valueChanged(uasId, "g-vx", speedX, time);
-                emit valueChanged(uasId, "g-vy", speedY, time);
-                emit valueChanged(uasId, "g-vz", speedZ, time);
+                emit valueChanged(uasId, "latitude", "deg", latitude, time);
+                emit valueChanged(uasId, "longitude", "deg", longitude, time);
+                emit valueChanged(uasId, "altitude", "m", altitude, time);
+                emit valueChanged(uasId, "gps x speed", "m/s", speedX, time);
+                emit valueChanged(uasId, "gps y speed", "m/s", speedY, time);
+                emit valueChanged(uasId, "gps z speed", "m/s", speedZ, time);
                 emit globalPositionChanged(this, longitude, latitude, altitude, time);
                 emit speedChanged(this, speedX, speedY, speedZ, time);
                 // Set internal state
@@ -397,8 +397,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 // quint64 time = getUnixTime(pos.usec);
                 quint64 time = MG::TIME::getGroundTimeNow();
 
-                emit valueChanged(uasId, "lat", pos.lat, time);
-                emit valueChanged(uasId, "lon", pos.lon, time);
+                emit valueChanged(uasId, "latitude", "deg", pos.lat, time);
+                emit valueChanged(uasId, "longitude", "deg", pos.lon, time);
 
                 if (pos.fix_type > 0)
                 {
@@ -411,11 +411,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                         alt = 0;
                         emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
                     }
-                    emit valueChanged(uasId, "alt", pos.alt, time);
+                    emit valueChanged(uasId, "altitude", "m", pos.alt, time);
                     // Smaller than threshold and not NaN
                     if (pos.v < 1000000 && pos.v == pos.v)
                     {
-                        emit valueChanged(uasId, "speed", pos.v, time);
+                        emit valueChanged(uasId, "speed", "m/s", pos.v, time);
                         //qDebug() << "GOT GPS RAW";
                         emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
                     }
@@ -447,9 +447,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 mavlink_raw_pressure_t pressure;
                 mavlink_msg_raw_pressure_decode(&message, &pressure);
-                emit valueChanged(uasId, "Abs pressure", pressure.press_abs, this->getUnixTime(0));
-                emit valueChanged(uasId, "Diff pressure 1", pressure.press_diff1, this->getUnixTime(0));
-                emit valueChanged(uasId, "Diff pressure 2", pressure.press_diff2, this->getUnixTime(0));
+                quint64 time = this->getUnixTime(0);
+                emit valueChanged(uasId, "abs pressure", "hP", pressure.press_abs, time);
+                emit valueChanged(uasId, "diff pressure 1", "hP", pressure.press_diff1, time);
+                emit valueChanged(uasId, "diff pressure 2", "hP", pressure.press_diff2, time);
             }
             break;
         case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
@@ -506,7 +507,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             }
             break;
         case MAVLINK_MSG_ID_DEBUG:
-            emit valueChanged(uasId, QString("debug ") + QString::number(mavlink_msg_debug_get_ind(&message)), mavlink_msg_debug_get_value(&message), MG::TIME::getGroundTimeNow());
+            emit valueChanged(uasId, QString("debug ") + QString::number(mavlink_msg_debug_get_ind(&message)), "raw", mavlink_msg_debug_get_value(&message), MG::TIME::getGroundTimeNow());
             break;
         case MAVLINK_MSG_ID_ATTITUDE_CONTROLLER_OUTPUT:
             {
@@ -514,9 +515,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_attitude_controller_output_decode(&message, &out);
                 quint64 time = MG::TIME::getGroundTimeNowUsecs();
                 emit attitudeThrustSetPointChanged(this, out.roll/127.0f, out.pitch/127.0f, out.yaw/127.0f, (uint8_t)out.thrust, time);
-                emit valueChanged(uasId, "att control roll", out.roll, time/1000.0f);
-                emit valueChanged(uasId, "att control pitch", out.pitch, time/1000.0f);
-                emit valueChanged(uasId, "att control yaw", out.yaw, time/1000.0f);
+                emit valueChanged(uasId, "att control roll", "raw", out.roll, time/1000.0f);
+                emit valueChanged(uasId, "att control pitch", "raw", out.pitch, time/1000.0f);
+                emit valueChanged(uasId, "att control yaw", "raw", out.yaw, time/1000.0f);
             }
             break;
         case MAVLINK_MSG_ID_POSITION_CONTROLLER_OUTPUT:
@@ -525,9 +526,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_position_controller_output_decode(&message, &out);
                 quint64 time = MG::TIME::getGroundTimeNow();
                 //emit positionSetPointsChanged(uasId, out.x/127.0f, out.y/127.0f, out.z/127.0f, out.yaw, time);
-                emit valueChanged(uasId, "pos control x", out.x, time);
-                emit valueChanged(uasId, "pos control y", out.y, time);
-                emit valueChanged(uasId, "pos control z", out.z, time);
+                emit valueChanged(uasId, "pos control x", "raw", out.x, time);
+                emit valueChanged(uasId, "pos control y", "raw", out.y, time);
+                emit valueChanged(uasId, "pos control z", "raw", out.z, time);
             }
             break;
         case MAVLINK_MSG_ID_WAYPOINT_COUNT:
@@ -618,9 +619,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_debug_vect_decode(&message, &vect);
                 QString str((const char*)vect.name);
                 quint64 time = getUnixTime(vect.usec);
-                emit valueChanged(uasId, str+".x", vect.x, time);
-                emit valueChanged(uasId, str+".y", vect.y, time);
-                emit valueChanged(uasId, str+".z", vect.z, time);
+                emit valueChanged(uasId, str+".x", "raw", vect.x, time);
+                emit valueChanged(uasId, str+".y", "raw", vect.y, time);
+                emit valueChanged(uasId, str+".z", "raw", vect.z, time);
             }
             break;
             //#ifdef MAVLINK_ENABLED_PIXHAWK

src/uas/UASInterface.h

@@ -328,9 +328,9 @@ signals:
       * @param msec the timestamp of the message, in milliseconds
       */
 
-    // FIXME Exchange the lines below against the commented ones
-    void valueChanged(int uasId, QString name, double value, quint64 msec);
-    void valueChanged(UASInterface* uas, QString name, double value, quint64 msec);
+    //void valueChanged(const int uasId, const QString& name, const double value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const int value, const quint64 msec);
 
 //    void valueChanged(const int uasId, const QString& name, const double value, const quint64 msec);
 //    //void valueChanged(UASInterface* uas, QString name, double value, quint64 msec);

src/ui/DebugConsole.cc

@@ -454,18 +454,10 @@ void DebugConsole::handleConnectButton()
         if (currLink->isConnected())
         {
             currLink->disconnect();
-            m_ui->connectButton->setText(tr("Connect"));
         }
         else
         {
-            if (currLink->connect())
-            {
-                m_ui->connectButton->setText(tr("Disconn."));
-            }
-            else
-            {
-                m_ui->receiveText->appendHtml(QString("<font color=\"%1\">%2</font>").arg(QGC::colorRed.name(), tr("Could not connect link %1 ! Please check link hardware.").arg(currLink->getName())));
-            }
+            currLink->connect();
         }
     }
 }

src/ui/HDDisplay.cc

@@ -194,10 +194,10 @@ void HDDisplay::saveState()
     for (int i = 0; i < acceptList->count(); i++)
     {
         QString key = acceptList->at(i);
-        instruments += "|" + QString::number(minValues.value(key, -1.0))+","+key+","+QString::number(maxValues.value(key, +1.0));
+        instruments += "|" + QString::number(minValues.value(key, -1.0))+","+key+","+QString::number(maxValues.value(key, +1.0))+","+((symmetric.value(key, false)) ? "s" : "");
     }
 
-    qDebug() << "Saving" << instruments;
+   // qDebug() << "Saving" << instruments;
 
     settings.setValue(windowTitle()+"_gauges", instruments);
     settings.sync();
@@ -240,6 +240,8 @@ void HDDisplay::removeItemByAction()
         acceptList->removeAt(index);
         minValues.remove(item);
         maxValues.remove(item);
+        symmetric.remove(item);
+        adjustGaugeAspectRatio();
     }
 }
 
@@ -277,8 +279,16 @@ void HDDisplay::addGauge(const QString& gauge)
                 val = parts.first().toDouble(&ok);
                 if (ok) minValues.insert(key, val);
                 // Convert max to double number
-                val = parts.last().toDouble(&ok);
+                val = parts.at(2).toDouble(&ok);
                 if (ok) maxValues.insert(key, val);
+                // Convert symmetric flag
+                if (parts.length() >= 4)
+                {
+                    if (parts.at(3).contains("s"))
+                    {
+                        symmetric.insert(key, true);
+                    }
+                }
                 // Add value to acceptlist
                 acceptList->append(key);
             }
@@ -394,7 +404,7 @@ void HDDisplay::renderOverlay()
     for (int i = 0; i < acceptList->size(); ++i)
     {
         QString value = acceptList->at(i);
-        drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, -1.0f), maxValues.value(value, 1.0f), value, values.value(value, minValues.value(value, 0.0f)), gaugeColor, &painter, goodRanges.value(value, qMakePair(0.0f, 0.5f)), critRanges.value(value, qMakePair(0.7f, 1.0f)), true);
+        drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, -1.0f), maxValues.value(value, 1.0f), value, values.value(value, minValues.value(value, 0.0f)), gaugeColor, &painter, symmetric.value(value, false), goodRanges.value(value, qMakePair(0.0f, 0.5f)), critRanges.value(value, qMakePair(0.7f, 1.0f)), true);
         xCoord += gaugeWidth + leftSpacing;
         // Move one row down if necessary
         if (xCoord + gaugeWidth*0.9f > vwidth)
@@ -513,17 +523,33 @@ void HDDisplay::drawChangeRateStrip(float xRef, float yRef, float height, float
     paintText(label, defaultColor, 3.0f, xRef+width/2.0f, yRef+height-((scaledValue - minRate)/(maxRate-minRate))*height - 1.6f, painter);
 }
 
-void HDDisplay::drawGauge(float xRef, float yRef, float radius, float min, float max, QString name, float value, const QColor& color, QPainter* painter, QPair<float, float> goodRange, QPair<float, float> criticalRange, bool solid)
+void HDDisplay::drawGauge(float xRef, float yRef, float radius, float min, float max, QString name, float value, const QColor& color, QPainter* painter, bool symmetric, QPair<float, float> goodRange, QPair<float, float> criticalRange, bool solid)
 {
     // Draw the circle
     QPen circlePen(Qt::SolidLine);
 
     // Rotate the whole gauge with this angle (in radians) for the zero position
-    const float zeroRotation = 0.49f;
+    float zeroRotation;
+    if (symmetric)
+    {
+        zeroRotation = 1.35f;
+    }
+    else
+    {
+        zeroRotation = 0.49f;
+    }
 
     // Scale the rotation so that the gauge does one revolution
     // per max. change
-    const float rangeScale = ((2.0f * M_PI) / (max - min)) * 0.72f;
+    float rangeScale;
+    if (symmetric)
+    {
+        rangeScale = ((2.0f * M_PI) / (max - min)) * 0.57f;
+    }
+    else
+    {
+        rangeScale = ((2.0f * M_PI) / (max - min)) * 0.72f;
+    }
 
     const float scaledValue = (value-min)*rangeScale;
 
@@ -558,7 +584,15 @@ void HDDisplay::drawGauge(float xRef, float yRef, float radius, float min, float
     QBrush brush(QGC::colorBackground, Qt::SolidPattern);
     painter->setBrush(brush);
     painter->setPen(Qt::NoPen);
-    painter->drawRect(refToScreenX(xRef-radius/2.5f), refToScreenY(yRef+nameHeight+radius/4.0f), refToScreenX(radius+radius/2.0f), refToScreenY((radius - radius/4.0f)*1.2f));
+
+    if (symmetric)
+    {
+        painter->drawRect(refToScreenX(xRef-radius), refToScreenY(yRef+nameHeight+radius/4.0f), refToScreenX(radius+radius), refToScreenY((radius - radius/4.0f)*1.2f));
+    }
+    else
+    {
+        painter->drawRect(refToScreenX(xRef-radius/2.5f), refToScreenY(yRef+nameHeight+radius/4.0f), refToScreenX(radius+radius/2.0f), refToScreenY((radius - radius/4.0f)*1.2f));
+    }
 
     // Draw good value and crit. value markers
     if (goodRange.first != goodRange.second)

src/ui/HDDisplay.h

@@ -114,7 +114,7 @@ protected:
 
     void drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter);
     void drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid=true);
-    void drawGauge(float xRef, float yRef, float radius, float min, float max, const QString name, float value, const QColor& color, QPainter* painter, QPair<float, float> goodRange, QPair<float, float> criticalRange, bool solid=true);
+    void drawGauge(float xRef, float yRef, float radius, float min, float max, const QString name, float value, const QColor& color, QPainter* painter, bool symmetric, QPair<float, float> goodRange, QPair<float, float> criticalRange, bool solid=true);
     void drawSystemIndicator(float xRef, float yRef, int maxNum, float maxWidth, float maxHeight, QPainter* painter);
     void paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter);
 
@@ -143,6 +143,7 @@ protected:
     QMap<QString, quint64> lastUpdate; ///< The last update time for this variable
     QMap<QString, float> minValues;    ///< The minimum value this variable is assumed to have
     QMap<QString, float> maxValues;    ///< The maximum value this variable is assumed to have
+    QMap<QString, bool> symmetric;    ///< Draw the gauge / dial symmetric bool = yes
     QMap<QString, QPair<float, float> > goodRanges; ///< The range of good values
     QMap<QString, QPair<float, float> > critRanges; ///< The range of critical values
     double scalingFactor;      ///< Factor used to scale all absolute values to screen coordinates

src/ui/HUD.cc

@@ -242,8 +242,7 @@ void HUD::updateValue(UASInterface* uas, QString name, double value, quint64 mse
  */
 void HUD::setActiveUAS(UASInterface* uas)
 {
-    qDebug() << "ATTEMPTING TO SET UAS";
-    if (this->uas != NULL && this->uas != uas)
+    if (this->uas != NULL)
     {
         // Disconnect any previously connected active MAV
         disconnect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
@@ -251,31 +250,29 @@ void HUD::setActiveUAS(UASInterface* uas)
         disconnect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
         disconnect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
         disconnect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
+
+        disconnect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
+        disconnect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
+        disconnect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
     }
 
     // Now connect the new UAS
-
-    //if (this->uas != uas)
-    // {
-    qDebug() << "UAS SET!" << "ID:" << uas->getUASID();
     // 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(thrustChanged(UASInterface*, double)), this, SLOT(updateThrust(UASInterface*, double)));
-    //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(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString,QString)));
-    //connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
-    //connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeThrustSetPoint(UASInterface*,double,double,double,double,quint64)));
-    //connect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
-    //}
+
+    connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(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)));
+
+    // Set new UAS
+    this->uas = uas;
 }
 
-void HUD::updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 msec)
+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);
@@ -329,7 +326,7 @@ void HUD::updateLocalPosition(UASInterface* uas,double x,double y,double z,quint
     updateValue(uas, "z", z, timestamp);
 }
 
-void HUD::updateGlobalPosition(UASInterface*,double lat, double lon, double altitude, quint64 timestamp)
+void HUD::updateGlobalPosition(UASInterface* uas,double lat, double lon, double altitude, quint64 timestamp)
 {
     updateValue(uas, "lat", lat, timestamp);
     updateValue(uas, "lon", lon, timestamp);
@@ -581,7 +578,7 @@ void HUD::paintHUD()
 
     // Translate for yaw
     const float maxYawTrans = 60.0f;
-    static float yawDiff = 0.0f;
+
     float newYawDiff = valuesDot.value("yaw", 0.0f);
     if (isinf(newYawDiff)) newYawDiff = yawDiff;
     if (newYawDiff > M_PI) newYawDiff = newYawDiff - M_PI;
@@ -722,7 +719,9 @@ void HUD::paintHUD()
     QString yawAngle;
 
 //    const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;
-    const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f);
+
+    // YAW is in compass-human readable format, so 0 - 360deg. This is normal in aviation, not -180 - +180.
+    const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.0f;
     yawAngle.sprintf("%03d", (int)yawDeg);
     paintText(yawAngle, defaultColor, 3.5f, -3.7f, compassY+ 0.9f, &painter);
 
@@ -741,6 +740,9 @@ void HUD::paintHUD()
     drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, values.value("xSpeed", 0.0f), defaultColor, &painter, false);
 
 
+    // Waypoint name
+    if (waypointName != "") paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);
+
     // MOVING PARTS
 
 
@@ -1362,12 +1364,10 @@ void HUD::resizeGL(int w, int h)
     paintHUD();
 }
 
-void HUD::selectWaypoint(UASInterface* uas, int id)
+void HUD::selectWaypoint(int uasId, int id)
 {
-    if (uas == this->uas)
-    {
-        waypointName = tr("WP") + QString::number(id);
-    }
+    Q_UNUSED(uasId);
+    waypointName = tr("WP") + QString::number(id);
 }
 
 void HUD::setImageSize(int width, int height, int depth, int channels)

src/ui/HUD.h

@@ -77,7 +77,7 @@ public slots:
     void updateState(UASInterface*,QString);
     void updateMode(int id,QString mode, QString description);
     void updateLoad(UASInterface*, double);
-    void selectWaypoint(UASInterface* uas, int id);
+    void selectWaypoint(int uasId, int id);
 
     void startImage(int imgid, int width, int height, int depth, int channels);
     void setPixels(int imgid, const unsigned char* imageData, int length, int startIndex);
@@ -188,6 +188,7 @@ protected:
     float roll;
     float pitch;
     float yaw;
+    float yawDiff;
     void paintEvent(QPaintEvent *event);
 
 };

src/ui/MainWindow.h

@@ -142,19 +142,19 @@ public slots:
     ==========================================================
     */
 
-    void loadWidgets();
+//    void loadWidgets();
 
     /** @brief Load data view, allowing to plot flight data */
     void loadDataView(QString fileName);
 
-    /** @brief Load 3D map view */
-    void load3DMapView();
+//    /** @brief Load 3D map view */
+//    void load3DMapView();
 
-    /** @brief Load 3D Google Earth view */
-    void loadGoogleEarthView();
+//    /** @brief Load 3D Google Earth view */
+//    void loadGoogleEarthView();
 
-    /** @brief Load 3D view */
-    void load3DView();
+//    /** @brief Load 3D view */
+//    void load3DView();
 
     /**
      * @brief Shows a Docked Widget based on the action sender
@@ -393,6 +393,8 @@ private:
     Ui::MainWindow ui;
 
     QString buildMenuKey (SETTINGS_SECTIONS section , TOOLS_WIDGET_NAMES tool, VIEW_SECTIONS view);
+    QString getWindowStateKey();
+    QString getWindowGeometryKey();
 
 };
 

src/ui/MainWindow.ui

@@ -50,6 +50,7 @@
     <addaction name="actionMuteAudioOutput"/>
     <addaction name="actionSimulate"/>
     <addaction name="separator"/>
+    <addaction name="actionReloadStyle"/>
     <addaction name="actionExit"/>
    </widget>
    <widget class="QMenu" name="menuNetwork">
@@ -100,7 +101,6 @@
     <addaction name="actionPilotsView"/>
     <addaction name="separator"/>
     <addaction name="actionMavlinkView"/>
-    <addaction name="actionReloadStyle"/>
    </widget>
    <addaction name="menuMGround"/>
    <addaction name="menuNetwork"/>
@@ -179,33 +179,6 @@
     <string>Open UAS Preferences</string>
    </property>
   </action>
-  <action name="actionEngineerView">
-   <property name="icon">
-    <iconset resource="../../mavground.qrc">
-     <normaloff>:/images/apps/utilities-system-monitor.svg</normaloff>:/images/apps/utilities-system-monitor.svg</iconset>
-   </property>
-   <property name="text">
-    <string>Show engineer view</string>
-   </property>
-  </action>
-  <action name="actionPilotView">
-   <property name="icon">
-    <iconset resource="../../mavground.qrc">
-     <normaloff>:/images/status/weather-overcast.svg</normaloff>:/images/status/weather-overcast.svg</iconset>
-   </property>
-   <property name="text">
-    <string>Show pilot view</string>
-   </property>
-  </action>
-  <action name="actionStyleConfig">
-   <property name="icon">
-    <iconset resource="../../mavground.qrc">
-     <normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
-   </property>
-   <property name="text">
-    <string>Reload visual style</string>
-   </property>
-  </action>
   <action name="actionJoystickSettings">
    <property name="icon">
     <iconset resource="../../mavground.qrc">
@@ -218,30 +191,6 @@
     <bool>true</bool>
    </property>
   </action>
-  <action name="actionOperatorView">
-   <property name="icon">
-    <iconset resource="../../mavground.qrc">
-     <normaloff>:/images/status/network-wireless-encrypted.svg</normaloff>:/images/status/network-wireless-encrypted.svg</iconset>
-   </property>
-   <property name="text">
-    <string>Show operator view</string>
-   </property>
-   <property name="toolTip">
-    <string>Shop the 2D map and system status</string>
-   </property>
-  </action>
-  <action name="action3DView">
-   <property name="icon">
-    <iconset resource="../../mavground.qrc">
-     <normaloff>:/images/categories/preferences-system.svg</normaloff>:/images/categories/preferences-system.svg</iconset>
-   </property>
-   <property name="text">
-    <string>Show 3D Local View</string>
-   </property>
-   <property name="toolTip">
-    <string>Show 3D view</string>
-   </property>
-  </action>
   <action name="actionSimulate">
    <property name="checkable">
     <bool>true</bool>
@@ -257,87 +206,6 @@
     <string>Simulate one vehicle to test and evaluate this application</string>
    </property>
   </action>
-  <action name="actionShow_full_view">
-   <property name="icon">
-    <iconset resource="../../mavground.qrc">
-     <normaloff>:/images/status/network-transmit-receive.svg</normaloff>:/images/status/network-transmit-receive.svg</iconset>
-   </property>
-   <property name="text">
-    <string>Show full view</string>
-   </property>
-  </action>
-  <action name="actionShow_MAVLink_view">
-   <property name="icon">
-    <iconset resource="../../mavground.qrc">
-     <normaloff>:/images/devices/network-wired.svg</normaloff>:/images/devices/network-wired.svg</iconset>
-   </property>
-   <property name="text">
-    <string>Show MAVLink view</string>
-   </property>
-  </action>
-  <action name="actionOnline_documentation">
-   <property name="icon">
-    <iconset resource="../../mavground.qrc">
-     <normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
-   </property>
-   <property name="text">
-    <string>Online documentation</string>
-   </property>
-  </action>
-  <action name="actionShow_data_analysis_view">
-   <property name="icon">
-    <iconset resource="../../mavground.qrc">
-     <normaloff>:/images/apps/utilities-system-monitor.svg</normaloff>:/images/apps/utilities-system-monitor.svg</iconset>
-   </property>
-   <property name="text">
-    <string>Show data analysis view</string>
-   </property>
-  </action>
-  <action name="actionProject_Roadmap">
-   <property name="icon">
-    <iconset resource="../../mavground.qrc">
-     <normaloff>:/images/status/software-update-available.svg</normaloff>:/images/status/software-update-available.svg</iconset>
-   </property>
-   <property name="text">
-    <string>Project Roadmap</string>
-   </property>
-  </action>
-  <action name="actionCredits_Developers">
-   <property name="icon">
-    <iconset resource="../../mavground.qrc">
-     <normaloff>:/images/categories/preferences-system.svg</normaloff>:/images/categories/preferences-system.svg</iconset>
-   </property>
-   <property name="text">
-    <string>Credits / Developers</string>
-   </property>
-  </action>
-  <action name="actionGlobalOperatorView">
-   <property name="icon">
-    <iconset resource="../../mavground.qrc">
-     <normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
-   </property>
-   <property name="text">
-    <string>Show 2D Map View</string>
-   </property>
-  </action>
-  <action name="action3DMapView">
-   <property name="icon">
-    <iconset resource="../../mavground.qrc">
-     <normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
-   </property>
-   <property name="text">
-    <string>Show 3D Global View</string>
-   </property>
-  </action>
-  <action name="actionGoogleEarthView">
-   <property name="icon">
-    <iconset resource="../../mavground.qrc">
-     <normaloff>:/images/mapproviders/googleearth.svg</normaloff>:/images/mapproviders/googleearth.svg</iconset>
-   </property>
-   <property name="text">
-    <string>Google Earth View</string>
-   </property>
-  </action>
   <action name="actionShow_Slugs_View">
    <property name="icon">
     <iconset resource="../../mavground.qrc">
@@ -387,6 +255,9 @@
    </property>
   </action>
   <action name="actionOperatorsView">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
    <property name="icon">
     <iconset resource="../../mavground.qrc">
      <normaloff>:/images/status/weather-overcast.svg</normaloff>:/images/status/weather-overcast.svg</iconset>
@@ -396,6 +267,9 @@
    </property>
   </action>
   <action name="actionEngineersView">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
    <property name="icon">
     <iconset resource="../../mavground.qrc">
      <normaloff>:/images/apps/utilities-system-monitor.svg</normaloff>:/images/apps/utilities-system-monitor.svg</iconset>
@@ -405,6 +279,9 @@
    </property>
   </action>
   <action name="actionMavlinkView">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
    <property name="icon">
     <iconset resource="../../mavground.qrc">
      <normaloff>:/images/devices/network-wired.svg</normaloff>:/images/devices/network-wired.svg</iconset>
@@ -419,10 +296,13 @@
      <normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
    </property>
    <property name="text">
-    <string>Reload Style</string>
+    <string>Reload Stylesheet</string>
    </property>
   </action>
   <action name="actionPilotsView">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
    <property name="icon">
     <iconset resource="../../mavground.qrc">
      <normaloff>:/images/status/network-wireless-encrypted.svg</normaloff>:/images/status/network-wireless-encrypted.svg</iconset>

src/ui/QGCRemoteControlView.cc

@@ -197,7 +197,7 @@ void QGCRemoteControlView::redraw()
         // Update raw values
         for(int i = 0; i < rawLabels.count(); i++)
         {
-            rawLabels.at(i)->setText(QString("%1 us").arg(raw.at(i), 4));
+            rawLabels.at(i)->setText(QString("%1 us").arg(raw.at(i), 4, 10, QChar('0')));
         }
 
         // Update percent bars

src/ui/UASControl.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>210</width>
-    <height>141</height>
+    <width>222</width>
+    <height>172</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -18,14 +18,23 @@
   </property>
   <property name="minimumSize">
    <size>
-    <width>210</width>
-    <height>130</height>
+    <width>222</width>
+    <height>172</height>
+   </size>
+  </property>
+  <property name="maximumSize">
+   <size>
+    <width>267</width>
+    <height>194</height>
    </size>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" columnstretch="0,100,50,50,100,0">
+  <property name="toolTip">
+   <string>Control widget to send basic control actions to the micro air vehicle</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout" rowstretch="60,150,80,80,80,100" columnstretch="1,100,40,40,100,1" rowminimumheight="0,0,0,0,0,0">
    <item row="0" column="0" rowspan="6">
     <spacer name="horizontalSpacer">
      <property name="orientation">
@@ -93,7 +102,7 @@
       </size>
      </property>
      <property name="text">
-      <string>Liftoff</string>
+      <string>Start</string>
      </property>
      <property name="icon">
       <iconset resource="../../mavground.qrc">