Added MavManager QML Interface

Initial rendering of Waypoints

QGCApplication.pro

@@ -356,6 +356,7 @@ HEADERS += \
     src/ViewWidgets/CustomCommandWidgetController.h \
     src/ViewWidgets/ViewWidgetController.h \
     src/Waypoint.h \
+    src/QmlControls/QGCMavManager.h
 
 !AndroidBuild {
 HEADERS += \
@@ -485,6 +486,7 @@ SOURCES += \
     src/ViewWidgets/CustomCommandWidgetController.cc \
     src/ViewWidgets/ViewWidgetController.cc \
     src/Waypoint.cc \
+    src/QmlControls/QGCMavManager.cc
 
 !AndroidBuild {
 SOURCES += \

qgroundcontrol.qrc

@@ -118,6 +118,8 @@
         <file alias="QGroundControl/FlightControls/QGCWaypointEditor.qml">src/ui/qmlcommon/QGCWaypointEditor.qml</file>
         <file alias="QGroundControl/FlightControls/QGCMapToolButton.qml">src/ui/qmlcommon/QGCMapToolButton.qml</file>
         <file alias="QGroundControl/FlightControls/QGCArtificialHorizon.qml">src/ui/qmlcommon/QGCArtificialHorizon.qml</file>
+        <!-- QML Map Resources -->
+        <file alias="QGroundControl/FlightControls/QGCWaypoint.qml">src/ui/qmlcommon/QGCWaypoint.qml</file>
         <!-- QML Main UI Resources -->
         <file alias="compass.svg">src/ui/qmlcommon/compass.svg</file>
         <file alias="compassNeedle.svg">src/ui/qmlcommon/compassNeedle.svg</file>

src/QGCApplication.cc

@@ -58,12 +58,14 @@
 #include "QGCTemporaryFile.h"
 #include "QGCFileDialog.h"
 #include "QGCPalette.h"
-#include "ScreenTools.h"
 #include "QGCLoggingCategory.h"
 #include "ViewWidgetController.h"
 #include "ParameterEditorController.h"
 #include "CustomCommandWidgetController.h"
 
+#include "ScreenTools.h"
+#include "QGCMavManager.h"
+
 #ifdef QGC_RTLAB_ENABLED
 #include "OpalLink.h"
 #endif
@@ -96,6 +98,18 @@ static QObject* screenToolsSingletonFactory(QQmlEngine*, QJSEngine*)
     return screenTools;
 }
 
+/**
+ * @brief MavManager creation callback
+ *
+ * This is called by the QtQuick engine for creating the singleton
+**/
+
+static QObject* mavManagerSingletonFactory(QQmlEngine*, QJSEngine*)
+{
+    MavManager* mavManager = new MavManager;
+    return mavManager;
+}
+
 /**
  * @brief Constructor for the main application.
  *
@@ -287,9 +301,11 @@ void QGCApplication::_initCommon(void)
 	qmlRegisterType<ViewWidgetController>("QGroundControl.Controllers", 1, 0, "ViewWidgetController");
 	qmlRegisterType<ParameterEditorController>("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
     qmlRegisterType<CustomCommandWidgetController>("QGroundControl.Controllers", 1, 0, "CustomCommandWidgetController");
-
     //-- Create QML Singleton Interfaces
     qmlRegisterSingletonType<ScreenTools>("QGroundControl.ScreenTools", 1, 0, "ScreenTools", screenToolsSingletonFactory);
+    qmlRegisterSingletonType<MavManager>("QGroundControl.MavManager", 1, 0, "MavManager", mavManagerSingletonFactory);
+    //-- Register Waypoint Interface
+    qmlRegisterInterface<Waypoint>("Waypoint");
 }
 
 bool QGCApplication::_initForNormalAppBoot(void)

src/QmlControls/QGCMavManager.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief QGC Mav Manager (QML Bindings)
+ *   @author Gus Grubba <mavlink@grubba.com>
+ */
+
+#ifndef MAVMANAGER_H
+#define MAVMANAGER_H
+
+#include <QObject>
+#include <QTimer>
+#include <QQmlListProperty>
+#include "Waypoint.h"
+
+class UASInterface;
+class UASWaypointManager;
+
+class MavManager : public QObject
+{
+    Q_OBJECT
+    Q_ENUMS(MessageType_t)
+public:
+    explicit MavManager(QObject *parent = 0);
+    ~MavManager();
+
+    enum {
+        ROLL_CHANGED,
+        PITCH_CHANGED,
+        HEADING_CHANGED,
+        GROUNDSPEED_CHANGED,
+        AIRSPEED_CHANGED,
+        CLIMBRATE_CHANGED,
+        ALTITUDERELATIVE_CHANGED,
+        ALTITUDEWGS84_CHANGED,
+        ALTITUDEAMSL_CHANGED
+    };
+
+    Q_INVOKABLE QString     getMavIconColor();
+    Q_INVOKABLE void        saveSetting (const QString &key, const QString& value);
+    Q_INVOKABLE QString     loadSetting (const QString &key, const QString& defaultValue);
+
+    Q_PROPERTY(float        roll                READ roll               NOTIFY rollChanged)
+    Q_PROPERTY(float        pitch               READ pitch              NOTIFY pitchChanged)
+    Q_PROPERTY(float        heading             READ heading            NOTIFY headingChanged)
+    Q_PROPERTY(float        groundSpeed         READ groundSpeed        NOTIFY groundSpeedChanged)
+    Q_PROPERTY(float        airSpeed            READ airSpeed           NOTIFY airSpeedChanged)
+    Q_PROPERTY(float        climbRate           READ climbRate          NOTIFY climbRateChanged)
+    Q_PROPERTY(float        altitudeRelative    READ altitudeRelative   NOTIFY altitudeRelativeChanged)
+    Q_PROPERTY(float        altitudeWGS84       READ altitudeWGS84      NOTIFY altitudeWGS84Changed)
+    Q_PROPERTY(float        altitudeAMSL        READ altitudeAMSL       NOTIFY altitudeAMSLChanged)
+    Q_PROPERTY(float        latitude            READ latitude           NOTIFY latitudeChanged)
+    Q_PROPERTY(float        longitude           READ longitude          NOTIFY longitudeChanged)
+    Q_PROPERTY(bool         mavPresent          READ mavPresent         NOTIFY mavPresentChanged)
+    Q_PROPERTY(double       batteryVoltage      READ batteryVoltage     NOTIFY batteryVoltageChanged)
+    Q_PROPERTY(double       batteryPercent      READ batteryPercent     NOTIFY batteryPercentChanged)
+    Q_PROPERTY(bool         systemArmed         READ systemArmed        NOTIFY systemArmedChanged)
+    Q_PROPERTY(QString      currentMode         READ currentMode        NOTIFY currentModeChanged)
+    Q_PROPERTY(QString      systemPixmap        READ systemPixmap       NOTIFY systemPixmapChanged)
+    Q_PROPERTY(int          satelliteCount      READ satelliteCount     NOTIFY satelliteCountChanged)
+    Q_PROPERTY(QString      currentState        READ currentState       NOTIFY currentStateChanged)
+    Q_PROPERTY(QString      systemName          READ systemName         NOTIFY systemNameChanged)
+    Q_PROPERTY(int          satelliteLock       READ satelliteLock      NOTIFY satelliteLockChanged)
+    Q_PROPERTY(double       waypointDistance    READ waypointDistance   NOTIFY waypointDistanceChanged)
+    Q_PROPERTY(uint16_t     currentWaypoint     READ currentWaypoint    NOTIFY currentWaypointChanged)
+    Q_PROPERTY(unsigned int heartbeatTimeout    READ heartbeatTimeout   NOTIFY heartbeatTimeoutChanged)
+    Q_PROPERTY(QQmlListProperty<Waypoint> waypoints READ waypoints NOTIFY waypointsChanged)
+
+    float           roll                () { return _roll; }
+    float           pitch               () { return _pitch; }
+    float           heading             () { return _heading; }
+    float           groundSpeed         () { return _groundSpeed; }
+    float           airSpeed            () { return _airSpeed; }
+    float           climbRate           () { return _climbRate; }
+    float           altitudeRelative    () { return _altitudeRelative; }
+    float           altitudeWGS84       () { return _altitudeWGS84; }
+    float           altitudeAMSL        () { return _altitudeAMSL; }
+    float           latitude            () { return _latitude; }
+    float           longitude           () { return _longitude; }
+    bool            mavPresent          () { return _mav != NULL; }
+    int             satelliteCount      () { return _satelliteCount; }
+    double          batteryVoltage      () { return _batteryVoltage; }
+    double          batteryPercent      () { return _batteryPercent; }
+    bool            systemArmed         () { return _systemArmed; }
+    QString         currentMode         () { return _currentMode; }
+    QString         systemPixmap        () { return _systemPixmap; }
+    QString         currentState        () { return _currentState; }
+    QString         systemName          () { return _systemName; }
+    int             satelliteLock       () { return _satelliteLock; }
+    double          waypointDistance    () { return _waypointDistance; }
+    uint16_t        currentWaypoint     () { return _currentWaypoint; }
+    unsigned int    heartbeatTimeout    () { return _currentHeartbeatTimeout; }
+
+    QQmlListProperty<Waypoint> waypoints() {return QQmlListProperty<Waypoint>(this, _waypoints); }
+
+signals:
+    void rollChanged            ();
+    void pitchChanged           ();
+    void headingChanged         ();
+    void groundSpeedChanged     ();
+    void airSpeedChanged        ();
+    void climbRateChanged       ();
+    void altitudeRelativeChanged();
+    void altitudeWGS84Changed   ();
+    void altitudeAMSLChanged    ();
+    void latitudeChanged        ();
+    void longitudeChanged       ();
+    void mavPresentChanged      ();
+    void batteryVoltageChanged  ();
+    void batteryPercentChanged  ();
+    void systemArmedChanged     ();
+    void heartbeatTimeoutChanged();
+    void currentModeChanged     ();
+    void currentConfigChanged   ();
+    void systemPixmapChanged    ();
+    void satelliteCountChanged  ();
+    void currentStateChanged    ();
+    void systemNameChanged      ();
+    void satelliteLockChanged   ();
+    void waypointDistanceChanged();
+    void currentWaypointChanged ();
+    void waypointsChanged       ();
+
+private slots:
+    /** @brief Attitude from main autopilot / system state */
+    void _updateAttitude                    (UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp);
+    /** @brief Attitude from one specific component / redundant autopilot */
+    void _updateAttitude                    (UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp);
+    /** @brief Speed */
+    void _updateSpeed                       (UASInterface* uas, double _groundSpeed, double _airSpeed, quint64 timestamp);
+    /** @brief Altitude */
+    void _updateAltitude                    (UASInterface* uas, double _altitudeAMSL, double _altitudeWGS84, double _altitudeRelative, double _climbRate, quint64 timestamp);
+    void _updateNavigationControllerErrors  (UASInterface* uas, double altitudeError, double speedError, double xtrackError);
+    void _updateNavigationControllerData    (UASInterface *uas, float navRoll, float navPitch, float navBearing, float targetBearing, float targetDistance);
+    void _forgetUAS                         (UASInterface* uas);
+    void _setActiveUAS                      (UASInterface* uas);
+    void _checkUpdate                       ();
+    void _updateBatteryRemaining            (UASInterface*, double voltage, double, double percent, int);
+    void _updateArmingState                 (bool armed);
+    void _updateState                       (UASInterface* system, QString name, QString description);
+    void _updateMode                        (int system, QString name, QString description);
+    void _updateName                        (const QString& name);
+    void _setSystemType                     (UASInterface* uas, unsigned int systemType);
+    void _heartbeatTimeout                  (bool timeout, unsigned int ms);
+    void _updateCurrentWaypoint             (quint16 id);
+    void _updateWaypointDistance            (double distance);
+    void _setSatelliteCount                 (double val, QString name);
+    void _setSatLoc                         (UASInterface* uas, int fix);
+    void _updateWaypointViewOnly            (int uas, Waypoint* wp);
+    void _waypointViewOnlyListChanged       ();
+
+private:
+    bool    _isAirplane                     ();
+    void    _addChange                      (int id);
+    float   _oneDecimal                     (float value);
+
+private:
+    UASInterface*   _mav;
+    float           _roll;
+    float           _pitch;
+    float           _heading;
+    float           _altitudeAMSL;
+    float           _altitudeWGS84;
+    float           _altitudeRelative;
+    float           _groundSpeed;
+    float           _airSpeed;
+    float           _climbRate;
+    float           _navigationAltitudeError;
+    float           _navigationSpeedError;
+    float           _navigationCrosstrackError;
+    float           _navigationTargetBearing;
+    float           _latitude;
+    float           _longitude;
+    QTimer*         _refreshTimer;
+    QList<int>      _changes;
+    double          _batteryVoltage;
+    double          _batteryPercent;
+    bool            _systemArmed;
+    QString         _currentState;
+    QString         _currentMode;
+    QString         _systemName;
+    QString         _systemPixmap;
+    unsigned int    _currentHeartbeatTimeout;
+    double          _waypointDistance;
+    quint16         _currentWaypoint;
+    int             _satelliteCount;
+    int             _satelliteLock;
+    UASWaypointManager* _wpm;
+    int             _updateCount;
+    QList<Waypoint*>_waypoints;
+};
+
+#endif // MAVMANAGER_H

src/QmlControls/ScreenTools.h

@@ -45,6 +45,10 @@ class ScreenTools : public QObject
 public:
     ScreenTools();
 
+    Q_PROPERTY(bool     isAndroid           READ isAndroid  CONSTANT)
+    Q_PROPERTY(bool     isiOS               READ isiOS      CONSTANT)
+    Q_PROPERTY(bool     isMobile            READ isMobile   CONSTANT)
+
     //! Returns the global mouse X position
     Q_PROPERTY(int      mouseX              READ mouseX)
     //! Returns the global mouse Y position
@@ -110,6 +114,16 @@ public:
     double  pixelSizeFactor     ();
     double  defaultFontPointSize(void);
 
+#if defined (__android__)
+    bool    isAndroid           () { return true;  }
+    bool    isiOS               () { return false; }
+    bool    isMobile            () { return true;  }
+#else
+    bool    isAndroid           () { return false; }
+    bool    isiOS               () { return false; }
+    bool    isMobile            () { return false; }
+#endif
+
 signals:
     void repaintRequestedChanged();
     void pixelSizeFactorChanged();

src/Waypoint.cc

@@ -34,43 +34,82 @@ This file is part of the QGROUNDCONTROL project
 
 #include "Waypoint.h"
 
-Waypoint::Waypoint(quint16 _id, double _x, double _y, double _z, double _param1, double _param2, double _param3, double _param4,
-                   bool _autocontinue, bool _current, MAV_FRAME _frame, MAV_CMD _action, const QString& _description)
-    : id(_id),
-      x(_x),
-      y(_y),
-      z(_z),
-      yaw(_param4),
-      frame(_frame),
-      action(_action),
-      autocontinue(_autocontinue),
-      current(_current),
-      orbit(_param3),
-      param1(_param1),
-      param2(_param2),
-      name(QString("WP%1").arg(id, 2, 10, QChar('0'))),
-      description(_description),
-      reachedTime(0)
+Waypoint::Waypoint(
+    quint16 id,
+    double  x,
+    double  y,
+    double  z,
+    double  param1,
+    double  param2,
+    double  param3,
+    double  param4,
+    bool    autocontinue,
+    bool    current,
+    int     frame,
+    int     action,
+    const QString& description
+    )
+    : _id(id)
+    , _x(x)
+    , _y(y)
+    , _z(z)
+    , _yaw(param4)
+    , _frame(frame)
+    , _action(action)
+    , _autocontinue(autocontinue)
+    , _current(current)
+    , _orbit(param3)
+    , _param1(param1)
+    , _param2(param2)
+    , _name(QString("WP%1").arg(id, 2, 10, QChar('0')))
+    , _description(description)
+    , _reachedTime(0)
 {
+
+}
+
+Waypoint::Waypoint(const Waypoint& other)
+{
+    *this = other;
 }
 
 Waypoint::~Waypoint()
 {    
 }
 
+const Waypoint& Waypoint::operator=(const Waypoint& other)
+{
+    _id              = other.getId();
+    _x               = other.getX();
+    _y               = other.getY();
+    _z               = other.getZ();
+    _yaw             = other.getYaw();
+    _frame           = other.getFrame();
+    _action          = other.getAction();
+    _autocontinue    = other.getAutoContinue();
+    _current         = other.getCurrent();
+    _orbit           = other.getParam3();
+    _param1          = other.getParam1();
+    _param2          = other.getParam2();
+    _name            = other.getName();
+    _description     = other.getDescription();
+    _reachedTime     = other.getReachedTime();
+    return *this;
+}
+
 bool Waypoint::isNavigationType()
 {
-    return (action < MAV_CMD_NAV_LAST);
+    return (_action < MAV_CMD_NAV_LAST);
 }
 
 void Waypoint::save(QTextStream &saveStream)
 {
     QString position("%1\t%2\t%3");
-    position = position.arg(x, 0, 'g', 18);
-    position = position.arg(y, 0, 'g', 18);
-    position = position.arg(z, 0, 'g', 18);
+    position = position.arg(_x, 0, 'g', 18);
+    position = position.arg(_y, 0, 'g', 18);
+    position = position.arg(_z, 0, 'g', 18);
     QString parameters("%1\t%2\t%3\t%4");
-    parameters = parameters.arg(param1, 0, 'g', 18).arg(param2, 0, 'g', 18).arg(orbit, 0, 'g', 18).arg(yaw, 0, 'g', 18);
+    parameters = parameters.arg(_param1, 0, 'g', 18).arg(_param2, 0, 'g', 18).arg(_orbit, 0, 'g', 18).arg(_yaw, 0, 'g', 18);
     // FORMAT: <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE> <DESCRIPTION>
     // as documented here: http://qgroundcontrol.org/waypoint_protocol
     saveStream << this->getId() << "\t" << this->getCurrent() << "\t" << this->getFrame() << "\t" << this->getAction() << "\t"  << parameters << "\t" << position  << "\t" << this->getAutoContinue() << "\r\n"; //"\t" << this->getDescription() << "\r\n";
@@ -80,19 +119,19 @@ bool Waypoint::load(QTextStream &loadStream)
 {
     const QStringList &wpParams = loadStream.readLine().split("\t");
     if (wpParams.size() == 12) {
-        this->id = wpParams[0].toInt();
-        this->current = (wpParams[1].toInt() == 1 ? true : false);
-        this->frame = (MAV_FRAME) wpParams[2].toInt();
-        this->action = (MAV_CMD) wpParams[3].toInt();
-        this->param1 = wpParams[4].toDouble();
-        this->param2 = wpParams[5].toDouble();
-        this->orbit = wpParams[6].toDouble();
-        this->yaw = wpParams[7].toDouble();
-        this->x = wpParams[8].toDouble();
-        this->y = wpParams[9].toDouble();
-        this->z = wpParams[10].toDouble();
-        this->autocontinue = (wpParams[11].toInt() == 1 ? true : false);
-        //this->description = wpParams[12];
+        _id = wpParams[0].toInt();
+        _current = (wpParams[1].toInt() == 1 ? true : false);
+        _frame = (MAV_FRAME) wpParams[2].toInt();
+        _action = (MAV_CMD) wpParams[3].toInt();
+        _param1 = wpParams[4].toDouble();
+        _param2 = wpParams[5].toDouble();
+        _orbit = wpParams[6].toDouble();
+        _yaw = wpParams[7].toDouble();
+        _x = wpParams[8].toDouble();
+        _y = wpParams[9].toDouble();
+        _z = wpParams[10].toDouble();
+        _autocontinue = (wpParams[11].toInt() == 1 ? true : false);
+        //_description = wpParams[12];
         return true;
     }
     return false;
@@ -101,129 +140,120 @@ bool Waypoint::load(QTextStream &loadStream)
 
 void Waypoint::setId(quint16 id)
 {
-    this->id = id;
-    this->name = QString("WP%1").arg(id, 2, 10, QChar('0'));
+    _id = id;
+    _name = QString("WP%1").arg(id, 2, 10, QChar('0'));
     emit changed(this);
 }
 
 void Waypoint::setX(double x)
 {
-    if (!isinf(x) && !isnan(x) && ((this->frame == MAV_FRAME_LOCAL_NED) || (this->frame == MAV_FRAME_LOCAL_ENU)))
+    if (!isinf(x) && !isnan(x) && ((_frame == MAV_FRAME_LOCAL_NED) || (_frame == MAV_FRAME_LOCAL_ENU)))
     {
-        this->x = x;
+        _x = x;
         emit changed(this);
     }
 }
 
 void Waypoint::setY(double y)
 {
-    if (!isinf(y) && !isnan(y) && ((this->frame == MAV_FRAME_LOCAL_NED) || (this->frame == MAV_FRAME_LOCAL_ENU)))
+    if (!isinf(y) && !isnan(y) && ((_frame == MAV_FRAME_LOCAL_NED) || (_frame == MAV_FRAME_LOCAL_ENU)))
     {
-        this->y = y;
+        _y = y;
         emit changed(this);
     }
 }
 
 void Waypoint::setZ(double z)
 {
-    if (!isinf(z) && !isnan(z) && ((this->frame == MAV_FRAME_LOCAL_NED) || (this->frame == MAV_FRAME_LOCAL_ENU)))
+    if (!isinf(z) && !isnan(z) && ((_frame == MAV_FRAME_LOCAL_NED) || (_frame == MAV_FRAME_LOCAL_ENU)))
     {
-        this->z = z;
+        _z = z;
         emit changed(this);
     }
 }
 
 void Waypoint::setLatitude(double lat)
 {
-    if (this->x != lat && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
+    if (_x != lat && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
     {
-        this->x = lat;
+        _x = lat;
         emit changed(this);
     }
 }
 
 void Waypoint::setLongitude(double lon)
 {
-    if (this->y != lon && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
+    if (_y != lon && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
     {
-        this->y = lon;
+        _y = lon;
         emit changed(this);
     }
 }
 
 void Waypoint::setAltitude(double altitude)
 {
-    if (this->z != altitude && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
+    if (_z != altitude && ((_frame == MAV_FRAME_GLOBAL) || (_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
     {
-        this->z = altitude;
+        _z = altitude;
         emit changed(this);
     }
 }
 
 void Waypoint::setYaw(int yaw)
 {
-    if (this->yaw != yaw)
+    if (_yaw != yaw)
     {
-        this->yaw = yaw;
+        _yaw = yaw;
         emit changed(this);
     }
 }
 
 void Waypoint::setYaw(double yaw)
 {
-    if (this->yaw != yaw)
-    {
-        this->yaw = yaw;
-        emit changed(this);
-    }
-}
-
-void Waypoint::setAction(int action)
-{
-    if (this->action != (MAV_CMD)action)
+    if (_yaw != yaw)
     {
-        this->action = (MAV_CMD)action;
+        _yaw = yaw;
         emit changed(this);
     }
 }
 
-void Waypoint::setAction(MAV_CMD action)
+void Waypoint::setAction(int /*MAV_CMD*/ action)
 {
-    if (this->action != action) {
-        this->action = action;
+    if (_action != action) {
+        _action = action;
 
         // Flick defaults according to WP type
 
-        if (this->action == MAV_CMD_NAV_TAKEOFF) {
+        if (_action == MAV_CMD_NAV_TAKEOFF) {
             // We default to 15 degrees minimum takeoff pitch
-            this->param1 = 15.0;
+            _param1 = 15.0;
         }
 
         emit changed(this);
     }
 }
 
-void Waypoint::setFrame(MAV_FRAME frame)
+void Waypoint::setFrame(int /*MAV_FRAME*/ frame)
 {
-    if (this->frame != frame) {
-        this->frame = frame;
+    if (_frame != frame) {
+        _frame = frame;
         emit changed(this);
     }
 }
 
 void Waypoint::setAutocontinue(bool autoContinue)
 {
-    if (this->autocontinue != autoContinue) {
-        this->autocontinue = autoContinue;
+    if (_autocontinue != autoContinue) {
+        _autocontinue = autoContinue;
         emit changed(this);
     }
 }
 
 void Waypoint::setCurrent(bool current)
 {
-    if (this->current != current)
+    if (_current != current)
     {
-        this->current = current;
+        _current = current;
         // The current waypoint index is handled by the list
         // and not part of the individual waypoint update state
     }
@@ -231,9 +261,9 @@ void Waypoint::setCurrent(bool current)
 
 void Waypoint::setAcceptanceRadius(double radius)
 {
-    if (this->param2 != radius)
+    if (_param2 != radius)
     {
-        this->param2 = radius;
+        _param2 = radius;
         emit changed(this);
     }
 }
@@ -242,90 +272,90 @@ void Waypoint::setParam1(double param1)
 {
     //// // qDebug() << "SENDER:" << QObject::sender();
     //// // qDebug() << "PARAM1 SET REQ:" << param1;
-    if (this->param1 != param1)
+    if (_param1 != param1)
     {
-        this->param1 = param1;
+        _param1 = param1;
         emit changed(this);
     }
 }
 
 void Waypoint::setParam2(double param2)
 {
-    if (this->param2 != param2)
+    if (_param2 != param2)
     {
-        this->param2 = param2;
+        _param2 = param2;
         emit changed(this);
     }
 }
 
 void Waypoint::setParam3(double param3)
 {
-    if (this->orbit != param3) {
-        this->orbit = param3;
+    if (_orbit != param3) {
+        _orbit = param3;
         emit changed(this);
     }
 }
 
 void Waypoint::setParam4(double param4)
 {
-    if (this->yaw != param4) {
-        this->yaw = param4;
+    if (_yaw != param4) {
+        _yaw = param4;
         emit changed(this);
     }
 }
 
 void Waypoint::setParam5(double param5)
 {
-    if (this->x != param5) {
-        this->x = param5;
+    if (_x != param5) {
+        _x = param5;
         emit changed(this);
     }
 }
 
 void Waypoint::setParam6(double param6)
 {
-    if (this->y != param6) {
-        this->y = param6;
+    if (_y != param6) {
+        _y = param6;
         emit changed(this);
     }
 }
 
 void Waypoint::setParam7(double param7)
 {
-    if (this->z != param7) {
-        this->z = param7;
+    if (_z != param7) {
+        _z = param7;
         emit changed(this);
     }
 }
 
 void Waypoint::setLoiterOrbit(double orbit)
 {
-    if (this->orbit != orbit) {
-        this->orbit = orbit;
+    if (_orbit != orbit) {
+        _orbit = orbit;
         emit changed(this);
     }
 }
 
 void Waypoint::setHoldTime(int holdTime)
 {
-    if (this->param1 != holdTime) {
-        this->param1 = holdTime;
+    if (_param1 != holdTime) {
+        _param1 = holdTime;
         emit changed(this);
     }
 }
 
 void Waypoint::setHoldTime(double holdTime)
 {
-    if (this->param1 != holdTime) {
-        this->param1 = holdTime;
+    if (_param1 != holdTime) {
+        _param1 = holdTime;
         emit changed(this);
     }
 }
 
 void Waypoint::setTurns(int turns)
 {
-    if (this->param1 != turns) {
-        this->param1 = turns;
+    if (_param1 != turns) {
+        _param1 = turns;
         emit changed(this);
     }
 }

src/Waypoint.h

@@ -35,6 +35,7 @@ This file is part of the PIXHAWK project
 
 #include <QObject>
 #include <QString>
+#include <QtQml>
 #include <QTextStream>
 #include "QGCMAVLink.h"
 #include "QGC.h"
@@ -42,157 +43,192 @@ This file is part of the PIXHAWK project
 class Waypoint : public QObject
 {
     Q_OBJECT
-
 public:
-    Waypoint(quint16 id = 0, double x = 0.0, double y = 0.0, double z = 0.0, double param1 = 0.0, double param2 = 0.0, double param3 = 0.0, double param4 = 0.0,
-             bool autocontinue = true, bool current = false, MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_CMD action=MAV_CMD_NAV_WAYPOINT, const QString& description=QString(""));
+    Waypoint(
+        quint16 id = 0,
+        double  x = 0.0,
+        double  y = 0.0,
+        double  z = 0.0,
+        double  param1 = 0.0,
+        double  param2 = 0.0,
+        double  param3 = 0.0,
+        double  param4 = 0.0,
+        bool    autocontinue = true,
+        bool    current = false,
+        int     frame = MAV_FRAME_GLOBAL,
+        int     action = MAV_CMD_NAV_WAYPOINT,
+        const QString& description=QString(""));
+
+    Waypoint(const Waypoint& other);
     ~Waypoint();
 
+    const Waypoint& operator=(const Waypoint& other);
+
+    Q_PROPERTY(double  longitude READ longitude  NOTIFY longitudeChanged)
+    Q_PROPERTY(double  latitude  READ latitude   NOTIFY latitudeChanged)
+    Q_PROPERTY(double  altitude  READ altitude   NOTIFY altitudeChanged)
+    Q_PROPERTY(quint16 id        READ id         CONSTANT)
+
+    double  latitude()  { return _x; }
+    double  longitude() { return _y; }
+    double  altitude()  { return _z; }
+    quint16 id()        { return _id; }
+
     quint16 getId() const {
-        return id;
+        return _id;
     }
     double getX() const {
-        return x;
+        return _x;
     }
     double getY() const {
-        return y;
+        return _y;
     }
     double getZ() const {
-        return z;
+        return _z;
     }
     double getLatitude() const {
-        return x;
+        return _x;
     }
     double getLongitude() const {
-        return y;
+        return _y;
     }
     double getAltitude() const {
-        return z;
+        return _z;
     }
     double getYaw() const {
-        return yaw;
+        return _yaw;
     }
     bool getAutoContinue() const {
-        return autocontinue;
+        return _autocontinue;
     }
     bool getCurrent() const {
-        return current;
+        return _current;
     }
     double getLoiterOrbit() const {
-        return orbit;
+        return _orbit;
     }
     double getAcceptanceRadius() const {
-        return param2;
+        return _param2;
     }
     double getHoldTime() const {
-        return param1;
+        return _param1;
     }
     double getParam1() const {
-        return param1;
+        return _param1;
     }
     double getParam2() const {
-        return param2;
+        return _param2;
     }
     double getParam3() const {
-        return orbit;
+        return _orbit;
     }
     double getParam4() const {
-        return yaw;
+        return _yaw;
     }
     double getParam5() const {
-        return x;
+        return _x;
     }
     double getParam6() const {
-        return y;
+        return _y;
     }
     double getParam7() const {
-        return z;
+        return _z;
     }
     int getTurns() const {
-        return param1;
+        return _param1;
     }
-    MAV_FRAME getFrame() const {
-        return frame;
+    // MAV_FRAME
+    int getFrame() const {
+        return _frame;
     }
-    MAV_CMD getAction() const {
-        return action;
+    // MAV_CMD
+    int getAction() const {
+        return _action;
     }
     const QString& getName() const {
-        return name;
+        return _name;
     }
     const QString& getDescription() const {
-        return description;
+        return _description;
     }
 
     /** @brief Returns true if x, y, z contain reasonable navigation data */
     bool isNavigationType();
 
+    /** @brief Get the time this waypoint was reached */
+    quint64 getReachedTime() const { return _reachedTime; }
+
     void save(QTextStream &saveStream);
     bool load(QTextStream &loadStream);
 
 
 protected:
-    quint16 id;
-    double x;
-    double y;
-    double z;
-    double yaw;
-    MAV_FRAME frame;
-    MAV_CMD action;
-    bool autocontinue;
-    bool current;
-    double orbit;
-    double param1;
-    double param2;
-    int turns;
-    QString name;
-    QString description;
-    quint64 reachedTime;
-
-public slots:
-    void setId(quint16 id);
-    void setX(double x);
-    void setY(double y);
-    void setZ(double z);
-    void setLatitude(double lat);
-    void setLongitude(double lon);
-    void setAltitude(double alt);
+    quint16 _id;
+    double  _x;
+    double  _y;
+    double  _z;
+    double  _yaw;
+    int     _frame;
+    int     _action;
+    bool    _autocontinue;
+    bool    _current;
+    double  _orbit;
+    double  _param1;
+    double  _param2;
+    int     _turns;
+    QString _name;
+    QString _description;
+    quint64 _reachedTime;
+
+public:
+    void setId          (quint16 _id);
+    void setX           (double _x);
+    void setY           (double _y);
+    void setZ           (double _z);
+    void setLatitude    (double lat);
+    void setLongitude   (double lon);
+    void setAltitude    (double alt);
     /** @brief Yaw angle in COMPASS DEGREES: 0-360 */
-    void setYaw(int yaw);
+    void setYaw         (int _yaw);
     /** @brief Yaw angle in COMPASS DEGREES: 0-360 */
-    void setYaw(double yaw);
+    void setYaw         (double _yaw);
     /** @brief Set the waypoint action */
-    void setAction(int action);
-    void setAction(MAV_CMD action);
-    void setFrame(MAV_FRAME frame);
+    void setAction      (int _action);
+    void setFrame       (int _frame);
     void setAutocontinue(bool autoContinue);
-    void setCurrent(bool current);
-    void setLoiterOrbit(double orbit);
-    void setParam1(double param1);
-    void setParam2(double param2);
-    void setParam3(double param3);
-    void setParam4(double param4);
-    void setParam5(double param5);
-    void setParam6(double param6);
-    void setParam7(double param7);
+    void setCurrent     (bool _current);
+    void setLoiterOrbit (double _orbit);
+    void setParam1      (double _param1);
+    void setParam2      (double _param2);
+    void setParam3      (double param3);
+    void setParam4      (double param4);
+    void setParam5      (double param5);
+    void setParam6      (double param6);
+    void setParam7      (double param7);
     void setAcceptanceRadius(double radius);
-    void setHoldTime(int holdTime);
-    void setHoldTime(double holdTime);
+    void setHoldTime    (int holdTime);
+    void setHoldTime    (double holdTime);
     /** @brief Number of turns for loiter waypoints */
-    void setTurns(int turns);
+    void setTurns       (int _turns);
     /** @brief Set waypoint as reached */
-    void setReached() { reachedTime = QGC::groundTimeMilliseconds(); }
+    void setReached     () { _reachedTime = QGC::groundTimeMilliseconds(); }
     /** @brief Wether this waypoint has been reached yet */
-    bool isReached() { return (reachedTime > 0); }
-    /** @brief Get the time this waypoint was reached */
-    quint64 getReachedTime() { return reachedTime; }
+    bool isReached      () { return (_reachedTime > 0); }
+
     void setChanged() {
         emit changed(this);
     }
 
 signals:
     /** @brief Announces a change to the waypoint data */
-    void changed(Waypoint* wp);    
+    void changed(Waypoint* wp);
+
+    void latitudeChanged    ();
+    void longitudeChanged   ();
+    void altitudeChanged    ();
+
 };
 
+QML_DECLARE_TYPE(Waypoint)
+
 #endif // WAYPOINT_H

src/ui/WaypointEditableView.cc

@@ -417,14 +417,14 @@ void WaypointEditableView::updateValues()
 
 
     // update frame
-    MAV_FRAME frame = wp->getFrame();
+    MAV_FRAME frame = (MAV_FRAME)wp->getFrame();
     int frame_index = m_ui->comboBox_frame->findData(frame);
     if (m_ui->comboBox_frame->currentIndex() != frame_index) {
         m_ui->comboBox_frame->setCurrentIndex(frame_index);
     }
 
     // Update action
-    MAV_CMD action = wp->getAction();
+    MAV_CMD action = (MAV_CMD)wp->getAction();
     int action_index = m_ui->comboBox_action->findData(action);
     if (m_ui->comboBox_action->currentIndex() != action_index)
     {
@@ -441,7 +441,7 @@ void WaypointEditableView::updateValues()
     }
 
     emit commandBroadcast(wp->getAction());
-    emit frameBroadcast(wp->getFrame());
+    emit frameBroadcast((MAV_FRAME)wp->getFrame());
     emit param1Broadcast(wp->getParam1());
     emit param2Broadcast(wp->getParam2());
     emit param3Broadcast(wp->getParam3());

src/ui/flightdisplay/FlightDisplay.qml

@@ -33,6 +33,7 @@ import QtQuick.Controls.Styles 1.2
 import QtQuick.Dialogs 1.2
 
 import QGroundControl.FlightControls 1.0
+import QGroundControl.MavManager 1.0
 import QGroundControl.ScreenTools 1.0
 import QGroundControl.Controls 1.0
 import QGroundControl.Palette 1.0
@@ -42,8 +43,8 @@ Item {
 
     property var __qgcPal: QGCPalette { colorGroupEnabled: enabled }
 
-    property real roll:    isNaN(flightDisplay.roll)    ? 0 : flightDisplay.roll
-    property real pitch:   isNaN(flightDisplay.pitch)   ? 0 : flightDisplay.pitch
+    property real roll:    isNaN(MavManager.roll)    ? 0 : MavManager.roll
+    property real pitch:   isNaN(MavManager.pitch)   ? 0 : MavManager.pitch
 
     property bool showPitchIndicator:       true
     property bool showAttitudeIndicator:    true
@@ -67,6 +68,7 @@ Item {
     Component.onCompleted:
     {
         mapBackground.visible               = getBool(flightDisplay.loadSetting("showMapBackground",        "0"));
+        mapBackground.showWaypoints         = getBool(flightDisplay.loadSetting("mapShowWaypoints",         "0"));
         mapBackground.alwaysNorth           = getBool(flightDisplay.loadSetting("mapAlwaysPointsNorth",     "0"));
         showAttitudeIndicator               = getBool(flightDisplay.loadSetting("showAttitudeIndicator",    "1"));
         showPitchIndicator                  = getBool(flightDisplay.loadSetting("showPitchIndicator",       "1"));
@@ -77,7 +79,8 @@ Item {
         currentSpeed.showGroundSpeed        = getBool(flightDisplay.loadSetting("showCurrentGroundSpeed",   "1"));
         currentAltitude.showClimbRate       = getBool(flightDisplay.loadSetting("showCurrentClimbRate",     "1"));
         currentAltitude.showAltitude        = getBool(flightDisplay.loadSetting("showCurrentAltitude",      "1"));
-        mapTypeMenu.update();
+        // Insert Map Type menu before separator
+        contextMenu.insertItem(2, mapBackground.mapMenu);
     }
 
     // TODO: This is to replace the context menu but it is not working. Not only the buttons don't show,
@@ -110,6 +113,8 @@ Item {
             flightDisplay.saveSetting("showMapBackground", setBool(mapBackground.visible));
             mapBackground.alwaysNorth = false;
             flightDisplay.saveSetting("mapAlwaysPointsNorth", setBool(mapBackground.alwaysNorth));
+            mapBackground.showWaypoints = false
+            flightDisplay.saveSetting("mapShowWaypoints", setBool(mapBackground.showWaypoints));
         }
         contentItem: Rectangle {
             color: __qgcPal.window
@@ -134,6 +139,15 @@ Item {
                             flightDisplay.saveSetting("showMapBackground", setBool(mapBackground.visible));
                         }
                     }
+                    QGCCheckBox {
+                        text: "Map Show Waypoints"
+                        checked: mapBackground.showWaypoints
+                        onClicked:
+                        {
+                            mapBackground.showWaypoints = !mapBackground.showWaypoints;
+                            flightDisplay.saveSetting("mapShowWaypoints", setBool(mapBackground.showWaypoints));
+                        }
+                    }
                     QGCCheckBox {
                         text: "Pitch Indicator"
                         checked: showPitchIndicator
@@ -291,6 +305,17 @@ Item {
             }
         }
 
+        MenuItem {
+            text: "Map Show Waypoints"
+            checkable: true
+            checked: mapBackground.showWaypoints
+            onTriggered:
+            {
+                mapBackground.showWaypoints = !mapBackground.showWaypoints;
+                flightDisplay.saveSetting("mapShowWaypoints", setBool(mapBackground.showWaypoints));
+            }
+        }
+
         /*
         MenuItem {
             text: "Options Dialog"
@@ -314,42 +339,6 @@ Item {
         }
         */
 
-        Menu {
-            id: mapTypeMenu
-            title: "Map Type..."
-            ExclusiveGroup { id: currMapType }
-            function setCurrentMap(map) {
-                for (var i = 0; i < mapBackground.mapItem.supportedMapTypes.length; i++) {
-                    if (map === mapBackground.mapItem.supportedMapTypes[i].name) {
-                        mapBackground.mapItem.activeMapType = mapBackground.mapItem.supportedMapTypes[i]
-                        flightDisplay.saveSetting("currentMapType", map);
-                        return;
-                    }
-                }
-            }
-            function addMap(map, checked) {
-                var mItem = mapTypeMenu.addItem(map);
-                mItem.checkable = true
-                mItem.checked   = checked
-                mItem.exclusiveGroup = currMapType
-                var menuSlot = function() {setCurrentMap(map);};
-                mItem.triggered.connect(menuSlot);
-            }
-            function update() {
-                clear()
-                var map = ''
-                if (mapBackground.mapItem.supportedMapTypes.length > 0)
-                    map = mapBackground.mapItem.activeMapType.name;
-                map = flightDisplay.loadSetting("currentMapType", map);
-                for (var i = 0; i < mapBackground.mapItem.supportedMapTypes.length; i++) {
-                    var name = mapBackground.mapItem.supportedMapTypes[i].name;
-                    addMap(name, map === name);
-                }
-                if(map != '')
-                    setCurrentMap(map);
-            }
-        }
-
         MenuSeparator {}
 
         MenuItem {
@@ -479,6 +468,8 @@ Item {
                 flightDisplay.saveSetting("showMapBackground", setBool(mapBackground.visible));
                 mapBackground.alwaysNorth = false;
                 flightDisplay.saveSetting("mapAlwaysPointsNorth", setBool(mapBackground.alwaysNorth));
+                mapBackground.showWaypoints = false
+                flightDisplay.saveSetting("mapShowWaypoints", setBool(mapBackground.showWaypoints));
             }
         }
 
@@ -487,10 +478,11 @@ Item {
     QGCMapBackground {
         id:                 mapBackground
         anchors.fill:       parent
-        heading:            0 // isNaN(flightDisplay.heading) ? 0 : flightDisplay.heading
-        latitude:           mapBackground.visible ? ((flightDisplay.latitude  === 0) ?   37.803784 : flightDisplay.latitude)  :   37.803784
-        longitude:          mapBackground.visible ? ((flightDisplay.longitude === 0) ? -122.462276 : flightDisplay.longitude) : -122.462276
-        interactive:        !flightDisplay.mavPresent
+        mapName:            'MainFlightDisplay'
+        heading:            0 // isNaN(MavManager.heading) ? 0 : MavManager.heading
+        latitude:           mapBackground.visible ? ((MavManager.latitude  === 0) ?   37.803784 : MavManager.latitude)  :   37.803784
+        longitude:          mapBackground.visible ? ((MavManager.longitude === 0) ? -122.462276 : MavManager.longitude) : -122.462276
+      //interactive:        !MavManager.mavPresent
         z:                  10
     }
 
@@ -499,7 +491,7 @@ Item {
         y:                  ScreenTools.pixelSizeFactor * (5)
         x:                  ScreenTools.pixelSizeFactor * (85)
         size:               ScreenTools.pixelSizeFactor * (160)
-        heading:            isNaN(flightDisplay.heading) ? 0 : flightDisplay.heading
+        heading:            isNaN(MavManager.heading) ? 0 : MavManager.heading
         visible:            mapBackground.visible && showCompass
         z:                  mapBackground.z + 1
         onResetRequested: {
@@ -567,7 +559,7 @@ Item {
         anchors.right:      parent.right
         width:              ScreenTools.pixelSizeFactor * (60)
         height:             parent.height * 0.65 > ScreenTools.pixelSizeFactor * (280) ? ScreenTools.pixelSizeFactor * (280) : parent.height * 0.65
-        altitude:           flightDisplay.altitudeWGS84
+        altitude:           MavManager.altitudeWGS84
         z:                  30
     }
 
@@ -576,7 +568,7 @@ Item {
         anchors.left:       parent.left
         width:              ScreenTools.pixelSizeFactor * (60)
         height:             parent.height * 0.65 > ScreenTools.pixelSizeFactor * (280) ? ScreenTools.pixelSizeFactor * (280) : parent.height * 0.65
-        speed:              flightDisplay.groundSpeed
+        speed:              MavManager.groundSpeed
         z:                  40
     }
 
@@ -584,8 +576,8 @@ Item {
         id: currentSpeed
         anchors.left:       parent.left
         width:              ScreenTools.pixelSizeFactor * (75)
-        airspeed:           flightDisplay.airSpeed
-        groundspeed:        flightDisplay.groundSpeed
+        airspeed:           MavManager.airSpeed
+        groundspeed:        MavManager.groundSpeed
         showAirSpeed:       true
         showGroundSpeed:    true
         visible:            (currentSpeed.showGroundSpeed || currentSpeed.showAirSpeed)
@@ -596,8 +588,8 @@ Item {
         id: currentAltitude
         anchors.right:      parent.right
         width:              ScreenTools.pixelSizeFactor * (75)
-        altitude:           flightDisplay.altitudeWGS84
-        vertZ:              flightDisplay.climbRate
+        altitude:           MavManager.altitudeWGS84
+        vertZ:              MavManager.climbRate
         showAltitude:       true
         showClimbRate:      true
         visible:            (currentAltitude.showAltitude || currentAltitude.showClimbRate)
@@ -610,7 +602,7 @@ Item {
         x:                  root.width  * 0.5 - ScreenTools.pixelSizeFactor * (60)
         width:              ScreenTools.pixelSizeFactor * (120)
         height:             ScreenTools.pixelSizeFactor * (120)
-        heading:            isNaN(flightDisplay.heading) ? 0 : flightDisplay.heading
+        heading:            isNaN(MavManager.heading) ? 0 : MavManager.heading
         visible:            !mapBackground.visible && showCompass
         z:                  70
     }
@@ -618,6 +610,7 @@ Item {
     //- Context Menu
     MouseArea {
         anchors.fill: parent
+        z: 1000
         acceptedButtons: Qt.RightButton
         onClicked: {
             if (mouse.button == Qt.RightButton)

src/ui/flightdisplay/QGCFlightDisplay.cc

@@ -35,29 +35,10 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCFlightDisplay.h"
 #include "UASManager.h"
 
-#define UPDATE_TIMER 500
-
 const char* kMainFlightDisplayGroup = "MainFlightDisplay";
 
 QGCFlightDisplay::QGCFlightDisplay(QWidget *parent)
     : QGCQmlWidgetHolder(parent)
-    , _mav(NULL)
-    , _roll(0.0f)
-    , _pitch(0.0f)
-    , _heading(0.0f)
-    , _altitudeAMSL(0.0f)
-    , _altitudeWGS84(0.0f)
-    , _altitudeRelative(0.0f)
-    , _groundSpeed(0.0f)
-    , _airSpeed(0.0f)
-    , _climbRate(0.0f)
-    , _navigationAltitudeError(0.0f)
-    , _navigationSpeedError(0.0f)
-    , _navigationCrosstrackError(0.0f)
-    , _navigationTargetBearing(0.0f)
-    , _latitude(37.803784f)
-    , _longitude(-122.462276f)
-    , _refreshTimer(new QTimer(this))
 {
     setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
     setObjectName("MainFlightDisplay");
@@ -73,18 +54,10 @@ QGCFlightDisplay::QGCFlightDisplay(QWidget *parent)
     setContextPropertyObject("flightDisplay", this);
     setSource(QUrl::fromUserInput("qrc:/qml/FlightDisplay.qml"));
     setVisible(true);
-    // Connect with UAS signal
-    _setActiveUAS(UASManager::instance()->getActiveUAS());
-    connect(UASManager::instance(), SIGNAL(UASDeleted(UASInterface*)),   this, SLOT(_forgetUAS(UASInterface*)));
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(_setActiveUAS(UASInterface*)));
-    // Refresh timer
-    _refreshTimer->setInterval(UPDATE_TIMER);
-    connect(_refreshTimer, SIGNAL(timeout()), this, SLOT(_checkUpdate()));
 }
 
 QGCFlightDisplay::~QGCFlightDisplay()
 {
-    _refreshTimer->stop();
 }
 
 void QGCFlightDisplay::saveSetting(const QString &name, const QString& value)
@@ -102,279 +75,3 @@ QString QGCFlightDisplay::loadSetting(const QString &name, const QString& defaul
     key += "/" + name;
     return settings.value(key, defaultValue).toString();
 }
-
-void QGCFlightDisplay::_forgetUAS(UASInterface* uas)
-{
-    if (_mav != NULL && _mav == uas) {
-        // Disconnect any previously connected active MAV
-        disconnect(_mav, SIGNAL(attitudeChanged                  (UASInterface*, double,double,double,quint64)),            this, SLOT(_updateAttitude(UASInterface*, double, double, double, quint64)));
-        disconnect(_mav, SIGNAL(attitudeChanged                  (UASInterface*, int,double,double,double,quint64)),        this, SLOT(_updateAttitude(UASInterface*,int,double, double, double, quint64)));
-        disconnect(_mav, SIGNAL(speedChanged                     (UASInterface*, double, double, quint64)),                 this, SLOT(_updateSpeed(UASInterface*, double, double, quint64)));
-        disconnect(_mav, SIGNAL(altitudeChanged                  (UASInterface*, double, double, double, double, quint64)), this, SLOT(_updateAltitude(UASInterface*, double, double, double, double, quint64)));
-        disconnect(_mav, SIGNAL(navigationControllerErrorsChanged(UASInterface*, double, double, double)),                  this, SLOT(_updateNavigationControllerErrors(UASInterface*, double, double, double)));
-        disconnect(_mav, &UASInterface::NavigationControllerDataChanged, this, &QGCFlightDisplay::_updateNavigationControllerData);
-    }
-    _mav = NULL;
-    emit mavPresentChanged();
-}
-
-void QGCFlightDisplay::_setActiveUAS(UASInterface* uas)
-{
-    if (uas == _mav)
-        return;
-    // Disconnect the previous one (if any)
-    if(_mav) {
-        _forgetUAS(_mav);
-    }
-    if (uas) {
-        // Now connect the new UAS
-        // Setup communication
-        connect(uas, SIGNAL(attitudeChanged                     (UASInterface*,double,double,double,quint64)),              this, SLOT(_updateAttitude(UASInterface*, double, double, double, quint64)));
-        connect(uas, SIGNAL(attitudeChanged                     (UASInterface*,int,double,double,double,quint64)),          this, SLOT(_updateAttitude(UASInterface*,int,double, double, double, quint64)));
-        connect(uas, SIGNAL(speedChanged                        (UASInterface*, double, double, quint64)),                  this, SLOT(_updateSpeed(UASInterface*, double, double, quint64)));
-        connect(uas, SIGNAL(altitudeChanged                     (UASInterface*, double, double, double, double, quint64)),  this, SLOT(_updateAltitude(UASInterface*, double, double, double, double, quint64)));
-        connect(uas, SIGNAL(navigationControllerErrorsChanged   (UASInterface*, double, double, double)),                   this, SLOT(_updateNavigationControllerErrors(UASInterface*, double, double, double)));
-        connect(uas, &UASInterface::NavigationControllerDataChanged, this, &QGCFlightDisplay::_updateNavigationControllerData);
-        // Set new UAS
-        _mav = uas;
-    }
-    emit mavPresentChanged();
-}
-
-void QGCFlightDisplay::_updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64)
-{
-    if (isinf(roll)) {
-        _roll = std::numeric_limits<double>::quiet_NaN();
-    } else {
-        float rolldeg = _oneDecimal(roll * (180.0 / M_PI));
-        if (fabs(roll - rolldeg) > 1.0) {
-            _roll = rolldeg;
-            if(_refreshTimer->isActive()) {
-                emit rollChanged();
-            }
-        }
-        if(_roll != rolldeg) {
-            _roll = rolldeg;
-            _addChange(ROLL_CHANGED);
-        }
-    }
-    if (isinf(pitch)) {
-        _pitch = std::numeric_limits<double>::quiet_NaN();
-    } else {
-        float pitchdeg = _oneDecimal(pitch * (180.0 / M_PI));
-        if (fabs(pitch - pitchdeg) > 1.0) {
-            _pitch = pitchdeg;
-            if(_refreshTimer->isActive()) {
-                emit pitchChanged();
-            }
-        }
-        if(_pitch != pitchdeg) {
-            _pitch = pitchdeg;
-            _addChange(PITCH_CHANGED);
-        }
-    }
-    if (isinf(yaw)) {
-        _heading = std::numeric_limits<double>::quiet_NaN();
-    } else {
-        yaw = _oneDecimal(yaw * (180.0 / M_PI));
-        if (yaw < 0) yaw += 360;
-        if (fabs(_heading - yaw) > 1.0) {
-            _heading = yaw;
-            if(_refreshTimer->isActive()) {
-                emit headingChanged();
-            }
-        }
-        if(_heading != yaw) {
-            _heading = yaw;
-            _addChange(HEADING_CHANGED);
-        }
-    }
-}
-
-void QGCFlightDisplay::_updateAttitude(UASInterface* uas, int, double roll, double pitch, double yaw, quint64 timestamp)
-{
-    _updateAttitude(uas, roll, pitch, yaw, timestamp);
-}
-
-void QGCFlightDisplay::_updateSpeed(UASInterface*, double groundSpeed, double airSpeed, quint64)
-{
-    groundSpeed = _oneDecimal(groundSpeed);
-    if (fabs(_groundSpeed - groundSpeed) > 0.5) {
-        _groundSpeed = groundSpeed;
-        if(_refreshTimer->isActive()) {
-            emit groundSpeedChanged();
-        }
-    }
-    airSpeed = _oneDecimal(airSpeed);
-    if (fabs(_airSpeed - airSpeed) > 1.0) {
-        _airSpeed = airSpeed;
-        if(_refreshTimer->isActive()) {
-            emit airSpeedChanged();
-        }
-    }
-    if(_groundSpeed != groundSpeed) {
-        _groundSpeed = groundSpeed;
-        _addChange(GROUNDSPEED_CHANGED);
-    }
-    if(_airSpeed != airSpeed) {
-        _airSpeed = airSpeed;
-        _addChange(AIRSPEED_CHANGED);
-    }
-}
-
-void QGCFlightDisplay::_updateAltitude(UASInterface*, double altitudeAMSL, double altitudeWGS84, double altitudeRelative, double climbRate, quint64) {
-    altitudeAMSL = _oneDecimal(altitudeAMSL);
-    if (fabs(_altitudeAMSL - altitudeAMSL) > 0.5) {
-        _altitudeAMSL = altitudeAMSL;
-        if(_refreshTimer->isActive()) {
-            emit altitudeAMSLChanged();
-        }
-    }
-    altitudeWGS84 = _oneDecimal(altitudeWGS84);
-    if (fabs(_altitudeWGS84 - altitudeWGS84) > 0.5) {
-        _altitudeWGS84 = altitudeWGS84;
-        if(_refreshTimer->isActive()) {
-            emit altitudeWGS84Changed();
-        }
-    }
-    altitudeRelative = _oneDecimal(altitudeRelative);
-    if (fabs(_altitudeRelative - altitudeRelative) > 0.5) {
-        _altitudeRelative = altitudeRelative;
-        if(_refreshTimer->isActive()) {
-            emit altitudeRelativeChanged();
-        }
-    }
-    climbRate = _oneDecimal(climbRate);
-    if (fabs(_climbRate - climbRate) > 0.5) {
-        _climbRate = climbRate;
-        if(_refreshTimer->isActive()) {
-            emit climbRateChanged();
-        }
-    }
-    if(_altitudeAMSL != altitudeAMSL) {
-        _altitudeAMSL = altitudeAMSL;
-        _addChange(ALTITUDEAMSL_CHANGED);
-    }
-    if(_altitudeWGS84 != altitudeWGS84) {
-        _altitudeWGS84 = altitudeWGS84;
-        _addChange(ALTITUDEWGS84_CHANGED);
-    }
-    if(_altitudeRelative != altitudeRelative) {
-        _altitudeRelative = altitudeRelative;
-        _addChange(ALTITUDERELATIVE_CHANGED);
-    }
-    if(_climbRate != climbRate) {
-        _climbRate = climbRate;
-        _addChange(CLIMBRATE_CHANGED);
-    }
-}
-
-void QGCFlightDisplay::_updateNavigationControllerErrors(UASInterface*, double altitudeError, double speedError, double xtrackError) {
-    _navigationAltitudeError   = altitudeError;
-    _navigationSpeedError      = speedError;
-    _navigationCrosstrackError = xtrackError;
-}
-
-void QGCFlightDisplay::_updateNavigationControllerData(UASInterface *uas, float, float, float, float targetBearing, float) {
-    if (_mav == uas) {
-        _navigationTargetBearing = targetBearing;
-    }
-}
-
-/*
- * Internal
- */
-
-bool QGCFlightDisplay::_isAirplane() {
-    if (_mav)
-        return _mav->isAirplane();
-    return false;
-}
-
-// TODO: Implement. Should return true when navigating.
-// That would be (PX4) in AUTO and RTL modes.
-// This could forward to a virtual on UAS bool isNavigatingAutonomusly() or whatever.
-bool QGCFlightDisplay::_shouldDisplayNavigationData() {
-    return true;
-}
-
-void QGCFlightDisplay::showEvent(QShowEvent* event)
-{
-    // Enable updates
-    QWidget::showEvent(event);
-    _refreshTimer->start(UPDATE_TIMER);
-}
-
-void QGCFlightDisplay::hideEvent(QHideEvent* event)
-{
-    // Disable updates
-    _refreshTimer->stop();
-    QWidget::hideEvent(event);
-}
-
-void QGCFlightDisplay::_addChange(int id)
-{
-    if(!_changes.contains(id)) {
-        _changes.append(id);
-    }
-}
-
-float QGCFlightDisplay::_oneDecimal(float value)
-{
-    int i = (value * 10);
-    return (float)i / 10.0;
-}
-
-void QGCFlightDisplay::_checkUpdate()
-{
-    // Update current location
-    if(_mav) {
-        if(_latitude != _mav->getLatitude()) {
-            _latitude = _mav->getLatitude();
-            emit latitudeChanged();
-        }
-        if(_longitude != _mav->getLongitude()) {
-            _longitude = _mav->getLongitude();
-            emit longitudeChanged();
-        }
-    }
-    // Check for changes
-    // Significant changes, that is, whole number changes, are updated immediatelly.
-    // For every message however, we set a flag for what changed and this timer updates
-    // them to bring everything up-to-date. This prevents an avalanche of UI updates.
-    foreach(int i, _changes) {
-        switch (i) {
-        case ROLL_CHANGED:
-            emit rollChanged();
-            break;
-        case PITCH_CHANGED:
-            emit pitchChanged();
-            break;
-        case HEADING_CHANGED:
-            emit headingChanged();
-            break;
-        case GROUNDSPEED_CHANGED:
-            emit groundSpeedChanged();
-            break;
-        case AIRSPEED_CHANGED:
-            emit airSpeedChanged();
-            break;
-        case CLIMBRATE_CHANGED:
-            emit climbRateChanged();
-            break;
-        case ALTITUDERELATIVE_CHANGED:
-            emit altitudeRelativeChanged();
-            break;
-        case ALTITUDEWGS84_CHANGED:
-            emit altitudeWGS84Changed();
-            break;
-        case ALTITUDEAMSL_CHANGED:
-            emit altitudeAMSLChanged();
-            break;
-        default:
-            break;
-        }
-    }
-    _changes.clear();
-}
-

src/ui/flightdisplay/QGCFlightDisplay.h

@@ -41,120 +41,15 @@ public:
     QGCFlightDisplay(QWidget* parent = NULL);
     ~QGCFlightDisplay();
 
-    enum {
-        ROLL_CHANGED,
-        PITCH_CHANGED,
-        HEADING_CHANGED,
-        GROUNDSPEED_CHANGED,
-        AIRSPEED_CHANGED,
-        CLIMBRATE_CHANGED,
-        ALTITUDERELATIVE_CHANGED,
-        ALTITUDEWGS84_CHANGED,
-        ALTITUDEAMSL_CHANGED
-    };
-
     /// @brief Invokes the Flight Display Options menu
     void showOptionsMenu() { emit showOptionsMenuChanged(); }
 
-    Q_PROPERTY(float roll               READ roll               NOTIFY rollChanged)
-    Q_PROPERTY(float pitch              READ pitch              NOTIFY pitchChanged)
-    Q_PROPERTY(float heading            READ heading            NOTIFY headingChanged)
-    Q_PROPERTY(float groundSpeed        READ groundSpeed        NOTIFY groundSpeedChanged)
-    Q_PROPERTY(float airSpeed           READ airSpeed           NOTIFY airSpeedChanged)
-    Q_PROPERTY(float climbRate          READ climbRate          NOTIFY climbRateChanged)
-    Q_PROPERTY(float altitudeRelative   READ altitudeRelative   NOTIFY altitudeRelativeChanged)
-    Q_PROPERTY(float altitudeWGS84      READ altitudeWGS84      NOTIFY altitudeWGS84Changed)
-    Q_PROPERTY(float altitudeAMSL       READ altitudeAMSL       NOTIFY altitudeAMSLChanged)
-    Q_PROPERTY(bool  repaintRequested   READ repaintRequested   NOTIFY repaintRequestedChanged)
-    Q_PROPERTY(float latitude           READ latitude           NOTIFY latitudeChanged)
-    Q_PROPERTY(float longitude          READ longitude          NOTIFY longitudeChanged)
-    Q_PROPERTY(bool  mavPresent         READ mavPresent         NOTIFY mavPresentChanged)
-
     Q_INVOKABLE void    saveSetting (const QString &key, const QString& value);
     Q_INVOKABLE QString loadSetting (const QString &key, const QString& defaultValue);
 
-    float   roll                () { return _roll; }
-    float   pitch               () { return _pitch; }
-    float   heading             () { return _heading; }
-    float   groundSpeed         () { return _groundSpeed; }
-    float   airSpeed            () { return _airSpeed; }
-    float   climbRate           () { return _climbRate; }
-    float   altitudeRelative    () { return _altitudeRelative; }
-    float   altitudeWGS84       () { return _altitudeWGS84; }
-    float   altitudeAMSL        () { return _altitudeAMSL; }
-    float   latitude            () { return _latitude; }
-    float   longitude           () { return _longitude; }
-    bool    repaintRequested    () { return true; }
-    bool    mavPresent          () { return _mav != NULL; }
-
-    /** @brief Start updating widget */
-    void showEvent(QShowEvent* event);
-    /** @brief Stop updating widget */
-    void hideEvent(QHideEvent* event);
-
 signals:
-    void rollChanged            ();
-    void pitchChanged           ();
-    void headingChanged         ();
-    void groundSpeedChanged     ();
-    void airSpeedChanged        ();
-    void climbRateChanged       ();
-    void altitudeRelativeChanged();
-    void altitudeWGS84Changed   ();
-    void altitudeAMSLChanged    ();
-    void repaintRequestedChanged();
-    void latitudeChanged        ();
-    void longitudeChanged       ();
-    void mavPresentChanged      ();
     void showOptionsMenuChanged ();
 
-private slots:
-    /** @brief Attitude from main autopilot / system state */
-    void _updateAttitude                    (UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp);
-    /** @brief Attitude from one specific component / redundant autopilot */
-    void _updateAttitude                    (UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp);
-    /** @brief Speed */
-    void _updateSpeed                       (UASInterface* uas, double _groundSpeed, double _airSpeed, quint64 timestamp);
-    /** @brief Altitude */
-    void _updateAltitude                    (UASInterface* uas, double _altitudeAMSL, double _altitudeWGS84, double _altitudeRelative, double _climbRate, quint64 timestamp);
-    void _updateNavigationControllerErrors  (UASInterface* uas, double altitudeError, double speedError, double xtrackError);
-    void _updateNavigationControllerData    (UASInterface *uas, float navRoll, float navPitch, float navBearing, float targetBearing, float targetDistance);
-    void _forgetUAS                         (UASInterface* uas);
-    void _setActiveUAS                      (UASInterface* uas);
-    void _checkUpdate                       ();
-
-private:
-    bool    _isAirplane                     ();
-    bool    _shouldDisplayNavigationData    ();
-    void    _addChange                      (int id);
-    float   _oneDecimal                     (float value);
-
-private:
-    UASInterface*   _mav;
-
-    float _roll;
-    float _pitch;
-    float _heading;
-
-    float _altitudeAMSL;
-    float _altitudeWGS84;
-    float _altitudeRelative;
-
-    float _groundSpeed;
-    float _airSpeed;
-    float _climbRate;
-
-    float _navigationAltitudeError;
-    float _navigationSpeedError;
-    float _navigationCrosstrackError;
-    float _navigationTargetBearing;
-
-    float _latitude;
-    float _longitude;
-
-    QTimer* _refreshTimer;
-    QList<int> _changes;
 };
 
-
 #endif // QGCFLIGHTDISPLAY_H

src/ui/mapdisplay/MapDisplay.qml

@@ -45,56 +45,6 @@ Rectangle {
     property real pitch:   isNaN(mapEngine.pitch)   ? 0 : mapEngine.pitch
     property bool showWaypointEditor: true
 
-    function getBool(value) {
-        return value === '0' ? false : true;
-    }
-
-    function setBool(value) {
-        return value ? "1" : "0";
-    }
-
-    Component.onCompleted:
-    {
-        mapTypeMenu.update();
-    }
-
-    Menu {
-        id: mapTypeMenu
-        title: "Map Type..."
-        ExclusiveGroup { id: currentMapType }
-        function setCurrentMap(map) {
-            for (var i = 0; i < mapBackground.mapItem.supportedMapTypes.length; i++) {
-                if (map === mapBackground.mapItem.supportedMapTypes[i].name) {
-                    mapBackground.mapItem.activeMapType = mapBackground.mapItem.supportedMapTypes[i]
-                    mapEngine.saveSetting("currentMapType", map);
-                    return;
-                }
-            }
-        }
-        function addMap(map, checked) {
-            var mItem = mapTypeMenu.addItem(map);
-            mItem.checkable = true
-            mItem.checked   = checked
-            mItem.exclusiveGroup = currentMapType
-            var menuSlot = function() {setCurrentMap(map);};
-            mItem.triggered.connect(menuSlot);
-        }
-        function update() {
-            clear()
-            var map = ''
-            if (mapBackground.mapItem.supportedMapTypes.length > 0)
-                map = mapBackground.mapItem.activeMapType.name;
-            map = mapEngine.loadSetting("currentMapType", map);
-            for (var i = 0; i < mapBackground.mapItem.supportedMapTypes.length; i++) {
-                var name = mapBackground.mapItem.supportedMapTypes[i].name;
-                addMap(name, map === name);
-            }
-            if(map != '')
-                setCurrentMap(map);
-        }
-
-    }
-
     SplitView {
         id:           splitView
         anchors.fill: parent
@@ -117,6 +67,9 @@ Rectangle {
             heading:                isNaN(mapEngine.heading) ? 0 : mapEngine.heading
             latitude:               37.803784   // mapEngine.latitude
             longitude:              -122.462276 // mapEngine.longitude
+            showWaypoints:          true
+            mapName:                'MainMapDisplay'
+
             // Chevron button at upper right corner of Map Display
             Item {
                 id:             openWaypoints
@@ -164,7 +117,7 @@ Rectangle {
         onClicked: {
             if (mouse.button == Qt.RightButton)
             {
-                mapTypeMenu.popup()
+                mapBackground.mapMenu.popup()
             }
         }
         z: splitView.z + 5

src/ui/qmlcommon/QGCMapBackground.qml

@@ -28,25 +28,73 @@ This file is part of the QGROUNDCONTROL project
  */
 
 import QtQuick 2.4
-import QtPositioning 5.3
+import QtQuick.Controls 1.3
 import QtLocation 5.3
+import QtPositioning 5.3
 
 import QGroundControl.Controls 1.0
 import QGroundControl.FlightControls 1.0
 import QGroundControl.ScreenTools 1.0
+import QGroundControl.MavManager 1.0
+
+Item {
+    id:     root
+    clip:   true
 
-Rectangle {
-    id: root
-    property real latitude:     37.803784
-    property real longitude :   -122.462276
-    property real zoomLevel:    18
-    property real heading:      0
-    property bool alwaysNorth:  true
-    property bool interactive:  true
-    property alias mapItem:     map
+    property real   latitude:           0
+    property real   longitude:          0
+    property real   zoomLevel:          18
+    property real   heading:            0
+    property bool   alwaysNorth:        true
+    property bool   interactive:        true
+    property bool   showWaypoints:      false
+    property string mapName:            'defaultMap'
+    property alias  mapItem:            map
+    property alias  waypoints:          polyLine
+    property alias  mapMenu:            mapTypeMenu
+
+    Component.onCompleted: {
+        map.zoomLevel   = 18
+        map.markers     = []
+        mapTypeMenu.update();
+    }
 
-    color: Qt.rgba(0,0,0,0)
-    clip: true
+    //-- Menu to select supported map types
+    Menu {
+        id: mapTypeMenu
+        title: "Map Type..."
+        ExclusiveGroup { id: currMapType }
+        function setCurrentMap(mapID) {
+            for (var i = 0; i < map.supportedMapTypes.length; i++) {
+                if (mapID === map.supportedMapTypes[i].name) {
+                    map.activeMapType = map.supportedMapTypes[i]
+                    MavManager.saveSetting(root.mapName + "/currentMapType", mapID);
+                    return;
+                }
+            }
+        }
+        function addMap(mapID, checked) {
+            var mItem = mapTypeMenu.addItem(mapID);
+            mItem.checkable = true
+            mItem.checked   = checked
+            mItem.exclusiveGroup = currMapType
+            var menuSlot = function() {setCurrentMap(mapID);};
+            mItem.triggered.connect(menuSlot);
+        }
+        function update() {
+            clear()
+            var mapID = ''
+            if (map.supportedMapTypes.length > 0)
+                mapID = map.activeMapType.name;
+            mapID = MavManager.loadSetting(root.mapName + "/currentMapType", mapID);
+            for (var i = 0; i < map.supportedMapTypes.length; i++) {
+                var name = map.supportedMapTypes[i].name;
+                addMap(name, mapID === name);
+            }
+            if(mapID != '')
+                setCurrentMap(mapID);
+        }
+    }
 
     function adjustSize() {
         if(root.visible) {
@@ -83,34 +131,65 @@ Rectangle {
         return dist
     }
 
+    function updateWaypoints() {
+        polyLine.path = []
+        // Are we initialized?
+        if (typeof map.markers != 'undefined' && typeof root.longitude != 'undefined') {
+            map.deleteMarkers()
+            if(root.showWaypoints) {
+                for(var i = 0; i < MavManager.waypoints.length; i++) {
+                    var coord = QtPositioning.coordinate(MavManager.waypoints[i].latitude, MavManager.waypoints[i].longitude, MavManager.waypoints[i].altitude);
+                    polyLine.addCoordinate(coord);
+                    map.addMarker(coord, MavManager.waypoints[i].id);
+                }
+                root.longitude = MavManager.waypoints[0].longitude
+                root.latitude  = MavManager.waypoints[0].latitude
+            }
+        }
+    }
+
     Plugin {
         id:   mapPlugin
         name: "QGroundControl"
     }
 
+    Connections {
+        target: MavManager
+        onWaypointsChanged: {
+            root.updateWaypoints();
+        }
+    }
+
+    onShowWaypointsChanged: {
+        root.updateWaypoints();
+    }
+
     Map {
         id: map
         property real lon: (longitude >= -180 && longitude <= 180) ? longitude : 0
         property real lat: (latitude  >=  -90 && latitude  <=  90) ? latitude  : 0
         property variant scaleLengths: [5, 10, 25, 50, 100, 150, 250, 500, 1000, 2000, 5000, 10000, 20000, 50000, 100000, 200000, 500000, 1000000, 2000000]
+        property variant markers
         plugin:     mapPlugin
         width:      1
         height:     1
         zoomLevel:  root.zoomLevel
         anchors.centerIn: parent
         center:     QtPositioning.coordinate(lat, lon)
+        gesture.flickDeceleration: 3000
+        gesture.enabled: root.interactive
+
         /*
         // There is a bug currently in Qt where it fails to render a map taller than 6 tiles high. Until
         // that's fixed, we can't rotate the map as it would require a larger map, which can easely grow
         // larger than 6 tiles high.
+        // https://bugreports.qt.io/browse/QTBUG-45508
         transform: Rotation {
             origin.x: map.width  / 2
             origin.y: map.height / 2
             angle: map.visible ? (alwaysNorth ? 0 : -heading) : 0
         }
         */
-        gesture.flickDeceleration: 3000
-        gesture.enabled: root.interactive
 
         onWidthChanged: {
             scaleTimer.restart()
@@ -124,8 +203,32 @@ Rectangle {
             scaleTimer.restart()
         }
 
-        Component.onCompleted: {
-            map.zoomLevel = 18
+        function addMarker(coord, wpid)
+        {
+            var marker = Qt.createQmlObject ('QGCWaypoint {}', map)
+            map.addMapItem(marker)
+            marker.z = map.z + 1
+            marker.coordinate = coord
+            marker.waypointID.text = wpid
+            // Update list of markers
+            var count = map.markers.length
+            var myArray = []
+            for (var i = 0; i < count; i++){
+                myArray.push(markers[i])
+            }
+            myArray.push(marker)
+            markers = myArray
+        }
+
+        function deleteMarkers()
+        {
+            if (typeof map.markers != 'undefined') {
+                var count = map.markers.length
+                for (var i = 0; i < count; i++) {
+                    map.markers[i].destroy()
+                }
+            }
+            map.markers = []
         }
 
         function calculateScale() {
@@ -153,6 +256,15 @@ Rectangle {
             scaleImage.width = (scaleImage.sourceSize.width * f) - 2 * scaleImageLeft.sourceSize.width
             scaleText.text = text
         }
+
+        MapPolyline {
+            id:             polyLine
+            visible:        path.length > 1 && root.showWaypoints
+            line.width:     3
+            line.color:     "#e35cd8"
+            smooth:         true
+            antialiasing:   true
+        }
     }
 
     QGCSlider {
@@ -161,7 +273,7 @@ Rectangle {
         maximum: map.maximumZoomLevel;
         opacity: 1
         visible: parent.visible
-        z: map.z + 20
+        z: 1000
         anchors {
             bottom: parent.bottom;
             bottomMargin:   ScreenTools.pixelSizeFactor * (15)

src/ui/qmlcommon/QGCWaypoint.qml

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief QGC Waypoint Marker
+ *   @author Gus Grubba <mavlink@grubba.com>
+ */
+
+import QtQuick 2.4
+import QtLocation 5.3
+
+MapQuickItem {
+    id: marker
+    property alias waypointID: number
+    anchorPoint.x: image.width  / 2
+    anchorPoint.y: image.height / 2
+    sourceItem: Rectangle {
+        id: image
+        width:  24
+        height: 24
+        border.color: Qt.rgba(0,0,0,0.75)
+        color: Qt.rgba(0,0,0,0.5)
+        Text {
+            id: number
+            anchors.centerIn: parent
+            font.pointSize: 10
+            color: "white"
+        }
+    }
+}

src/ui/qmlcommon/qmldir

@@ -14,3 +14,4 @@ QGCMapToolButton      1.0 QGCMapToolButton.qml
 QGCAttitudeInstrument 1.0 QGCAttitudeInstrument.qml
 QGCCompassInstrument  1.0 QGCCompassInstrument.qml
 QGCArtificialHorizon  1.0 QGCArtificialHorizon.qml
+QGCWaypoint           1.0 QGCWaypoint.qml

src/ui/toolbar/MainToolBar.cc

@@ -41,21 +41,13 @@ MainToolBar::MainToolBar(QWidget* parent)
     , _mav(NULL)
     , _toolBar(NULL)
     , _currentView(ViewNone)
-    , _batteryVoltage(0.0)
-    , _batteryPercent(0.0)
     , _connectionCount(0)
-    , _systemArmed(false)
-    , _currentHeartbeatTimeout(0)
-    , _waypointDistance(0.0)
-    , _currentWaypoint(0)
     , _currentMessageCount(0)
     , _messageCount(0)
     , _currentErrorCount(0)
     , _currentWarningCount(0)
     , _currentNormalCount(0)
     , _currentMessageType(MessageNone)
-    , _satelliteCount(-1)
-    , _satelliteLock(0)
     , _showGPS(true)
     , _showMav(true)
     , _showMessages(true)
@@ -88,13 +80,10 @@ MainToolBar::MainToolBar(QWidget* parent)
     setContextPropertyObject("mainToolBar", this);
     setSource(QUrl::fromUserInput("qrc:/qml/MainToolBar.qml"));
     setVisible(true);
-    // Configure the toolbar for the current default UAS (which should be none as we just booted)
-    _setActiveUAS(UASManager::instance()->getActiveUAS());
     emit configListChanged();
-    emit heartbeatTimeoutChanged(_currentHeartbeatTimeout);
     emit connectionCountChanged(_connectionCount);
+    _setActiveUAS(UASManager::instance()->getActiveUAS());
     // Link signals
-    connect(UASManager::instance(),      &UASManager::activeUASSet,              this, &MainToolBar::_setActiveUAS);
     connect(LinkManager::instance(),     &LinkManager::linkConfigurationChanged, this, &MainToolBar::_updateConfigurations);
     connect(LinkManager::instance(),     &LinkManager::linkConnected,            this, &MainToolBar::_linkConnected);
     connect(LinkManager::instance(),     &LinkManager::linkDisconnected,         this, &MainToolBar::_linkDisconnected);
@@ -103,6 +92,8 @@ MainToolBar::MainToolBar(QWidget* parent)
     connect(MAVLinkProtocol::instance(),
         SIGNAL(radioStatusChanged(LinkInterface*, unsigned, unsigned, unsigned, unsigned, unsigned, unsigned, unsigned)), this,
         SLOT(_telemetryChanged(LinkInterface*, unsigned, unsigned, unsigned, unsigned, unsigned, unsigned, unsigned)));
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(_setActiveUAS(UASInterface*)));
+    connect(UASManager::instance(), SIGNAL(UASDeleted(UASInterface*)),   this, SLOT(_forgetUAS(UASInterface*)));
 }
 
 MainToolBar::~MainToolBar()
@@ -254,15 +245,6 @@ void MainToolBar::onEnterMessageArea(int x, int y)
     }
 }
 
-QString MainToolBar::getMavIconColor()
-{
-    // TODO: Not using because not only the colors are ghastly, it doesn't respect dark/light palette
-    if(_mav)
-        return _mav->getColor().name();
-    else
-        return QString("black");
-}
-
 void MainToolBar::_leaveMessageView()
 {
     // Mouse has left the message window area (and it has closed itself)
@@ -295,74 +277,53 @@ void MainToolBar::setCurrentView(int currentView)
     }
 }
 
+void MainToolBar::_forgetUAS(UASInterface* uas)
+{
+    if (_mav != NULL && _mav == uas) {
+        disconnect(UASMessageHandler::instance(), &UASMessageHandler::textMessageCountChanged,  this, &MainToolBar::_handleTextMessage);
+        disconnect(_mav, &UASInterface::remoteControlRSSIChanged, this, &MainToolBar::_remoteControlRSSIChanged);
+        disconnect(AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_mav), &AutoPilotPlugin::parameterListProgress, this, &MainToolBar::_setProgressBarValue);
+        _mav = NULL;
+    }
+}
 void MainToolBar::_setActiveUAS(UASInterface* active)
 {
     // Do nothing if system is the same
     if (_mav == active) {
         return;
     }
-    // If switching the UAS, disconnect the existing one.
-    if (_mav)
-    {
-        disconnect(UASMessageHandler::instance(), &UASMessageHandler::textMessageCountChanged,  this, &MainToolBar::_handleTextMessage);
-        disconnect(_mav, &UASInterface::heartbeatTimeout,                                       this, &MainToolBar::_heartbeatTimeout);
-        disconnect(_mav, &UASInterface::batteryChanged,                                         this, &MainToolBar::_updateBatteryRemaining);
-        disconnect(_mav, &UASInterface::modeChanged,                                            this, &MainToolBar::_updateMode);
-        disconnect(_mav, &UASInterface::nameChanged,                                            this, &MainToolBar::_updateName);
-        disconnect(_mav, &UASInterface::systemTypeSet,                                          this, &MainToolBar::_setSystemType);
-        disconnect(_mav, &UASInterface::localizationChanged,                                    this, &MainToolBar::_setSatLoc);
-        disconnect(_mav, &UASInterface::remoteControlRSSIChanged,                               this, &MainToolBar::_remoteControlRSSIChanged);
-        disconnect(_mav, SIGNAL(statusChanged(UASInterface*,QString,QString)),                  this, SLOT(_updateState(UASInterface*,QString,QString)));
-        disconnect(_mav, SIGNAL(armingChanged(bool)),                                           this, SLOT(_updateArmingState(bool)));
-
-        if (_mav->getWaypointManager()) {
-            disconnect(_mav->getWaypointManager(), &UASWaypointManager::currentWaypointChanged,  this, &MainToolBar::_updateCurrentWaypoint);
-            disconnect(_mav->getWaypointManager(), &UASWaypointManager::waypointDistanceChanged, this, &MainToolBar::_updateWaypointDistance);
-        }
-        
-        UAS* pUas = dynamic_cast<UAS*>(_mav);
-        if(pUas) {
-            disconnect(pUas, &UAS::satelliteCountChanged, this, &MainToolBar::_setSatelliteCount);
-        }
-        
-        disconnect(AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_mav), &AutoPilotPlugin::parameterListProgress, this, &MainToolBar::_setProgressBarValue);
+    // Disconnect the previous one (if any)
+    if(_mav) {
+        _forgetUAS(_mav);
     }
     // Connect new system
     _mav = active;
     if (_mav)
     {
-        _setSystemType(_mav, _mav->getSystemType());
-        _updateArmingState(_mav->isArmed());
         connect(UASMessageHandler::instance(), &UASMessageHandler::textMessageCountChanged, this, &MainToolBar::_handleTextMessage);
-        connect(_mav, &UASInterface::heartbeatTimeout,                                      this, &MainToolBar::_heartbeatTimeout);
-        connect(_mav, &UASInterface::batteryChanged,                                        this, &MainToolBar::_updateBatteryRemaining);
-        connect(_mav, &UASInterface::modeChanged,                                           this, &MainToolBar::_updateMode);
-        connect(_mav, &UASInterface::nameChanged,                                           this, &MainToolBar::_updateName);
-        connect(_mav, &UASInterface::systemTypeSet,                                         this, &MainToolBar::_setSystemType);
-        connect(_mav, &UASInterface::localizationChanged,                                   this, &MainToolBar::_setSatLoc);
-        connect(_mav, &UASInterface::remoteControlRSSIChanged,                              this, &MainToolBar::_remoteControlRSSIChanged);
-        connect(_mav, SIGNAL(statusChanged(UASInterface*,QString,QString)),                 this, SLOT(_updateState(UASInterface*, QString,QString)));
-        connect(_mav, SIGNAL(armingChanged(bool)),                                          this, SLOT(_updateArmingState(bool)));
-        
-        if (_mav->getWaypointManager()) {
-            connect(_mav->getWaypointManager(), &UASWaypointManager::currentWaypointChanged,  this, &MainToolBar::_updateCurrentWaypoint);
-            connect(_mav->getWaypointManager(), &UASWaypointManager::waypointDistanceChanged, this, &MainToolBar::_updateWaypointDistance);
-        }
-        
-        UAS* pUas = dynamic_cast<UAS*>(_mav);
-        if(pUas) {
-            _setSatelliteCount(pUas->getSatelliteCount(), QString(""));
-            connect(pUas, &UAS::satelliteCountChanged, this, &MainToolBar::_setSatelliteCount);
-        }
-        
+        connect(_mav, &UASInterface::remoteControlRSSIChanged, this, &MainToolBar::_remoteControlRSSIChanged);
         connect(AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_mav), &AutoPilotPlugin::parameterListProgress, this, &MainToolBar::_setProgressBarValue);
-        
-        // Reset connection lost (if any)
-        _currentHeartbeatTimeout = 0;
-        emit heartbeatTimeoutChanged(_currentHeartbeatTimeout);
     }
-    // Let toolbar know about it
-    emit mavPresentChanged(_mav != NULL);
+}
+
+void MainToolBar::_updateConfigurations()
+{
+    QStringList tmpList;
+    QList<LinkConfiguration*> configs = LinkManager::instance()->getLinkConfigurationList();
+    foreach(LinkConfiguration* conf, configs) {
+        if(conf) {
+            if(conf->isPreferred()) {
+                tmpList.insert(0,conf->name());
+            } else {
+                tmpList << conf->name();
+            }
+        }
+    }
+    // Any changes?
+    if(tmpList != _linkConfigurations) {
+        _linkConfigurations = tmpList;
+        emit configListChanged();
+    }
 }
 
 void MainToolBar::_telemetryChanged(LinkInterface*, unsigned, unsigned, unsigned rssi, unsigned remrssi, unsigned, unsigned, unsigned)
@@ -393,53 +354,6 @@ void MainToolBar::_remoteControlRSSIChanged(uint8_t rssi)
     }
 }
 
-void MainToolBar::_updateArmingState(bool armed)
-{
-    if(_systemArmed != armed) {
-        _systemArmed = armed;
-        emit systemArmedChanged(armed);
-    }
-}
-
-void MainToolBar::_updateBatteryRemaining(UASInterface*, double voltage, double, double percent, int)
-{
-
-    if(percent < 0.0) {
-        percent = 0.0;
-    }
-    if(voltage < 0.0) {
-        voltage = 0.0;
-    }
-    if (_batteryVoltage != voltage) {
-        _batteryVoltage = voltage;
-        emit batteryVoltageChanged(voltage);
-    }
-    if (_batteryPercent != percent) {
-        _batteryPercent = percent;
-        emit batteryPercentChanged(voltage);
-    }
-}
-
-void MainToolBar::_updateConfigurations()
-{
-    QStringList tmpList;
-    QList<LinkConfiguration*> configs = LinkManager::instance()->getLinkConfigurationList();
-    foreach(LinkConfiguration* conf, configs) {
-        if(conf) {
-            if(conf->isPreferred()) {
-                tmpList.insert(0,conf->name());
-            } else {
-                tmpList << conf->name();
-            }
-        }
-    }
-    // Any changes?
-    if(tmpList != _linkConfigurations) {
-        _linkConfigurations = tmpList;
-        emit configListChanged();
-    }
-}
-
 void MainToolBar::_linkConnected(LinkInterface*)
 {
     _updateConnection();
@@ -487,120 +401,6 @@ void MainToolBar::_updateConnection(LinkInterface *disconnectedLink)
     }
 }
 
-void MainToolBar::_updateState(UASInterface*, QString name, QString)
-{
-    if (_currentState != name) {
-        _currentState = name;
-        emit currentStateChanged(_currentState);
-    }
-}
-
-void MainToolBar::_updateMode(int, QString name, QString)
-{
-    if (name.size()) {
-        QString shortMode = name;
-        shortMode = shortMode.replace("D|", "");
-        shortMode = shortMode.replace("A|", "");
-        if (_currentMode != shortMode) {
-            _currentMode = shortMode;
-            emit currentModeChanged();
-        }
-    }
-}
-
-void MainToolBar::_updateName(const QString& name)
-{
-    if (_systemName != name) {
-        _systemName = name;
-        // TODO: emit signal and use it
-    }
-}
-
-/**
- * The current system type is represented through the system icon.
- *
- * @param uas Source system, has to be the same as this->uas
- * @param systemType type ID, following the MAVLink system type conventions
- * @see http://pixhawk.ethz.ch/software/mavlink
- */
-void MainToolBar::_setSystemType(UASInterface*, unsigned int systemType)
-{
-    _systemPixmap = "qrc:/res/mavs/";
-    switch (systemType) {
-        case MAV_TYPE_GENERIC:
-            _systemPixmap += "Generic";
-            break;
-        case MAV_TYPE_FIXED_WING:
-            _systemPixmap += "FixedWing";
-            break;
-        case MAV_TYPE_QUADROTOR:
-            _systemPixmap += "QuadRotor";
-            break;
-        case MAV_TYPE_COAXIAL:
-            _systemPixmap += "Coaxial";
-            break;
-        case MAV_TYPE_HELICOPTER:
-            _systemPixmap += "Helicopter";
-            break;
-        case MAV_TYPE_ANTENNA_TRACKER:
-            _systemPixmap += "AntennaTracker";
-            break;
-        case MAV_TYPE_GCS:
-            _systemPixmap += "Groundstation";
-            break;
-        case MAV_TYPE_AIRSHIP:
-            _systemPixmap += "Airship";
-            break;
-        case MAV_TYPE_FREE_BALLOON:
-            _systemPixmap += "FreeBalloon";
-            break;
-        case MAV_TYPE_ROCKET:
-            _systemPixmap += "Rocket";
-            break;
-        case MAV_TYPE_GROUND_ROVER:
-            _systemPixmap += "GroundRover";
-            break;
-        case MAV_TYPE_SURFACE_BOAT:
-            _systemPixmap += "SurfaceBoat";
-            break;
-        case MAV_TYPE_SUBMARINE:
-            _systemPixmap += "Submarine";
-            break;
-        case MAV_TYPE_HEXAROTOR:
-            _systemPixmap += "HexaRotor";
-            break;
-        case MAV_TYPE_OCTOROTOR:
-            _systemPixmap += "OctoRotor";
-            break;
-        case MAV_TYPE_TRICOPTER:
-            _systemPixmap += "TriCopter";
-            break;
-        case MAV_TYPE_FLAPPING_WING:
-            _systemPixmap += "FlappingWing";
-            break;
-        case MAV_TYPE_KITE:
-            _systemPixmap += "Kite";
-            break;
-        default:
-            _systemPixmap += "Unknown";
-            break;
-    }
-    emit systemPixmapChanged(_systemPixmap);
-}
-
-void MainToolBar::_heartbeatTimeout(bool timeout, unsigned int ms)
-{
-    unsigned int elapsed = ms;
-    if (!timeout)
-    {
-        elapsed = 0;
-    }
-    if(elapsed != _currentHeartbeatTimeout) {
-        _currentHeartbeatTimeout = elapsed;
-        emit heartbeatTimeoutChanged(_currentHeartbeatTimeout);
-    }
-}
-
 void MainToolBar::_handleTextMessage(int newCount)
 {
     // Reset?
@@ -662,42 +462,6 @@ void MainToolBar::_handleTextMessage(int newCount)
     }
 }
 
-void MainToolBar::_updateWaypointDistance(double distance)
-{
-    if (_waypointDistance != distance) {
-        _waypointDistance = distance;
-        // TODO: emit signal and use it
-    }
-}
-
-void MainToolBar::_updateCurrentWaypoint(quint16 id)
-{
-    if (_currentWaypoint != id) {
-        _currentWaypoint = id;
-        // TODO: emit signal and use it
-    }
-}
-
-void MainToolBar::_setSatelliteCount(double val, QString)
-{
-    // I'm assuming that a negative value or over 99 means there is no GPS
-    if(val < 0.0)  val = -1.0;
-    if(val > 99.0) val = -1.0;
-    if(_satelliteCount != (int)val) {
-        _satelliteCount = (int)val;
-        emit satelliteCountChanged(_satelliteCount);
-    }
-}
-
-void MainToolBar::_setSatLoc(UASInterface*, int fix)
-{
-    // fix 0: lost, 1: at least one satellite, but no GPS fix, 2: 2D lock, 3: 3D lock
-    if(_satelliteLock != fix) {
-        _satelliteLock = fix;
-        emit satelliteLockChanged(_satelliteLock);
-    }
-}
-
 void MainToolBar::_setProgressBarValue(float value)
 {
     _progressBarValue = value;

src/ui/toolbar/MainToolBar.h

@@ -37,7 +37,7 @@ This file is part of the QGROUNDCONTROL project
 #define TOOL_BAR_SHOW_GPS       "ShowGPS"
 #define TOOL_BAR_SHOW_MAV       "ShowMav"
 #define TOOL_BAR_SHOW_MESSAGES  "ShowMessages"
-#define TOOL_BAR_SHOW_RSSI       "ShowRSSI"
+#define TOOL_BAR_SHOW_RSSI      "ShowRSSI"
 
 class UASInterface;
 class UASMessage;
@@ -52,6 +52,13 @@ public:
     MainToolBar(QWidget* parent = NULL);
     ~MainToolBar();
 
+    typedef enum {
+        MessageNone,
+        MessageNormal,
+        MessageWarning,
+        MessageError
+    } MessageType_t;
+
     typedef enum {
         ViewNone    = -1,
         ViewAnalyze, // MainWindow::VIEW_ENGINEER
@@ -60,13 +67,6 @@ public:
         ViewSetup  , // MainWindow::VIEW_SETUP
     } ViewType_t;
 
-    typedef enum {
-        MessageNone,
-        MessageNormal,
-        MessageWarning,
-        MessageError
-    } MessageType_t;
-
     Q_INVOKABLE void    onSetupView();
     Q_INVOKABLE void    onPlanView();
     Q_INVOKABLE void    onFlyView();
@@ -75,25 +75,14 @@ public:
     Q_INVOKABLE void    onConnect(QString conf);
     Q_INVOKABLE void    onDisconnect(QString conf);
     Q_INVOKABLE void    onEnterMessageArea(int x, int y);
-    Q_INVOKABLE QString getMavIconColor();
 
-    Q_PROPERTY(int           connectionCount    MEMBER _connectionCount         NOTIFY connectionCountChanged)
-    Q_PROPERTY(double        batteryVoltage     MEMBER _batteryVoltage          NOTIFY batteryVoltageChanged)
-    Q_PROPERTY(double        batteryPercent     MEMBER _batteryPercent          NOTIFY batteryPercentChanged)
     Q_PROPERTY(ViewType_t    currentView        MEMBER _currentView             NOTIFY currentViewChanged)
     Q_PROPERTY(QStringList   configList         MEMBER _linkConfigurations      NOTIFY configListChanged)
-    Q_PROPERTY(bool          systemArmed        MEMBER _systemArmed             NOTIFY systemArmedChanged)
-    Q_PROPERTY(unsigned int  heartbeatTimeout   MEMBER _currentHeartbeatTimeout NOTIFY heartbeatTimeoutChanged)
-    Q_PROPERTY(QString       currentMode        MEMBER _currentMode             NOTIFY currentModeChanged)
     Q_PROPERTY(MessageType_t messageType        MEMBER _currentMessageType      NOTIFY messageTypeChanged)
     Q_PROPERTY(int           newMessageCount    MEMBER _currentMessageCount     NOTIFY newMessageCountChanged)
     Q_PROPERTY(int           messageCount       MEMBER _messageCount            NOTIFY messageCountChanged)
-    Q_PROPERTY(QString       systemPixmap       MEMBER _systemPixmap            NOTIFY systemPixmapChanged)
-    Q_PROPERTY(int           satelliteCount     READ   satelliteCount           NOTIFY satelliteCountChanged)
+    Q_PROPERTY(int           connectionCount    READ connectionCount            NOTIFY connectionCountChanged)
     Q_PROPERTY(QStringList   connectedList      MEMBER _connectedList           NOTIFY connectedListChanged)
-    Q_PROPERTY(bool          mavPresent         READ mavPresent                 NOTIFY mavPresentChanged)
-    Q_PROPERTY(QString       currentState       MEMBER _currentState            NOTIFY currentStateChanged)
-    Q_PROPERTY(int           satelliteLock      MEMBER _satelliteLock           NOTIFY satelliteLockChanged)
     Q_PROPERTY(bool          showGPS            MEMBER _showGPS                 NOTIFY showGPSChanged)
     Q_PROPERTY(bool          showMav            MEMBER _showMav                 NOTIFY showMavChanged)
     Q_PROPERTY(bool          showMessages       MEMBER _showMessages            NOTIFY showMessagesChanged)
@@ -103,48 +92,22 @@ public:
     Q_PROPERTY(int           remoteRSSI         READ remoteRSSI                 NOTIFY remoteRSSIChanged)
     Q_PROPERTY(int           telemetryRRSSI     READ telemetryRRSSI             NOTIFY telemetryRRSSIChanged)
     Q_PROPERTY(int           telemetryLRSSI     READ telemetryLRSSI             NOTIFY telemetryLRSSIChanged)
-    Q_PROPERTY(bool          isAndroid          READ isAndroid                  CONSTANT)
-    Q_PROPERTY(bool          isiOS              READ isiOS                      CONSTANT)
-    Q_PROPERTY(bool          isMobile           READ isMobile                   CONSTANT)
 
-    bool        mavPresent              () { return _mav != NULL; }
-    int         satelliteCount          () { return _satelliteCount; }
+    void        setCurrentView          (int currentView);
+    void        viewStateChanged        (const QString& key, bool value);
     int         remoteRSSI              () { return _remoteRSSI; }
     int         telemetryRRSSI          () { return _telemetryRRSSI; }
     int         telemetryLRSSI          () { return _telemetryLRSSI; }
-
-#if defined (__android__)
-    bool        isAndroid               () { return true;  }
-    bool        isiOS                   () { return false; }
-    bool        isMobile                () { return true;  }
-#else
-    bool        isAndroid               () { return false; }
-    bool        isiOS                   () { return false; }
-    bool        isMobile                () { return false; }
-#endif
-
-    void        setCurrentView          (int currentView);
-    void        viewStateChanged        (const QString& key, bool value);
+    int         connectionCount         () { return _connectionCount; }
 
 signals:
     void connectionCountChanged         (int count);
-    void batteryVoltageChanged          (double value);
-    void batteryPercentChanged          (double value);
     void currentViewChanged             ();
     void configListChanged              ();
-    void systemArmedChanged             (bool systemArmed);
-    void heartbeatTimeoutChanged        (unsigned int hbTimeout);
-    void currentModeChanged             ();
     void messageTypeChanged             (MessageType_t type);
     void newMessageCountChanged         (int count);
     void messageCountChanged            (int count);
-    void currentConfigChanged           (QString config);
-    void systemPixmapChanged            (QPixmap pix);
-    void satelliteCountChanged          (int count);
     void connectedListChanged           (QStringList connectedList);
-    void mavPresentChanged              (bool present);
-    void currentStateChanged            (QString state);
-    void satelliteLockChanged           (int lock);
     void showGPSChanged                 (bool value);
     void showMavChanged                 (bool value);
     void showMessagesChanged            (bool value);
@@ -156,27 +119,17 @@ signals:
     void telemetryLRSSIChanged          (int value);
 
 private slots:
-    void _setActiveUAS                  (UASInterface* active);
-    void _updateBatteryRemaining        (UASInterface*, double voltage, double, double percent, int);
-    void _updateArmingState             (bool armed);
+    void _forgetUAS                     (UASInterface* uas);
+    void _setActiveUAS                  (UASInterface* uas);
     void _updateConfigurations          ();
     void _linkConnected                 (LinkInterface* link);
     void _linkDisconnected              (LinkInterface* link);
-    void _updateState                   (UASInterface* system, QString name, QString description);
-    void _updateMode                    (int system, QString name, QString description);
-    void _updateName                    (const QString& name);
-    void _setSystemType                 (UASInterface* uas, unsigned int systemType);
-    void _heartbeatTimeout              (bool timeout, unsigned int ms);
     void _handleTextMessage             (int newCount);
-    void _updateCurrentWaypoint         (quint16 id);
-    void _updateWaypointDistance        (double distance);
-    void _setSatelliteCount             (double val, QString name);
     void _leaveMessageView              ();
-    void _setSatLoc                     (UASInterface* uas, int fix);
     void _setProgressBarValue           (float value);
+    void _updatePixelSize               ();
     void _remoteControlRSSIChanged      (uint8_t rssi);
     void _telemetryChanged              (LinkInterface* link, unsigned rxerrors, unsigned fixed, unsigned rssi, unsigned remrssi, unsigned txbuf, unsigned noise, unsigned remnoise);
-    void _updatePixelSize               ();
 
 private:
     void _updateConnection              (LinkInterface *disconnectedLink = NULL);
@@ -186,27 +139,15 @@ private:
     UASInterface*   _mav;
     QQuickItem*     _toolBar;
     ViewType_t      _currentView;
-    double          _batteryVoltage;
-    double          _batteryPercent;
     QStringList     _linkConfigurations;
     int             _connectionCount;
-    bool            _systemArmed;
-    QString         _currentState;
-    QString         _currentMode;
-    QString         _systemName;
-    QString         _systemPixmap;
-    unsigned int    _currentHeartbeatTimeout;
-    double          _waypointDistance;
-    quint16         _currentWaypoint;
     int             _currentMessageCount;
     int             _messageCount;
     int             _currentErrorCount;
     int             _currentWarningCount;
     int             _currentNormalCount;
     MessageType_t   _currentMessageType;
-    int             _satelliteCount;
     QStringList     _connectedList;
-    int             _satelliteLock;
     bool            _showGPS;
     bool            _showMav;
     bool            _showMessages;

src/ui/toolbar/MainToolBar.qml

@@ -35,6 +35,7 @@ import QGroundControl.Controls 1.0
 import QGroundControl.FactControls 1.0
 import QGroundControl.Palette 1.0
 import QGroundControl.MainToolBar 1.0
+import QGroundControl.MavManager 1.0
 import QGroundControl.ScreenTools 1.0
 
 Rectangle {
@@ -42,7 +43,7 @@ Rectangle {
 
     property var qgcPal: QGCPalette { id: palette; colorGroupEnabled: true }
 
-    property int cellSpacerSize: mainToolBar.isMobile ? getProportionalDimmension(6) : getProportionalDimmension(4)
+    property int cellSpacerSize: ScreenTools.isMobile ? getProportionalDimmension(6) : getProportionalDimmension(4)
     property int cellHeight:     getProportionalDimmension(30)
 
     property var colorBlue:       "#1a6eaa"
@@ -83,24 +84,24 @@ Rectangle {
     }
 
     function getBatteryIcon() {
-        if(mainToolBar.batteryPercent < 20.0)
+        if(MavManager.batteryPercent < 20.0)
             return "qrc:/res/Battery_0";
-        else if(mainToolBar.batteryPercent < 40.0)
+        else if(MavManager.batteryPercent < 40.0)
             return "qrc:/res/Battery_20";
-        else if(mainToolBar.batteryPercent < 60.0)
+        else if(MavManager.batteryPercent < 60.0)
             return "qrc:/res/Battery_40";
-        else if(mainToolBar.batteryPercent < 80.0)
+        else if(MavManager.batteryPercent < 80.0)
             return "qrc:/res/Battery_60";
-        else if(mainToolBar.batteryPercent < 90.0)
+        else if(MavManager.batteryPercent < 90.0)
             return "qrc:/res/Battery_80";
         else
             return "qrc:/res/Battery_100";
     }
 
     function getBatteryColor() {
-        if (mainToolBar.batteryPercent > 40.0)
+        if (MavManager.batteryPercent > 40.0)
             return colorGreen;
-        if(mainToolBar.batteryPercent > 0.01)
+        if(MavManager.batteryPercent > 0.01)
             return colorRed;
         // This means there is no battery level data
         return colorBlue;
@@ -108,13 +109,13 @@ Rectangle {
 
     function getSatelliteColor() {
         // No GPS data
-        if (mainToolBar.satelliteCount < 0)
+        if (MavManager.satelliteCount < 0)
             return qgcPal.button
         // No Lock
-        if(mainToolBar.satelliteLock < 2)
+        if(MavManager.satelliteLock < 2)
             return colorRed;
         // 2D Lock
-        if(mainToolBar.satelliteLock === 2)
+        if(MavManager.satelliteLock === 2)
             return colorBlue;
         // Lock is 3D or more
         return colorGreen;
@@ -129,7 +130,7 @@ Rectangle {
     }
 
     function showMavStatus() {
-         return (mainToolBar.mavPresent && mainToolBar.heartbeatTimeout === 0 && mainToolBar.connectionCount > 0);
+         return (MavManager.mavPresent && MavManager.heartbeatTimeout === 0 && mainToolBar.connectionCount > 0);
     }
 
     //-------------------------------------------------------------------------
@@ -193,7 +194,7 @@ Rectangle {
             height:                 cellHeight
             spacing:                -getProportionalDimmension(12)
             anchors.verticalCenter: parent.verticalCenter
-            visible:                !mainToolBar.isMobile
+            visible:                !ScreenTools.isMobile
             Connections {
                 target: ScreenTools
                 onRepaintRequestedChanged: {
@@ -275,7 +276,7 @@ Rectangle {
             //-- "Hamburger" menu for Mobile Devices
             Item {
                 id:         actionButton
-                visible:    mainToolBar.isMobile
+                visible:    ScreenTools.isMobile
                 height:     cellHeight
                 width:      cellHeight
                 Image {
@@ -391,7 +392,7 @@ Rectangle {
                 border.color: "#00000000"
                 border.width: 0
                 Image {
-                    source: mainToolBar.systemPixmap
+                    source: MavManager.systemPixmap
                     height: cellHeight * 0.75
                     fillMode: Image.PreserveAspectFit
                     anchors.verticalCenter: parent.verticalCenter
@@ -422,8 +423,8 @@ Rectangle {
 
                 QGCLabel {
                     id: satelitteText
-                    text: mainToolBar.satelliteCount >= 0 ? mainToolBar.satelliteCount : 'NA'
-                    font.pointSize: mainToolBar.satelliteCount >= 0 ? ScreenTools.fontPointFactor * (14) : ScreenTools.fontPointFactor * (10)
+                    text: MavManager.satelliteCount >= 0 ? MavManager.satelliteCount : 'NA'
+                    font.pointSize: MavManager.satelliteCount >= 0 ? ScreenTools.fontPointFactor * (14) : ScreenTools.fontPointFactor * (10)
                     font.weight: Font.DemiBold
                     anchors.verticalCenter: parent.verticalCenter
                     anchors.right: parent.right
@@ -547,7 +548,7 @@ Rectangle {
 
                 QGCLabel {
                     id: batteryText
-                    text: mainToolBar.batteryVoltage.toFixed(1) + 'V';
+                    text: MavManager.batteryVoltage.toFixed(1) + 'V';
                     font.pointSize: ScreenTools.fontPointFactor * (11);
                     font.weight: Font.DemiBold
                     anchors.verticalCenter: parent.verticalCenter
@@ -575,11 +576,11 @@ Rectangle {
 
                     QGCLabel {
                         id: armedStatusText
-                        text: (mainToolBar.systemArmed) ? qsTr("ARMED") :  qsTr("DISARMED")
+                        text: (MavManager.systemArmed) ? qsTr("ARMED") :  qsTr("DISARMED")
                         font.pointSize: ScreenTools.fontPointFactor * (12);
                         font.weight: Font.DemiBold
                         anchors.centerIn: parent
-                        color: (mainToolBar.systemArmed) ? colorOrangeText : colorGreenText
+                        color: (MavManager.systemArmed) ? colorOrangeText : colorGreenText
                     }
                 }
 
@@ -594,11 +595,11 @@ Rectangle {
 
                     QGCLabel {
                         id: stateStatusText
-                        text: mainToolBar.currentState
+                        text: MavManager.currentState
                         font.pointSize: ScreenTools.fontPointFactor * (12);
                         font.weight: Font.DemiBold
                         anchors.centerIn: parent
-                        color: (mainToolBar.currentState === "STANDBY") ? colorGreenText : colorRedText
+                        color: (MavManager.currentState === "STANDBY") ? colorGreenText : colorRedText
                     }
                 }
 
@@ -615,7 +616,7 @@ Rectangle {
 
                 QGCLabel {
                     id: modeStatusText
-                    text: mainToolBar.currentMode
+                    text: MavManager.currentMode
                     font.pointSize: ScreenTools.fontPointFactor * (12);
                     font.weight: Font.DemiBold
                     anchors.horizontalCenter: parent.horizontalCenter
@@ -628,7 +629,7 @@ Rectangle {
                 id: connectionStatus
                 width: getProportionalDimmension(160)
                 height: cellHeight
-                visible: (mainToolBar.connectionCount > 0 && mainToolBar.mavPresent && mainToolBar.heartbeatTimeout != 0)
+                visible: (mainToolBar.connectionCount > 0 && MavManager.mavPresent && MavManager.heartbeatTimeout != 0)
                 anchors.verticalCenter: parent.verticalCenter
                 color: "#00000000"
                 border.color: "#00000000"