Change so Waypoints are the same across maps, and offline waypoints get...

Change so Waypoints are the same across maps, and offline waypoints get appeneded to the end of the MAV's waypoint list on connect

files/ardupilotmega/fixed_wing/widgets/ardupilot-heading-pid.qgw

-[Heading%20PID%20Tuning]
-QGC_TOOL_WIDGET_ITEMS\1\TYPE=SLIDER
-QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_DESCRIPTION=Heading D Gain
-QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_D
-QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_COMPONENTID=200
-QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MIN=0
-QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MAX=1
-QGC_TOOL_WIDGET_ITEMS\2\TYPE=SLIDER
-QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_DESCRIPTION=Heading P Gain
-QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_P
-QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_COMPONENTID=200
-QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MIN=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MAX=5
-QGC_TOOL_WIDGET_ITEMS\3\TYPE=SLIDER
-QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_DESCRIPTION=Heading I Gain
-QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_I
-QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_COMPONENTID=200
-QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_MIN=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_MAX=1
-QGC_TOOL_WIDGET_ITEMS\4\TYPE=SLIDER
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_DESCRIPTION=Heading I Limit
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_IMAX
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_COMPONENTID=200
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MIN=0
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MAX=3000
-QGC_TOOL_WIDGET_ITEMS\size=4

src/main.cc

@@ -64,7 +64,6 @@ void msgHandler( QtMsgType type, const char* msg )
 
 int main(int argc, char *argv[])
 {
-
 // install the message handler
 #ifdef Q_OS_WIN
     qInstallMsgHandler( msgHandler );

src/uas/UASManager.cc

@@ -235,7 +235,8 @@ UASManager::UASManager() :
         homeLat(47.3769),
         homeLon(8.549444),
         homeAlt(470.0),
-        homeFrame(MAV_FRAME_GLOBAL)
+        homeFrame(MAV_FRAME_GLOBAL),
+        offlineUASWaypointManager(NULL)
 {
     loadSettings();
     setLocalNEDSafetyBorders(1, -1, 0, -1, 1, -1);
@@ -280,6 +281,22 @@ void UASManager::addUAS(UASInterface* uas)
     if (firstUAS)
     {
         setActiveUAS(uas);
+        if (offlineUASWaypointManager->getWaypointEditableList().size() > 0)
+        {
+            if (QMessageBox::question(0,"Question","Do you want to append the offline waypoints to the ones currently on the UAV?",QMessageBox::Yes,QMessageBox::No) == QMessageBox::Yes)
+            {
+                //Need to transfer all waypoints from the offline mode WPManager to the online mode.
+                for (int i=0;i<offlineUASWaypointManager->getWaypointEditableList().size();i++)
+                {
+                    Waypoint *wp = uas->getWaypointManager()->createWaypoint();
+                    wp->setLatitude(offlineUASWaypointManager->getWaypointEditableList()[i]->getLatitude());
+                    wp->setLongitude(offlineUASWaypointManager->getWaypointEditableList()[i]->getLongitude());
+                    wp->setAltitude(offlineUASWaypointManager->getWaypointEditableList()[i]->getAltitude());
+                }
+            }
+            offlineUASWaypointManager->deleteLater();
+            offlineUASWaypointManager = 0;
+        }
     }
 }
 
@@ -336,6 +353,20 @@ UASInterface* UASManager::silentGetActiveUAS()
 {
     return activeUAS; ///< Return zero pointer if no UAS has been loaded
 }
+UASWaypointManager *UASManager::getActiveUASWaypointManager()
+{
+    if (activeUAS)
+    {
+        return activeUAS->getWaypointManager();
+    }
+    if (!offlineUASWaypointManager)
+    {
+        offlineUASWaypointManager = new UASWaypointManager(NULL);
+    }
+    return offlineUASWaypointManager;
+
+
+}
 
 bool UASManager::launchActiveUAS()
 {

src/uas/UASManager.h

@@ -58,6 +58,12 @@ public:
      * @return NULL pointer if no UAS exists, active UAS else
      **/
     UASInterface* getActiveUAS();
+    /**
+     * @brief getActiveUASWaypointManager
+     * @return uas->getUASWaypointManager(), or if not connected, a singleton instance of a UASWaypointManager.
+     */
+    UASWaypointManager *getActiveUASWaypointManager();
+
     UASInterface* silentGetActiveUAS();
     /**
      * @brief Get the UAS with this id
@@ -244,6 +250,7 @@ protected:
     UASManager();
     QList<UASInterface*> systems;
     UASInterface* activeUAS;
+    UASWaypointManager *offlineUASWaypointManager;
     QMutex activeUASMutex;
     double homeLat;
     double homeLon;

src/ui/MainWindow.cc

@@ -1711,7 +1711,7 @@ void MainWindow::UASCreated(UASInterface* uas)
             // Load last view if setting is present
             if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED"))
             {
-                int view = settings.value("CURRENT_VIEW_WITH_UAS_CONNECTED").toInt();
+                /*int view = settings.value("CURRENT_VIEW_WITH_UAS_CONNECTED").toInt();
                 switch (view)
                 {
                 case VIEW_ENGINEER:
@@ -1736,11 +1736,11 @@ void MainWindow::UASCreated(UASInterface* uas)
                 default:
                     loadOperatorView();
                     break;
-                }
+                }*/
             }
             else
             {
-                loadOperatorView();
+               // loadOperatorView();
             }
         }
 

src/ui/designer/QGCComboBox.cc

@@ -154,7 +154,7 @@ void QGCComboBox::selectParameter(int paramIndex)
         if (uas->getParamManager())
         {
             // Current value
-            uas->getParamManager()->requestParameterUpdate(component, parameterName);
+            //uas->getParamManager()->requestParameterUpdate(component, parameterName);
 
             // Minimum
             if (uas->getParamManager()->isParamMinKnown(parameterName))

src/ui/designer/QGCParamSlider.cc

@@ -184,7 +184,7 @@ void QGCParamSlider::selectParameter(int paramIndex)
         if (uas->getParamManager())
         {
             // Current value
-            uas->getParamManager()->requestParameterUpdate(component, parameterName);
+            //uas->getParamManager()->requestParameterUpdate(component, parameterName);
 
             // Minimum
             if (uas->getParamManager()->isParamMinKnown(parameterName))

src/ui/map/QGCMapWidget.cc

@@ -9,7 +9,6 @@
 
 QGCMapWidget::QGCMapWidget(QWidget *parent) :
     mapcontrol::OPMapWidget(parent),
-    currWPManager(NULL),
     firingWaypointChange(NULL),
     maxUpdateInterval(2.1f), // 2 seconds
     followUAVEnabled(false),
@@ -17,17 +16,42 @@ QGCMapWidget::QGCMapWidget(QWidget *parent) :
     trailInterval(2.0f),
     followUAVID(0),
     mapInitialized(false),
-    homeAltitude(0)
+    homeAltitude(0),
+    uas(0)
 {
+    //currWPManager = new UASWaypointManager(NULL); //Create a waypoint manager that is null.
+    currWPManager = UASManager::instance()->getActiveUASWaypointManager();
+    connect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
+    connect(currWPManager, SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
+    connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*)));
+    connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
+    offlineMode = true;
     // Widget is inactive until shown
     defaultGuidedAlt = -1;
     loadSettings(false);
 
     this->setContextMenuPolicy(Qt::ActionsContextMenu);
 
+    QAction *guidedaction = new QAction(this);
+    guidedaction->setText("Go To Here (Guided Mode)");
+    connect(guidedaction,SIGNAL(triggered()),this,SLOT(guidedActionTriggered()));
+    this->addAction(guidedaction);
+    guidedaction = new QAction(this);
+    guidedaction->setText("Go To Here Alt (Guided Mode)");
+    connect(guidedaction,SIGNAL(triggered()),this,SLOT(guidedAltActionTriggered()));
+    this->addAction(guidedaction);
+    QAction *cameraaction = new QAction(this);
+    cameraaction->setText("Point Camera Here");
+    connect(cameraaction,SIGNAL(triggered()),this,SLOT(cameraActionTriggered()));
+    this->addAction(cameraaction);
 }
 void QGCMapWidget::guidedActionTriggered()
 {
+    if (!uas)
+    {
+        QMessageBox::information(0,"Error","Please connect first");
+        return;
+    }
     if (currWPManager)
     {
         if (defaultGuidedAlt == -1)
@@ -49,6 +73,11 @@ void QGCMapWidget::guidedActionTriggered()
 }
 bool QGCMapWidget::guidedAltActionTriggered()
 {
+    if (!uas)
+    {
+        QMessageBox::information(0,"Error","Please connect first");
+        return false;
+    }
     bool ok = false;
     int tmpalt = QInputDialog::getInt(this,"Altitude","Enter default altitude (in meters) of destination point for guided mode",100,0,30000,1,&ok);
     if (!ok)
@@ -62,6 +91,11 @@ bool QGCMapWidget::guidedAltActionTriggered()
 }
 void QGCMapWidget::cameraActionTriggered()
 {
+    if (!uas)
+    {
+        QMessageBox::information(0,"Error","Please connect first");
+        return;
+    }
     ArduPilotMegaMAV *newmav = qobject_cast<ArduPilotMegaMAV*>(this->uas);
     if (newmav)
     {
@@ -262,32 +296,14 @@ void QGCMapWidget::activeUASSet(UASInterface* uas)
 
     if (uas)
     {
+        //UASWaypointManager *old = currWPManager;
+
         currWPManager = uas->getWaypointManager();
-        QList<QAction*> actionList = this->actions();
-        for (int i=0;i<actionList.size();i++)
-        {
-            this->removeAction(actionList[i]);
-            actionList[i]->deleteLater();
-        }
-        if (currWPManager->guidedModeSupported())
-        {
-            QAction *guidedaction = new QAction(this);
-            guidedaction->setText("Go To Here (Guided Mode)");
-            connect(guidedaction,SIGNAL(triggered()),this,SLOT(guidedActionTriggered()));
-            this->addAction(guidedaction);
-            guidedaction = new QAction(this);
-            guidedaction->setText("Go To Here Alt (Guided Mode)");
-            connect(guidedaction,SIGNAL(triggered()),this,SLOT(guidedAltActionTriggered()));
-            this->addAction(guidedaction);
-
-            if (uas->getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
-            {
-                QAction *cameraaction = new QAction(this);
-                cameraaction->setText("Point Camera Here");
-                connect(cameraaction,SIGNAL(triggered()),this,SLOT(cameraActionTriggered()));
-                this->addAction(cameraaction);
-            }
-        }
+
+        updateSelectedSystem(uas->getUASID());
+        followUAVID = uas->getUASID();
+
+        updateWaypointList(uas->getUASID());
 
         // Connect the waypoint manager / data storage to the UI
         connect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
@@ -295,11 +311,27 @@ void QGCMapWidget::activeUASSet(UASInterface* uas)
         connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*)));
         connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
 
-        updateSelectedSystem(uas->getUASID());
-        followUAVID = uas->getUASID();
+        /*if (offlineMode)
+        {
+
+            if (QMessageBox::question(0,"Question","Do you want to append the offline waypoints to the ones currently on the UAV?",QMessageBox::Yes,QMessageBox::No) == QMessageBox::Yes)
+            {
+                //Need to transfer all waypoints from the offline mode WPManager to the online mode.
+                for (int i=0;i<old->getWaypointEditableList().size();i++)
+                {
+                    Waypoint *wp = currWPManager->createWaypoint();
+                    wp->setLatitude(old->getWaypointEditableList()[i]->getLatitude());
+                    wp->setLongitude(old->getWaypointEditableList()[i]->getLongitude());
+                    wp->setAltitude(old->getWaypointEditableList()[i]->getAltitude());
+                }
+            }
+            offlineMode = false;
+            old->deleteLater();
+        }*/
+
 
         // Delete all waypoints and add waypoint from new system
-        updateWaypointList(uas->getUASID());
+
     }
 }
 
@@ -563,7 +595,7 @@ void QGCMapWidget::updateWaypoint(int uas, Waypoint* wp)
     // Currently only accept waypoint updates from the UAS in focus
     // this has to be changed to accept read-only updates from other systems as well.
     UASInterface* uasInstance = UASManager::instance()->getUASForId(uas);
-    if (uasInstance->getWaypointManager() == currWPManager || uas == -1)
+    if (!uasInstance || uasInstance->getWaypointManager() == currWPManager || uas == -1)
     {
         // Only accept waypoints in global coordinate frame
         if (((wp->getFrame() == MAV_FRAME_GLOBAL) || (wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)) && wp->isNavigationType())

src/ui/map/QGCMapWidget.h

@@ -137,6 +137,7 @@ protected:
     void mouseDoubleClickEvent(QMouseEvent* event);
 
     UASWaypointManager* currWPManager; ///< The current waypoint manager
+    bool offlineMode;
     QMap<Waypoint* , mapcontrol::WayPointItem*> waypointsToIcons;
     QMap<mapcontrol::WayPointItem*, Waypoint*> iconsToWaypoints;
     Waypoint* firingWaypointChange;