Stable waypoint drag-and-drop, fixed a number of funky waypoint update methods.

src/Waypoint.cc

@@ -108,7 +108,7 @@ void Waypoint::setId(quint16 id)
 
 void Waypoint::setX(double x)
 {
-    if (this->x != x) {
+    if (this->x != x && (this->frame == MAV_FRAME_LOCAL)) {
         this->x = x;
         emit changed(this);
     }
@@ -116,7 +116,7 @@ void Waypoint::setX(double x)
 
 void Waypoint::setY(double y)
 {
-    if (this->y != y) {
+    if (this->y != y && (this->frame == MAV_FRAME_LOCAL)) {
         this->y = y;
         emit changed(this);
     }
@@ -124,7 +124,7 @@ void Waypoint::setY(double y)
 
 void Waypoint::setZ(double z)
 {
-    if (this->z != z) {
+    if (this->z != z && (this->frame == MAV_FRAME_LOCAL)) {
         this->z = z;
         emit changed(this);
     }
@@ -132,27 +132,24 @@ void Waypoint::setZ(double z)
 
 void Waypoint::setLatitude(double lat)
 {
-    if (this->x != lat) {
+    if (this->x != lat && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) {
         this->x = lat;
-        this->frame = MAV_FRAME_GLOBAL;
         emit changed(this);
     }
 }
 
 void Waypoint::setLongitude(double lon)
 {
-    if (this->y != lon) {
+    if (this->y != lon && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) {
         this->y = lon;
-        this->frame = MAV_FRAME_GLOBAL;
         emit changed(this);
     }
 }
 
 void Waypoint::setAltitude(double altitude)
 {
-    if (this->z != altitude) {
+    if (this->z != altitude && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) {
         this->z = altitude;
-        this->frame = MAV_FRAME_GLOBAL;
         emit changed(this);
     }
 }

src/configuration.h

@@ -4,7 +4,7 @@
 #include <QString>
 
 /** @brief Polling interval in ms */
-#define SERIAL_POLL_INTERVAL 7
+#define SERIAL_POLL_INTERVAL 9
 
 /** @brief Heartbeat emission rate, in Hertz (times per second) */
 #define MAVLINK_HEARTBEAT_DEFAULT_RATE 1
@@ -12,14 +12,14 @@
 #define WITH_TEXT_TO_SPEECH 1
 
 #define QGC_APPLICATION_NAME "QGroundControl"
-#define QGC_APPLICATION_VERSION "v. 0.8.3 (Alpha RC7)"
+#define QGC_APPLICATION_VERSION "v. 0.9.0 (Alpha RC1)"
 
 namespace QGC
 
 {
 const QString APPNAME = "QGROUNDCONTROL";
-const QString COMPANYNAME = "OPENMAV";
-const int APPLICATIONVERSION = 83; // 0.8.0
+const QString COMPANYNAME = "QGROUNDCONTROL";
+const int APPLICATIONVERSION = 90; // 0.9.0
 }
 
 #endif // QGC_CONFIGURATION_H

src/libs/opmapcontrol/src/mapwidget/mapgraphicitem.cpp

@@ -455,17 +455,15 @@ namespace mapcontrol
     }
     internals::PointLatLng MapGraphicItem::FromLocalToLatLng(int x, int y)
     {
-        // It is IMPORTANT here to use full precision during the calculations!
-        double lat, lon;
         if(MapRenderTransform!=1)
         {
-            lat=x+((static_cast<double>(boundingRect().width())*MapRenderTransform)-(boundingRect().width()))/2.0f;
-            lon=y+((static_cast<double>(boundingRect().height())*MapRenderTransform)-(boundingRect().height()))/2.0f;
+            x=x+((boundingRect().width()*MapRenderTransform)-(boundingRect().width()))/2;
+            y=y+((boundingRect().height()*MapRenderTransform)-(boundingRect().height()))/2;
 
-            lat = (x / MapRenderTransform);
-            lon = (y / MapRenderTransform);
+            x = (int) (x / MapRenderTransform);
+            y = (int) (y / MapRenderTransform);
         }
-        return core->FromLocalToLatLng(lat, lon);
+        return core->FromLocalToLatLng(x, y);
     }
     float MapGraphicItem::metersToPixels(double meters, internals::PointLatLng coord)
     {

src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp

@@ -103,6 +103,8 @@ namespace mapcontrol
             delete text;
             delete textBG;
             coord=map->FromLocalToLatLng(this->pos().x(),this->pos().y());
+            QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + "   " + QString::number(coord.Lng(), 'f', 6);
+            qDebug() << "WP MOVE:" << coord_str << __FILE__ << __LINE__;
             isDragging=false;
             RefreshToolTip();
 
@@ -118,6 +120,7 @@ namespace mapcontrol
             coord=map->FromLocalToLatLng(this->pos().x(),this->pos().y());
             QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + "   " + QString::number(coord.Lng(), 'f', 6);
             text->setText(coord_str);
+            qDebug() << "WP DRAG:" << coord_str << __FILE__ << __LINE__;
             textBG->setRect(text->boundingRect());
 
             emit WPValuesChanged(this);

src/ui/WaypointView.cc

@@ -71,9 +71,9 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
     connect(m_ui->posESpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
     connect(m_ui->posDSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
 
-    connect(m_ui->latSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
-    connect(m_ui->lonSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
-    connect(m_ui->altSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
+    connect(m_ui->latSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setLatitude(double)));
+    connect(m_ui->lonSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setLongitude(double)));
+    connect(m_ui->altSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setAltitude(double)));
     connect(m_ui->yawSpinBox, SIGNAL(valueChanged(int)), wp, SLOT(setYaw(int)));
 
     connect(m_ui->upButton, SIGNAL(clicked()), this, SLOT(moveUp()));
@@ -391,14 +391,26 @@ void WaypointView::updateValues()
     break;
     case MAV_FRAME_GLOBAL:
     case MAV_FRAME_GLOBAL_RELATIVE_ALT: {
-        if (m_ui->latSpinBox->value() != wp->getX()) {
-            m_ui->latSpinBox->setValue(wp->getX());
+        if (m_ui->latSpinBox->value() != wp->getLatitude()) {
+            // Rounding might occur, prevent spin box from
+            // firing back changes
+            m_ui->latSpinBox->blockSignals(true);
+            m_ui->latSpinBox->setValue(wp->getLatitude());
+            m_ui->latSpinBox->blockSignals(false);
         }
-        if (m_ui->lonSpinBox->value() != wp->getY()) {
-            m_ui->lonSpinBox->setValue(wp->getY());
+        if (m_ui->lonSpinBox->value() != wp->getLongitude()) {
+            // Rounding might occur, prevent spin box from
+            // firing back changes
+            m_ui->lonSpinBox->blockSignals(true);
+            m_ui->lonSpinBox->setValue(wp->getLongitude());
+            m_ui->lonSpinBox->blockSignals(false);
         }
-        if (m_ui->altSpinBox->value() != wp->getZ()) {
-            m_ui->altSpinBox->setValue(wp->getZ());
+        if (m_ui->altSpinBox->value() != wp->getAltitude()) {
+            // Rounding might occur, prevent spin box from
+            // firing back changes
+            m_ui->altSpinBox->blockSignals(true);
+            m_ui->altSpinBox->setValue(wp->getAltitude());
+            m_ui->altSpinBox->blockSignals(false);
         }
     }
     break;

src/ui/map/QGCMapWidget.cc

@@ -133,9 +133,9 @@ void QGCMapWidget::loadSettings()
     settings.endGroup();
 
     // SET INITIAL POSITION AND ZOOM
-    SetZoom(lastZoom); // set map zoom level
     internals::PointLatLng pos_lat_lon = internals::PointLatLng(lastLat, lastLon);
     SetCurrentPosition(pos_lat_lon);        // set the map position
+    SetZoom(lastZoom); // set map zoom level
 }
 
 void QGCMapWidget::storeSettings()
@@ -152,7 +152,7 @@ void QGCMapWidget::storeSettings()
 
 void QGCMapWidget::mouseDoubleClickEvent(QMouseEvent* event)
 {
-    OPMapWidget::mouseDoubleClickEvent(event);
+    //OPMapWidget::mouseDoubleClickEvent(event);
     if (currEditMode == EDIT_MODE_WAYPOINTS)
     {
         // If a waypoint manager is available
@@ -372,14 +372,24 @@ void QGCMapWidget::handleMapWaypointEdit(mapcontrol::WayPointItem* waypoint)
 
     // Update WP values
     internals::PointLatLng pos = waypoint->Coord();
+
+    // Block waypoint signals
+    wp->blockSignals(true);
     wp->setLatitude(pos.Lat());
     wp->setLongitude(pos.Lng());
     wp->setAltitude(waypoint->Altitude());
+    wp->blockSignals(false);
 
-    qDebug() << "WP: LAT:" << pos.Lat() << "LON:" << pos.Lng();
 
-    emit waypointChanged(wp);
+    internals::PointLatLng coord = waypoint->Coord();
+    QString coord_str = " " + QString::number(coord.Lat(), 'f', 6) + "   " + QString::number(coord.Lng(), 'f', 6);
+    qDebug() << "MAP WP COORD (MAP):" << coord_str << __FILE__ << __LINE__;
+    QString wp_str = QString::number(wp->getLatitude(), 'f', 6) + "   " + QString::number(wp->getLongitude(), 'f', 6);
+    qDebug() << "MAP WP COORD (WP):" << wp_str << __FILE__ << __LINE__;
+
     firingWaypointChange = NULL;
+
+    emit waypointChanged(wp);
 }
 
 // WAYPOINT UPDATE FUNCTIONS