Merge pull request #209 from jgoppert/master

FlightGear HIL Improvements

src/comm/QGCFlightGearLink.cc

@@ -254,9 +254,9 @@ void QGCFlightGearLink::readBytes()
     pitchspeed = values.at(8).toDouble();
     yawspeed = values.at(9).toDouble();
 
-    xacc = values.at(10).toDouble();
-    yacc = values.at(11).toDouble();
-    zacc = values.at(12).toDouble();
+    xacc = values.at(10).toDouble()*1e3/9.8; // convert to mg's
+    yacc = values.at(11).toDouble()*1e3/9.8;
+    zacc = values.at(12).toDouble()*1e3/9.8;
 
     vx = values.at(13).toDouble() * 1e2;
     vy = values.at(14).toDouble() * 1e2;

src/ui/QGCHilFlightGearConfiguration.cc

@@ -41,3 +41,8 @@ void QGCHilFlightGearConfiguration::on_startButton_clicked()
     options.append(" --aircraft=" + ui->aircraftComboBox->currentText());
     mav->enableHilFlightGear(true,  options);
 }
+
+void QGCHilFlightGearConfiguration::on_stopButton_clicked()
+{
+    mav->stopHil();
+}

src/ui/QGCHilFlightGearConfiguration.h

@@ -24,6 +24,7 @@ protected:
     
 private slots:
     void on_startButton_clicked();
+    void on_stopButton_clicked();
 
 private:
     Ui::QGCHilFlightGearConfiguration *ui;

src/ui/QGCHilFlightGearConfiguration.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>190</width>
-    <height>246</height>
+    <width>237</width>
+    <height>204</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -25,26 +25,13 @@
   <property name="autoFillBackground">
    <bool>false</bool>
   </property>
-  <layout class="QGridLayout" name="gridLayout" rowminimumheight="0,0,0,0,0,0">
+  <layout class="QGridLayout" name="gridLayout" rowminimumheight="0,0,0,0,0,0,0,0">
    <property name="margin">
     <number>0</number>
    </property>
    <property name="spacing">
     <number>6</number>
    </property>
-   <item row="5" column="0">
-    <widget class="QPushButton" name="startButton">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="text">
-      <string>Start</string>
-     </property>
-    </widget>
-   </item>
    <item row="0" column="0">
     <widget class="QLabel" name="aircraftPlaintextInfoLabel">
      <property name="text">
@@ -52,7 +39,7 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="0">
+   <item row="1" column="0" colspan="2">
     <widget class="QComboBox" name="aircraftComboBox">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -72,7 +59,7 @@
      </property>
     </widget>
    </item>
-   <item row="3" column="0">
+   <item row="3" column="0" colspan="2">
     <widget class="QPlainTextEdit" name="optionsPlainTextEdit">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -81,7 +68,27 @@
       </sizepolicy>
      </property>
      <property name="plainText">
-      <string>--in-air --roll=0 --pitch=0 --vc=90 --heading=300 --timeofday=noon --disable-hud-3d --disable-fullscreen --geometry=400x300 --disable-anti-alias-hud --wind=0@0 --turbulence=0.0 --prop:/sim/frame-rate-throttle-hz=30 --control=mouse --disable-intro-music --disable-sound --disable-random-objects --disable-ai-models --shading-flat --fog-disable --disable-specular-highlight --disable-random-objects --disable-panel --disable-clouds --fdm=jsb --units-meters --notrim --prop:/engines/engine/running=true</string>
+      <string>--in-air --roll=0 --pitch=0 --vc=90 --heading=300 --timeofday=noon --disable-hud-3d --disable-fullscreen --geometry=400x300 --disable-anti-alias-hud --wind=0@0 --turbulence=0.0 --prop:/sim/frame-rate-throttle-hz=30 --control=mouse --disable-intro-music --disable-sound --disable-random-objects --disable-ai-models --shading-flat --fog-disable --disable-specular-highlight --disable-random-objects --disable-panel --disable-clouds --fdm=jsb --units-meters --prop:/engines/engine/running=true</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="0">
+    <widget class="QPushButton" name="startButton">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="text">
+      <string>Start</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="1">
+    <widget class="QPushButton" name="stopButton">
+     <property name="text">
+      <string>Stop</string>
      </property>
     </widget>
    </item>