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Commit ca9e82a3 authored by pixhawk's avatar pixhawk
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Fixed minor visual issues in multiple views

parent c28456d4
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images/earth.html
View file @ ca9e82a3
......@@ -253,9 +253,9 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
// FIXME Currently invalid conversion from right-handed z-down to z-up frame
planeOrient.setRoll(((roll/M_PI))*180.0+180.0);
planeOrient.setTilt(((pitch/M_PI))*180.0+180.0);
planeOrient.setHeading(((yaw/M_PI))*180.0-90.0+180.0);
planeOrient.setHeading(((yaw/M_PI))*180.0-90.0);
currFollowHeading = ((yaw/M_PI))*180.0+180.0;
currFollowHeading = ((yaw/M_PI))*180.0;
planeLoc.setLatitude(lastLat);
planeLoc.setLongitude(lastLon);
......
src/comm/MAVLinkSimulationMAV.cc
View file @ ca9e82a3
......@@ -155,11 +155,32 @@ void MAVLinkSimulationMAV::mainloop()
// 25 Hz execution
if (timer25Hz <= 0)
{
// The message container to be used for sending
mavlink_message_t ret;
// Send which controllers are active
mavlink_control_status_t control_status;
control_status.control_att = 1;
control_status.control_pos_xy = 1;
control_status.control_pos_yaw = 1;
control_status.control_pos_z = 1;
mavlink_msg_control_status_encode(systemid, MAV_COMP_ID_IMU, &ret, &control_status);
link->sendMAVLinkMessage(&ret);
// Send actual controller outputs
// This message just shows the direction
// and magnitude of the control output
mavlink_position_controller_output_t pos;
pos.x = sin(yaw)*127.0f;
pos.y = cos(yaw)*127.0f;
pos.z = 0;
mavlink_msg_position_controller_output_encode(systemid, MAV_COMP_ID_IMU, &ret, &pos);
link->sendMAVLinkMessage(&ret);
// Send a named value with name "FLOAT" and 0.5f as value
// The message container to be used for sending
mavlink_message_t ret;
//mavlink_message_t ret;
// The C-struct holding the data to be sent
mavlink_named_value_float_t val;
......
src/comm/MAVLinkSimulationWaypointPlanner.cc
View file @ ca9e82a3
......@@ -535,7 +535,7 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
{
mavlink_local_position_t pos;
mavlink_msg_local_position_decode(msg, &pos);
qDebug() << "Received new position: x:" << pos.x << "| y:" << pos.y << "| z:" << pos.z;
//qDebug() << "Received new position: x:" << pos.x << "| y:" << pos.y << "| z:" << pos.z;
posReached = false;
......@@ -1004,7 +1004,7 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
if (cur_wp->autocontinue)
{
cur_wp->current = 0;
if (current_active_wp_id == waypoints->size() - 1 && waypoints->size() > 1)
if (current_active_wp_id == waypoints->size() - 1 && waypoints->size() > 0)
{
//the last waypoint was reached, if auto continue is
//activated restart the waypoint list from the beginning
......
src/ui/HDDisplay.h
View file @ ca9e82a3
......@@ -65,7 +65,7 @@ public:
public slots:
/** @brief Update a HDD value */
void updateValue(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec);
void setActiveUAS(UASInterface* uas);
virtual void setActiveUAS(UASInterface* uas);
/** @brief Removes a plot item by the action data */
void removeItemByAction();
......
src/ui/HSIDisplay.cc
View file @ ca9e82a3
......@@ -37,7 +37,6 @@ This file is part of the QGROUNDCONTROL project
#include <QDoubleSpinBox>
#include "UASManager.h"
#include "HSIDisplay.h"
#include "MG.h"
#include "QGC.h"
#include "Waypoint.h"
#include "UASWaypointManager.h"
......@@ -74,9 +73,9 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
vz(0),
speed(0),
localAvailable(0),
roll(0),
pitch(0),
yaw(1.0f), // FIXME Should be 0
roll(0.0f),
pitch(0.0f),
yaw(0.0f),
bodyXSetCoordinate(0.0f),
bodyYSetCoordinate(0.0f),
bodyZSetCoordinate(0.0f),
......@@ -96,23 +95,20 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
visionFix(0),
laserFix(0),
mavInitialized(false),
bottomMargin(3.0f),
topMargin(3.0f)
bottomMargin(10.0f),
topMargin(10.0f)
{
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
refreshTimer->setInterval(updateInterval);
columns = 1;
// this->setScene(new QGraphicsScene(-metricWidth/2.0f, -metricWidth/2.0f, metricWidth, metricWidth, this));
this->setAutoFillBackground(true);
vwidth = 80;
vheight = 80;
xCenterPos = vwidth/2.0f;
yCenterPos = vheight/2.0f + topMargin - bottomMargin;
qDebug() << "CENTER" << xCenterPos << yCenterPos;
//qDebug() << "CENTER" << xCenterPos << yCenterPos;
// Add interaction elements
QHBoxLayout* layout = new QHBoxLayout(this);
......@@ -121,24 +117,57 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
QDoubleSpinBox* spinBox = new QDoubleSpinBox(this);
spinBox->setMinimum(0.1);
spinBox->setMaximum(9999);
spinBox->setValue(metricWidth);
spinBox->setToolTip(tr("Ground width in meters shown on instrument"));
spinBox->setStatusTip(tr("Ground width in meters shown on instrument"));
connect(spinBox, SIGNAL(valueChanged(double)), this, SLOT(setMetricWidth(double)));
connect(this, SIGNAL(metricWidthChanged(double)), spinBox, SLOT(setValue(double)));
layout->addWidget(spinBox);
layout->setAlignment(spinBox, Qt::AlignBottom | Qt::AlignLeft);
this->setLayout(layout);
this->setVisible(false);
uas = NULL;
resetMAVState();
// Do first update
setMetricWidth(metricWidth);
}
void HSIDisplay::resetMAVState()
{
mavInitialized = false;
attControlKnown = false;
attControlEnabled = false;
xyControlKnown = false;
xyControlEnabled = false;
zControlKnown = false;
zControlEnabled = false;
yawControlKnown = false;
yawControlEnabled = false;
// Draw position lock indicators
positionFixKnown = false;
positionFix = 0;
visionFixKnown = false;
visionFix = 0;
gpsFixKnown = false;
gpsFix = 0;
iruFixKnown = false;
iruFix = 0;
// Data
setPointKnown = false;
localAvailable = 0;
globalAvailable = 0;
}
void HSIDisplay::paintEvent(QPaintEvent * event)
{
Q_UNUSED(event);
//paintGL();
static quint64 interval = 0;
//qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
interval = MG::TIME::getGroundTimeNow();
// static quint64 interval = 0;
// //qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
// interval = MG::TIME::getGroundTimeNow();
renderOverlay();
}
......@@ -149,7 +178,7 @@ void HSIDisplay::renderOverlay()
#endif
// Center location of the HSI gauge items
float bottomMargin = 3.0f;
//float bottomMargin = 3.0f;
// Size of the ring instrument
//const float margin = 0.1f; // 10% margin of total width on each side
......@@ -167,10 +196,6 @@ void HSIDisplay::renderOverlay()
painter.setRenderHint(QPainter::Antialiasing, true);
painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
// Draw background
//painter.fillRect(QRect(0, 0, width(), height()), backgroundColor);
// Draw base instrument
// ----------------------
painter.setBrush(Qt::NoBrush);
......@@ -182,7 +207,7 @@ void HSIDisplay::renderOverlay()
const int ringCount = 2;
for (int i = 0; i < ringCount; i++)
{
float radius = (vwidth - topMargin - bottomMargin) / (2.0f * i+1) / 2.0f - bottomMargin / 2.0f;
float radius = (vwidth - (topMargin + bottomMargin)*0.3f) / (1.3f * i+1) / 2.0f - bottomMargin / 2.0f;
drawCircle(xCenterPos, yCenterPos, radius, 0.1f, ringColor, &painter);
}
......@@ -192,7 +217,7 @@ void HSIDisplay::renderOverlay()
painter.rotate((yaw/(M_PI))*180.0f);
paintText(tr("N"), ringColor, 3.5f, - 1.0f, - baseRadius - 5.5f, &painter);
paintText(tr("S"), ringColor, 3.5f, - 1.0f, + baseRadius + 1.5f, &painter);
paintText(tr("E"), ringColor, 3.5f, + baseRadius + 2.0f, - 1.75f, &painter);
paintText(tr("E"), ringColor, 3.5f, + baseRadius + 2.0f, - 1.25f, &painter);
paintText(tr("W"), ringColor, 3.5f, - baseRadius - 5.5f, - 1.75f, &painter);
painter.rotate((-yaw/(M_PI))*180.0f);
painter.translate(-(xCenterPos)*scalingFactor, -(yCenterPos)*scalingFactor);
......@@ -255,23 +280,35 @@ void HSIDisplay::renderOverlay()
paintText(str, ringColor, 3.0f, 10.0f, vheight - 5.0f, &painter);
}
if (globalAvailable > 0)
{
// Position
QString str;
str.sprintf("%05.2f lat %06.2f lon %06.2f alt", lat, lon, alt);
paintText(str, ringColor, 2.2f, xCenterPos + baseRadius - 30.75f, vheight - 5.0f, &painter);
// Speed
str.sprintf("%05.2f m/s", speed);
paintText(str, ringColor, 2.2f, 10.0f, vheight - 5.0f, &painter);
}
// Draw waypoints
drawWaypoints(painter);
// Draw status flags
drawStatusFlag(2, 1, tr("ATT"), attControlEnabled, painter);
drawStatusFlag(22, 1, tr("PXY"), xyControlEnabled, painter);
drawStatusFlag(44, 1, tr("PZ"), zControlEnabled, painter);
drawStatusFlag(66, 1, tr("YAW"), yawControlEnabled, painter);
drawStatusFlag(2, 1, tr("ATT"), attControlEnabled, attControlKnown, painter);
drawStatusFlag(22, 1, tr("PXY"), xyControlEnabled, xyControlKnown, painter);
drawStatusFlag(44, 1, tr("PZ"), zControlEnabled, zControlKnown, painter);
drawStatusFlag(66, 1, tr("YAW"), yawControlEnabled, yawControlKnown, painter);
// Draw position lock indicators
drawPositionLock(2, 5, tr("POS"), positionFix, painter);
drawPositionLock(22, 5, tr("VIS"), visionFix, painter);
drawPositionLock(44, 5, tr("GPS"), gpsFix, painter);
drawPositionLock(66, 5, tr("IRU"), iruFix, painter);
drawPositionLock(2, 5, tr("POS"), positionFix, positionFixKnown, painter);
drawPositionLock(22, 5, tr("VIS"), visionFix, visionFixKnown, painter);
drawPositionLock(44, 5, tr("GPS"), gpsFix, gpsFixKnown, painter);
drawPositionLock(66, 5, tr("IRU"), iruFix, iruFixKnown, painter);
}
void HSIDisplay::drawStatusFlag(float x, float y, QString label, bool status, QPainter& painter)
void HSIDisplay::drawStatusFlag(float x, float y, QString label, bool status, bool known, QPainter& painter)
{
paintText(label, QGC::colorCyan, 2.6f, x, y+0.35f, &painter);
QColor statusColor(250, 250, 250);
......@@ -284,46 +321,93 @@ void HSIDisplay::drawStatusFlag(float x, float y, QString label, bool status, QP
painter.setBrush(QGC::colorDarkYellow);
}
painter.setPen(Qt::NoPen);
painter.drawRect(QRect(refToScreenX(x+7.3f), refToScreenY(y+0.05), refToScreenX(7.0f), refToScreenY(4.0f)));
float indicatorWidth = refToScreenX(7.0f);
float indicatorHeight = refToScreenY(4.0f);
painter.drawRect(QRect(refToScreenX(x+7.3f), refToScreenY(y+0.05), indicatorWidth, indicatorHeight));
paintText((status) ? tr("ON") : tr("OFF"), statusColor, 2.6f, x+7.9f, y+0.35f, &painter);
// Cross out instrument if state unknown
if (!known)
{
QPen pen(Qt::yellow);
pen.setWidth(2);
painter.setPen(pen);
// Top left to bottom right
QPointF p1, p2, p3, p4;
p1.setX(refToScreenX(x));
p1.setY(refToScreenX(y));
p2.setX(p1.x()+indicatorWidth+refToScreenX(7.3f));
p2.setY(p1.y()+indicatorHeight);
painter.drawLine(p1, p2);
// Bottom left to top right
p3.setX(refToScreenX(x));
p3.setY(refToScreenX(y)+indicatorHeight);
p4.setX(p1.x()+indicatorWidth+refToScreenX(7.3f));
p4.setY(p1.y());
painter.drawLine(p3, p4);
}
}
void HSIDisplay::drawPositionLock(float x, float y, QString label, int status, QPainter& painter)
void HSIDisplay::drawPositionLock(float x, float y, QString label, int status, bool known, QPainter& painter)
{
paintText(label, QGC::colorCyan, 2.6f, x, y+0.35f, &painter);
QColor negStatusColor(200, 20, 20);
QColor posStatusColor(20, 200, 20);
QColor statusColor(250, 250, 250);
if(status > 0 && status < 4)
{
painter.setBrush(posStatusColor);
}
else
{
painter.setBrush(negStatusColor);
}
paintText(label, QGC::colorCyan, 2.6f, x, y+0.35f, &painter);
QColor negStatusColor(200, 20, 20);
QColor posStatusColor(20, 200, 20);
QColor statusColor(250, 250, 250);
if(status > 0 && status < 4)
{
painter.setBrush(posStatusColor);
}
else
{
painter.setBrush(negStatusColor);
}
// Lock text
QString lockText;
switch (status)
{
case 1:
lockText = tr("LOC");
break;
case 2:
lockText = tr("2D");
break;
case 3:
lockText = tr("3D");
break;
default:
lockText = tr("NO");
break;
}
// Lock text
QString lockText;
switch (status)
{
case 1:
lockText = tr("LOC");
break;
case 2:
lockText = tr("2D");
break;
case 3:
lockText = tr("3D");
break;
default:
lockText = tr("NO");
break;
}
painter.setPen(Qt::NoPen);
painter.drawRect(QRect(refToScreenX(x+7.3f), refToScreenY(y+0.05), refToScreenX(7.0f), refToScreenY(4.0f)));
paintText(lockText, statusColor, 2.6f, x+7.9f, y+0.35f, &painter);
float indicatorWidth = refToScreenX(7.0f);
float indicatorHeight = refToScreenY(4.0f);
painter.setPen(Qt::NoPen);
painter.drawRect(QRect(refToScreenX(x+7.3f), refToScreenY(y+0.05), refToScreenX(7.0f), refToScreenY(4.0f)));
paintText(lockText, statusColor, 2.6f, x+7.9f, y+0.35f, &painter);
// Cross out instrument if state unknown
if (!known)
{
QPen pen(Qt::yellow);
pen.setWidth(2);
painter.setPen(pen);
// Top left to bottom right
QPointF p1, p2, p3, p4;
p1.setX(refToScreenX(x));
p1.setY(refToScreenX(y));
p2.setX(p1.x()+indicatorWidth+refToScreenX(7.3f));
p2.setY(p1.y()+indicatorHeight);
painter.drawLine(p1, p2);
// Bottom left to top right
p3.setX(refToScreenX(x));
p3.setY(refToScreenX(y)+indicatorHeight);
p4.setX(p1.x()+indicatorWidth+refToScreenX(7.3f));
p4.setY(p1.y());
painter.drawLine(p3, p4);
}
}
void HSIDisplay::updatePositionLock(UASInterface* uas, bool lock)
......@@ -335,16 +419,19 @@ void HSIDisplay::updatePositionLock(UASInterface* uas, bool lock)
void HSIDisplay::updateAttitudeControllerEnabled(bool enabled)
{
attControlEnabled = enabled;
attControlKnown = true;
}
void HSIDisplay::updatePositionXYControllerEnabled(bool enabled)
{
xyControlEnabled = enabled;
xyControlKnown = true;
}
void HSIDisplay::updatePositionZControllerEnabled(bool enabled)
{
zControlEnabled = enabled;
zControlKnown = true;
}
QPointF HSIDisplay::metricWorldToBody(QPointF world)
......@@ -481,6 +568,8 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
connect(uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
this->uas = uas;
resetMAVState();
}
void HSIDisplay::updateSpeed(UASInterface* uas, double vx, double vy, double vz, quint64 time)
......@@ -550,6 +639,7 @@ void HSIDisplay::updatePositionSetpoints(int uasid, float xDesired, float yDesir
bodyZSetCoordinate = zDesired;
bodyYawSet = yawDesired;
mavInitialized = true;
setPointKnown = true;
// qDebug() << "Received setpoint at x: " << x << "metric y:" << y;
// posXSet = xDesired;
......@@ -592,6 +682,7 @@ void HSIDisplay::updateSatellite(int uasid, int satid, float elevation, float az
void HSIDisplay::updatePositionYawControllerEnabled(bool enabled)
{
yawControlEnabled = enabled;
yawControlKnown = true;
}
/**
......@@ -601,6 +692,7 @@ void HSIDisplay::updateLocalization(UASInterface* uas, int fix)
{
Q_UNUSED(uas);
positionFix = fix;
positionFixKnown = true;
}
/**
* @param fix 0: lost, 1: at least one satellite, but no GPS fix, 2: 2D localization, 3: 3D localization
......@@ -609,6 +701,7 @@ void HSIDisplay::updateGpsLocalization(UASInterface* uas, int fix)
{
Q_UNUSED(uas);
gpsFix = fix;
gpsFixKnown = true;
}
/**
* @param fix 0: lost, 1: 2D local position hold, 2: 2D localization, 3: 3D localization
......@@ -617,6 +710,7 @@ void HSIDisplay::updateVisionLocalization(UASInterface* uas, int fix)
{
Q_UNUSED(uas);
visionFix = fix;
visionFixKnown = true;
}
/**
......@@ -626,6 +720,7 @@ void HSIDisplay::updateInfraredUltrasoundLocalization(UASInterface* uas, int fix
{
Q_UNUSED(uas);
iruFix = fix;
iruFixKnown = true;
}
QColor HSIDisplay::getColorForSNR(float snr)
......@@ -656,22 +751,25 @@ QColor HSIDisplay::getColorForSNR(float snr)
void HSIDisplay::drawSetpointXY(float x, float y, float yaw, const QColor &color, QPainter &painter)
{
float radius = vwidth / 20.0f;
QPen pen(color);
pen.setWidthF(refLineWidthToPen(0.4f));
pen.setColor(color);
painter.setPen(pen);
painter.setBrush(Qt::NoBrush);
QPointF in(x, y);
// Transform from body to world coordinates
in = metricWorldToBody(in);
// Scale from metric to screen reference coordinates
QPointF p = metricBodyToRef(in);
drawCircle(p.x(), p.y(), radius, 0.4f, color, &painter);
radius *= 0.8;
drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * radius, refLineWidthToPen(0.4f), color, &painter);
painter.setBrush(color);
drawCircle(p.x(), p.y(), radius * 0.1f, 0.1f, color, &painter);
if (setPointKnown)
{
float radius = vwidth / 20.0f;
QPen pen(color);
pen.setWidthF(refLineWidthToPen(0.4f));
pen.setColor(color);
painter.setPen(pen);
painter.setBrush(Qt::NoBrush);
QPointF in(x, y);
// Transform from body to world coordinates
in = metricWorldToBody(in);
// Scale from metric to screen reference coordinates
QPointF p = metricBodyToRef(in);
drawCircle(p.x(), p.y(), radius, 0.4f, color, &painter);
radius *= 0.8;
drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * radius, refLineWidthToPen(0.4f), color, &painter);
painter.setBrush(color);
drawCircle(p.x(), p.y(), radius * 0.1f, 0.1f, color, &painter);
}
}
void HSIDisplay::drawWaypoints(QPainter& painter)
......@@ -699,7 +797,19 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
for (int i = 0; i < list.size(); i++)
{
QPointF in(list.at(i)->getX(), list.at(i)->getY());
QPointF in;
if (list.at(i)->getFrame() == MAV_FRAME_LOCAL)
{
// Do not transform
in = QPointF(list.at(i)->getX(), list.at(i)->getY());
}
else
{
// Transform to local coordinates first
double x = list.at(i)->getX();
double y = list.at(i)->getY();
in = QPointF(x, y);
}
// Transform from world to body coordinates
in = metricWorldToBody(in);
// Scale from metric to screen reference coordinates
......@@ -865,7 +975,7 @@ void HSIDisplay::drawPositionDirection(float xRef, float yRef, float radius, con
painter->setBrush(indexBrush);
drawPolygon(p, painter);
//qDebug() << "DRAWING POS SETPOINT X:" << posXSet << "Y:" << posYSet << angle;
qDebug() << "DRAWING POS SETPOINT X:" << posXSet << "Y:" << posYSet << angle;
}
void HSIDisplay::drawAttitudeDirection(float xRef, float yRef, float radius, const QColor& color, QPainter* painter)
......
src/ui/HSIDisplay.h
View file @ ca9e82a3
......@@ -81,6 +81,8 @@ public slots:
/** @brief Update state from joystick */
void updateJoystick(double roll, double pitch, double yaw, double thrust, int xHat, int yHat);
void pressKey(int key);
/** @brief Reset the state of the view */
void resetMAVState();
signals:
void metricWidthChanged(double width);
......@@ -92,8 +94,10 @@ protected slots:
void drawPositionDirection(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
void drawAttitudeDirection(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
void drawAltitudeSetpoint(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
void drawStatusFlag(float x, float y, QString label, bool status, QPainter& painter);
void drawPositionLock(float x, float y, QString label, int status, QPainter& painter);
/** @brief Draw a status flag indicator */
void drawStatusFlag(float x, float y, QString label, bool status, bool known, QPainter& painter);
/** @brief Draw a position lock indicator */
void drawPositionLock(float x, float y, QString label, int status, bool known, QPainter& painter);
void setBodySetpointCoordinateXY(double x, double y);
void setBodySetpointCoordinateZ(double z);
/** @brief Send the current ui setpoint coordinates as new setpoint to the MAV */
......@@ -231,6 +235,20 @@ protected:
float bottomMargin; ///< Margin on the bottom of the page, in virtual coordinates
float topMargin; ///< Margin on top of the page, in virtual coordinates
bool attControlKnown; ///< Attitude control status known flag
bool xyControlKnown; ///< XY control status known flag
bool zControlKnown; ///< Z control status known flag
bool yawControlKnown; ///< Yaw control status known flag
// Position lock indicators
bool positionFixKnown; ///< Position fix status known flag
bool visionFixKnown; ///< Vision fix status known flag
bool gpsFixKnown; ///< GPS fix status known flag
bool iruFixKnown; ///< Infrared/Ultrasound fix status known flag
// Data indicators
bool setPointKnown; ///< Controller setpoint known status flag
private:
};
......
src/ui/MainWindow.cc
View file @ ca9e82a3
......@@ -160,6 +160,25 @@ MainWindow::MainWindow(QWidget *parent):
MainWindow::~MainWindow()
{
delete mavlink;
delete joystick;
// Get and delete all dockwidgets and contained
// widgets
QObjectList childList( this->children() );
QObjectList::iterator i;
QDockWidget* dockWidget;
for (i = childList.begin(); i != childList.end(); ++i)
{
dockWidget = dynamic_cast<QDockWidget*>(*i);
if (dockWidget)
{
// Remove dock widget from main window
removeDockWidget(dockWidget);
delete dockWidget->widget();
delete dockWidget;
}
}
}
/**
......@@ -884,7 +903,6 @@ void MainWindow::closeEvent(QCloseEvent *event)
//settings.setValue("windowState", saveState());
aboutToCloseFlag = true;
mavlink->storeSettings();
joystick->deleteLater();
// Save the last current view in any case
settings.setValue("CURRENT_VIEW", currentView);
// Save the current window state, but only if a system is connected (else no real number of widgets would be present)
......
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