Merge pull request #428 from DrTon/alt_speed_fix

Altitude and speed rewrite

src/comm/QGCXPlaneLink.cc

@@ -911,14 +911,14 @@ void QGCXPlaneLink::setRandomPosition()
     double offLon = rand() / static_cast<double>(RAND_MAX) / 500.0 + 1.0/500.0;
     double offAlt = rand() / static_cast<double>(RAND_MAX) * 200.0 + 100.0;
 
-    if (mav->getAltitude() + offAlt < 0)
+    if (mav->getAltitudeAMSL() + offAlt < 0)
     {
         offAlt *= -1.0;
     }
 
     setPositionAttitude(mav->getLatitude() + offLat,
                         mav->getLongitude() + offLon,
-                        mav->getAltitude() + offAlt,
+                        mav->getAltitudeAMSL() + offAlt,
                         mav->getRoll(),
                         mav->getPitch(),
                         mav->getYaw());
@@ -935,7 +935,7 @@ void QGCXPlaneLink::setRandomAttitude()
 
     setPositionAttitude(mav->getLatitude(),
                         mav->getLongitude(),
-                        mav->getAltitude(),
+                        mav->getAltitudeAMSL(),
                         roll,
                         pitch,
                         yaw);

src/uas/UAS.cc

@@ -112,7 +112,15 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
 
     latitude(0.0),
     longitude(0.0),
-    altitude(0.0),
+    altitudeAMSL(0.0),
+    altitudeRelative(0.0),
+
+    airSpeed(NAN),
+    groundSpeed(NAN),
+
+    speedX(0.0),
+    speedY(0.0),
+    speedZ(0.0),
 
     globalEstimatorActive(false),
     latitude_gps(0.0),
@@ -828,18 +836,17 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
             if (!attitudeKnown)
             {
-                //yaw = QGC::limitAngleToPMPId((((double)hud.heading-180.0)/360.0)*M_PI);
-                setYaw(QGC::limitAngleToPMPId((((double)hud.heading-180.0)/360.0)*M_PI));
+                setYaw(QGC::limitAngleToPMPId((((double)hud.heading)/180.0)*M_PI));
                 emit attitudeChanged(this, getRoll(), getPitch(), getYaw(), time);
             }
 
-            // The primary altitude is the one that the UAV uses for navigation.
-            // We assume! that the HUD message reports that as altitude.
-            emit primaryAltitudeChanged(this, hud.alt, time);
-
-            emit primarySpeedChanged(this, hud.airspeed, time);
-            emit gpsSpeedChanged(this, hud.groundspeed, time);
-            emit climbRateChanged(this, hud.climb, time);
+            setAltitudeAMSL(hud.alt);
+            setGroundSpeed(hud.groundspeed);
+            if (!isnan(hud.airspeed))
+                setAirSpeed(hud.airspeed);
+            speedZ = -hud.climb;
+            emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
+            emit speedChanged(this, groundSpeed, airSpeed, time);
         }
             break;
         case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
@@ -855,13 +862,17 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
             if (!wrongComponent)
             {
-                localX = pos.x;
-                localY = pos.y;
-                localZ = pos.z;
+                setLocalX(pos.x);
+                setLocalY(pos.y);
+                setLocalZ(pos.z);
+
+                speedX = pos.vx;
+                speedY = pos.vy;
+                speedZ = pos.vz;
 
                 // Emit
-                emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
-                emit velocityChanged_NED(this, pos.vx, pos.vy, pos.vz, time);
+                emit localPositionChanged(this, localX, localY, localZ, time);
+                emit velocityChanged_NED(this, speedX, speedY, speedZ, time);
 
                 // Set internal state
                 if (!positionLock) {
@@ -888,15 +899,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         {
             mavlink_global_position_int_t pos;
             mavlink_msg_global_position_int_decode(&message, &pos);
+
             quint64 time = getUnixTime();
+
             setLatitude(pos.lat/(double)1E7);
             setLongitude(pos.lon/(double)1E7);
-
-            // dongfang: Beware. There are 2 altitudes in this message; neither is the primary.
-            // pos.alt is GPS altitude and pos.relative_alt is above-home altitude.
-            // It would be nice if APM could be modified to present the primary (mix) alt. instead
-            // of the GPS alt. in this message.
-            setAltitude(pos.alt/1000.0);
+            setAltitudeAMSL(pos.alt/1000.0);
+            setAltitudeRelative(pos.relative_alt/1000.0);
 
             globalEstimatorActive = true;
 
@@ -904,14 +913,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             speedY = pos.vy/100.0;
             speedZ = pos.vz/100.0;
 
-            emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitude(), time);
-            // dongfang: The altitude is GPS altitude. Bugger. It needs to be changed to primary.
-            emit gpsAltitudeChanged(this, getAltitude(), time);
+            emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), time);
+            emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
             // We had some frame mess here, global and local axes were mixed.
             emit velocityChanged_NED(this, speedX, speedY, speedZ, time);
 
-            double groundspeed = qSqrt(speedX*speedX+speedY*speedY);
-            emit gpsSpeedChanged(this, groundspeed, time);
+            setGroundSpeed(qSqrt(speedX*speedX+speedY*speedY));
+            emit speedChanged(this, groundSpeed, airSpeed, time);
 
             // Set internal state
             if (!positionLock)
@@ -930,9 +938,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             mavlink_gps_raw_int_t pos;
             mavlink_msg_gps_raw_int_decode(&message, &pos);
 
-            // SANITY CHECK
-            // only accept values in a realistic range
-            // quint64 time = getUnixTime(pos.time_usec);
             quint64 time = getUnixTime(pos.time_usec);
 
             emit gpsLocalizationChanged(this, pos.fix_type);
@@ -947,6 +952,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
             if (pos.fix_type > 2)
             {
+                positionLock = true;
+                isGlobalPositionKnown = true;
 
                 latitude_gps = pos.lat/(double)1E7;
                 longitude_gps = pos.lon/(double)1E7;
@@ -956,29 +963,16 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 if (!globalEstimatorActive) {
                     setLatitude(latitude_gps);
                     setLongitude(longitude_gps);
-                    setAltitude(altitude_gps);
-                    emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitude(), time);
-                    emit gpsAltitudeChanged(this, getAltitude(), time);
-                }
+                    setAltitudeAMSL(altitude_gps);
+                    emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), time);
+                    emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
 
-                positionLock = true;
-                isGlobalPositionKnown = true;
-
-                // Smaller than threshold and not NaN
-
-                float vel = pos.vel/100.0f;
-
-                // If no GLOBAL_POSITION_INT messages ever received, use these raw GPS values instead.
-                if (!globalEstimatorActive) {
-                    if ((vel < 1000000) && !isnan(vel) && !isinf(vel))
-                    {
-                        //emit speedChanged(this, vel, 0.0, 0.0, time);
+                    float vel = pos.vel/100.0f;
+                    // Smaller than threshold and not NaN
+                    if ((vel < 1000000) && !isnan(vel) && !isinf(vel)) {
                         setGroundSpeed(vel);
-                        // TODO: Other sources also? Actually this condition does not quite belong here.
-                        emit gpsSpeedChanged(this, vel, time);
-                    }
-                    else
-                    {
+                        emit speedChanged(this, groundSpeed, airSpeed, time);
+                    } else {
                         emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(vel));
                     }
                 }

src/uas/UAS.h

@@ -103,7 +103,11 @@ public:
     Q_PROPERTY(double pitch READ getPitch WRITE setPitch NOTIFY pitchChanged)
     Q_PROPERTY(double yaw READ getYaw WRITE setYaw NOTIFY yawChanged)
     Q_PROPERTY(double distToWaypoint READ getDistToWaypoint WRITE setDistToWaypoint NOTIFY distToWaypointChanged)
+    Q_PROPERTY(double airSpeed READ getGroundSpeed WRITE setGroundSpeed NOTIFY airSpeedChanged)
     Q_PROPERTY(double groundSpeed READ getGroundSpeed WRITE setGroundSpeed NOTIFY groundSpeedChanged)
+    Q_PROPERTY(double bearingToWaypoint READ getBearingToWaypoint WRITE setBearingToWaypoint NOTIFY bearingToWaypointChanged)
+    Q_PROPERTY(double altitudeAMSL READ getAltitudeAMSL WRITE setAltitudeAMSL NOTIFY altitudeAMSLChanged)
+    Q_PROPERTY(double altitudeRelative READ getAltitudeRelative WRITE setAltitudeRelative NOTIFY altitudeRelativeChanged)
 
     void setGroundSpeed(double val)
     {
@@ -115,17 +119,24 @@ public:
     {
         return groundSpeed;
     }
-    Q_PROPERTY(double bearingToWaypoint READ getBearingToWaypoint WRITE setBearingToWaypoint NOTIFY bearingToWaypointChanged)
 
-    // dongfang: There is not only one altitude; there are at least (APM) GPS altitude, mix altitude and mix-altitude relative to home.
-    // I have made this property refer to the mix-altitude ASL as this is the one actually used in navigation by APM.
-    Q_PROPERTY(double altitude READ getAltitude WRITE setAltitude NOTIFY altitudeChanged)
+    void setAirSpeed(double val)
+    {
+        airSpeed = val;
+        emit airSpeedChanged(val,"airSpeed");
+        emit valueChanged(this->uasId,"airSpeed","m/s",QVariant(val),getUnixTime());
+    }
+
+    double getAirSpeed() const
+    {
+        return airSpeed;
+    }
 
     void setLocalX(double val)
     {
         localX = val;
         emit localXChanged(val,"localX");
-        emit valueChanged(this->uasId,"localX","M",QVariant(val),getUnixTime());
+        emit valueChanged(this->uasId,"localX","m",QVariant(val),getUnixTime());
     }
 
     double getLocalX() const
@@ -137,7 +148,7 @@ public:
     {
         localY = val;
         emit localYChanged(val,"localY");
-        emit valueChanged(this->uasId,"localY","M",QVariant(val),getUnixTime());
+        emit valueChanged(this->uasId,"localY","m",QVariant(val),getUnixTime());
     }
     double getLocalY() const
     {
@@ -148,7 +159,7 @@ public:
     {
         localZ = val;
         emit localZChanged(val,"localZ");
-        emit valueChanged(this->uasId,"localZ","M",QVariant(val),getUnixTime());
+        emit valueChanged(this->uasId,"localZ","m",QVariant(val),getUnixTime());
     }
     double getLocalZ() const
     {
@@ -179,23 +190,35 @@ public:
         return longitude;
     }
 
-    void setAltitude(double val)
+    void setAltitudeAMSL(double val)
     {
-        altitude = val;
-        emit altitudeChanged(val, "altitude");
-        emit valueChanged(this->uasId,"altitude","M",QVariant(val),getUnixTime());
+        altitudeAMSL = val;
+        emit altitudeAMSLChanged(val, "altitudeAMSL");
+        emit valueChanged(this->uasId,"altitudeAMSL","m",QVariant(val),getUnixTime());
     }
 
-    double getAltitude() const
+    double getAltitudeAMSL() const
     {
-        return altitude;
+        return altitudeAMSL;
+    }
+
+    void setAltitudeRelative(double val)
+    {
+        altitudeRelative = val;
+        emit altitudeRelativeChanged(val, "altitudeRelative");
+        emit valueChanged(this->uasId,"altitudeRelative","m",QVariant(val),getUnixTime());
+    }
+
+    double getAltitudeRelative() const
+    {
+        return altitudeRelative;
     }
 
     void setSatelliteCount(double val)
     {
         satelliteCount = val;
         emit satelliteCountChanged(val,"satelliteCount");
-        emit valueChanged(this->uasId,"satelliteCount","M",QVariant(val),getUnixTime());
+        emit valueChanged(this->uasId,"satelliteCount","",QVariant(val),getUnixTime());
     }
 
     double getSatelliteCount() const
@@ -217,7 +240,7 @@ public:
     {
         distToWaypoint = val;
         emit distToWaypointChanged(val,"distToWaypoint");
-        emit valueChanged(this->uasId,"distToWaypoint","M",QVariant(val),getUnixTime());
+        emit valueChanged(this->uasId,"distToWaypoint","m",QVariant(val),getUnixTime());
     }
 
     double getDistToWaypoint() const
@@ -229,7 +252,7 @@ public:
     {
         bearingToWaypoint = val;
         emit bearingToWaypointChanged(val,"bearingToWaypoint");
-        emit valueChanged(this->uasId,"bearingToWaypoint","M",QVariant(val),getUnixTime());
+        emit valueChanged(this->uasId,"bearingToWaypoint","deg",QVariant(val),getUnixTime());
     }
 
     double getBearingToWaypoint() const
@@ -414,8 +437,8 @@ protected: //COMMENTS FOR TEST UNIT
 
     /// POSITION
     bool positionLock;          ///< Status if position information is available or not
-    bool isLocalPositionKnown;      ///< If the local position has been received for this MAV
-    bool isGlobalPositionKnown;     ///< If the global position has been received for this MAV
+    bool isLocalPositionKnown;  ///< If the local position has been received for this MAV
+    bool isGlobalPositionKnown; ///< If the global position has been received for this MAV
 
     double localX;
     double localY;
@@ -423,7 +446,8 @@ protected: //COMMENTS FOR TEST UNIT
 
     double latitude;            ///< Global latitude as estimated by position estimator
     double longitude;           ///< Global longitude as estimated by position estimator
-    double altitude;            ///< Global altitude as estimated by position estimator
+    double altitudeAMSL;        ///< Global altitude as estimated by position estimator
+    double altitudeRelative;    ///< Altitude above home as estimated by position estimator
 
     double satelliteCount;      ///< Number of satellites visible to raw GPS
     bool globalEstimatorActive; ///< Global position estimator present, do not fall back to GPS raw for position
@@ -439,7 +463,8 @@ protected: //COMMENTS FOR TEST UNIT
 
     /// WAYPOINT NAVIGATION
     double distToWaypoint;       ///< Distance to next waypoint
-    double groundSpeed;         ///< GPS Groundspeed
+    double airSpeed;             ///< Airspeed
+    double groundSpeed;          ///< Groundspeed
     double bearingToWaypoint;    ///< Bearing to next waypoint
     UASWaypointManager waypointManager;
 
@@ -921,18 +946,16 @@ signals:
     void localZChanged(double val,QString name);
     void longitudeChanged(double val,QString name);
     void latitudeChanged(double val,QString name);
-    void altitudeChanged(double val,QString name);
+    void altitudeAMSLChanged(double val,QString name);
+    void altitudeRelativeChanged(double val,QString name);
     void rollChanged(double val,QString name);
     void pitchChanged(double val,QString name);
     void yawChanged(double val,QString name);
     void satelliteCountChanged(double val,QString name);
     void distToWaypointChanged(double val,QString name);
     void groundSpeedChanged(double val, QString name);
+    void airSpeedChanged(double val, QString name);
     void bearingToWaypointChanged(double val,QString name);
-
-    //void primaryAltitudeChanged(UASInterface*, double altitude, quint64 usec);
-    //void gpsAltitudeChanged(UASInterface*, double altitude, quint64 usec);
-    //void velocityChanged_NED(UASInterface*, double vx, double vy, double vz, quint64 usec);
 protected:
     /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
     quint64 getUnixTime(quint64 time=0);

src/uas/UASInterface.h

@@ -124,7 +124,8 @@ public:
 
     virtual double getLatitude() const = 0;
     virtual double getLongitude() const = 0;
-    virtual double getAltitude() const = 0;
+    virtual double getAltitudeAMSL() const = 0;
+    virtual double getAltitudeRelative() const = 0;
     virtual bool globalPositionKnown() const = 0;
 
     virtual double getRoll() const = 0;
@@ -523,16 +524,12 @@ signals:
     void localPositionChanged(UASInterface*, double x, double y, double z, quint64 usec);
     void localPositionChanged(UASInterface*, int component, double x, double y, double z, quint64 usec);
     void globalPositionChanged(UASInterface*, double lat, double lon, double alt, quint64 usec);
-    void primaryAltitudeChanged(UASInterface*, double altitude, quint64 usec);
-    void gpsAltitudeChanged(UASInterface*, double altitude, quint64 usec);
+    void altitudeChanged(UASInterface*, double altitudeAMSL, double altitudeRelative, double climbRate, quint64 usec);
     /** @brief Update the status of one satellite used for localization */
     void gpsSatelliteStatusChanged(int uasid, int satid, float azimuth, float direction, float snr, bool used);
 
     // The horizontal speed (a scalar)
-    void primarySpeedChanged(UASInterface*, double speed, quint64 usec);
-    void gpsSpeedChanged(UASInterface*, double speed, quint64 usec);
-    // The vertical speed (a scalar)
-    void climbRateChanged(UASInterface*, double climb, quint64 usec);
+    void speedChanged(UASInterface* uas, double groundSpeed, double airSpeed, quint64 usec);
     // Consider adding a MAV_FRAME parameter to this; could help specifying what the 3 scalars are.
     void velocityChanged_NED(UASInterface*, double vx, double vy, double vz, quint64 usec);
 

src/ui/PrimaryFlightDisplay.h

@@ -18,11 +18,8 @@ public slots:
     /** @brief Attitude from one specific component / redundant autopilot */
     void updateAttitude(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp);
 
-    void updatePrimarySpeed(UASInterface* uas, double speed, quint64 timstamp);
-    void updateGPSSpeed(UASInterface* uas, double speed, quint64 timstamp);
-    void updateClimbRate(UASInterface* uas, double altitude, quint64 timestamp);
-    void updatePrimaryAltitude(UASInterface* uas, double altitude, quint64 timestamp);
-    void updateGPSAltitude(UASInterface* uas, double altitude, quint64 timestamp);
+    void updateSpeed(UASInterface* uas, double _groundSpeed, double _airSpeed, quint64 timestamp);
+    void updateAltitude(UASInterface* uas, double _altitudeAMSL, double _altitudeRelative, double _climbRate, quint64 timestamp);
     void updateNavigationControllerErrors(UASInterface* uas, double altitudeError, double speedError, double xtrackError);
 
     /** @brief Set the currently monitored UAS */
@@ -102,8 +99,8 @@ private:
     void drawAICompassDisk(QPainter& painter, QRectF area, float halfspan);
     void drawSeparateCompassDisk(QPainter& painter, QRectF area);
 
-    void drawAltimeter(QPainter& painter, QRectF area, float altitude, float secondaryAltitude, float vv);
-    void drawVelocityMeter(QPainter& painter, QRectF area, float speed, float secondarySpeed);
+    void drawAltimeter(QPainter& painter, QRectF area);
+    void drawVelocityMeter(QPainter& painter, QRectF area);
     void fillInstrumentBackground(QPainter& painter, QRectF edge);
     void fillInstrumentOpagueBackground(QPainter& painter, QRectF edge);
     void drawInstrumentBackground(QPainter& painter, QRectF edge);
@@ -125,24 +122,23 @@ private:
     SpeedMode speedMode;
     */
 
-    bool didReceivePrimaryAltitude;
-    bool didReceivePrimarySpeed;
+    bool didReceiveSpeed;
 
     float roll;
     float pitch;
     float heading;
 
-    float primaryAltitude;
-    float GPSAltitude;
+    float altitudeAMSL;
+    float altitudeRelative;
 
     // APM: GPS and baro mix above home (GPS) altitude. This value comes from the GLOBAL_POSITION_INT message.
     // Do !!!NOT!!! ever do altitude calculations at the ground station. There are enough pitfalls already.
     // If the MP "set home altitude" button is migrated to here, it must set the UAS home altitude, not a GS-local one.
     float aboveHomeAltitude;
 
-    float primarySpeed;
-    float groundspeed;
-    float verticalVelocity;
+    float groundSpeed;
+    float airSpeed;
+    float climbRate;
 
     float navigationAltitudeError;
     float navigationSpeedError;

src/ui/WaypointList.cc

@@ -306,7 +306,7 @@ void WaypointList::addEditable(bool onCurrentPosition)
                     } else {
                         updateStatusLabel(tr("Added default GLOBAL (Relative alt.) waypoint."));
                     }
-                    wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
+                    wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitudeAMSL(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
                     WPM->addWaypointEditable(wp);
 
                 } else {

src/ui/map/QGCMapWidget.cc

@@ -462,7 +462,7 @@ void QGCMapWidget::updateGlobalPosition()
 
         // Set new lat/lon position of UAV icon
         internals::PointLatLng pos_lat_lon = internals::PointLatLng(system->getLatitude(), system->getLongitude());
-        uav->SetUAVPos(pos_lat_lon, system->getAltitude());
+        uav->SetUAVPos(pos_lat_lon, system->getAltitudeAMSL());
         // Follow status
         if (followUAVEnabled && system->getUASID() == followUAVID) SetCurrentPosition(pos_lat_lon);
         // Convert from radians to degrees and apply
@@ -490,7 +490,7 @@ void QGCMapWidget::updateLocalPosition()
 
         // Set new lat/lon position of UAV icon
         internals::PointLatLng pos_lat_lon = internals::PointLatLng(system->getLatitude(), system->getLongitude());
-        uav->SetUAVPos(pos_lat_lon, system->getAltitude());
+        uav->SetUAVPos(pos_lat_lon, system->getAltitudeAMSL());
         // Follow status
         if (followUAVEnabled && system->getUASID() == followUAVID) SetCurrentPosition(pos_lat_lon);
         // Convert from radians to degrees and apply

src/ui/map3D/Pixhawk3DWidget.cc

@@ -682,7 +682,7 @@ Pixhawk3DWidget::selectTargetHeading(void)
 
     if (mGlobalViewParams->frame() == MAV_FRAME_GLOBAL)
     {
-        double altitude = mActiveUAS->getAltitude();
+        double altitude = mActiveUAS->getAltitudeAMSL();
 
         QPointF cursorWorldCoords =
             m3DWidget->worldCursorPosition(m3DWidget->mouseCursorCoords(), altitude);
@@ -722,7 +722,7 @@ Pixhawk3DWidget::selectTarget(void)
 
     if (mGlobalViewParams->frame() == MAV_FRAME_GLOBAL)
     {
-        double altitude = mActiveUAS->getAltitude();
+        double altitude = mActiveUAS->getAltitudeAMSL();
 
         QPointF cursorWorldCoords =
             m3DWidget->worldCursorPosition(mCachedMousePos, altitude);
@@ -789,7 +789,7 @@ Pixhawk3DWidget::insertWaypoint(void)
     {
         double latitude = mActiveUAS->getLatitude();
         double longitude = mActiveUAS->getLongitude();
-        double altitude = mActiveUAS->getAltitude();
+        double altitude = mActiveUAS->getAltitudeAMSL();
         double x, y;
         QString utmZone;
         Imagery::LLtoUTM(latitude, longitude, x, y, utmZone);
@@ -845,7 +845,7 @@ Pixhawk3DWidget::moveWaypointPosition(void)
     {
         double latitude = mActiveUAS->getLatitude();
         double longitude = mActiveUAS->getLongitude();
-        double altitude = mActiveUAS->getAltitude();
+        double altitude = mActiveUAS->getAltitudeAMSL();
         double x, y;
         QString utmZone;
         Imagery::LLtoUTM(latitude, longitude, x, y, utmZone);
@@ -1700,7 +1700,7 @@ Pixhawk3DWidget::getPose(UASInterface* uas,
     {
         double latitude = uas->getLatitude();
         double longitude = uas->getLongitude();
-        double altitude = uas->getAltitude();
+        double altitude = uas->getAltitudeAMSL();
 
         Imagery::LLtoUTM(latitude, longitude, x, y, utmZone);
         z = -altitude;
@@ -1742,7 +1742,7 @@ Pixhawk3DWidget::getPosition(UASInterface* uas,
     {
         double latitude = uas->getLatitude();
         double longitude = uas->getLongitude();
-        double altitude = uas->getAltitude();
+        double altitude = uas->getAltitudeAMSL();
 
         Imagery::LLtoUTM(latitude, longitude, x, y, utmZone);
         z = -altitude;

src/ui/map3D/QGCGoogleEarthView.cc

@@ -632,7 +632,7 @@ void QGCGoogleEarthView::updateState()
             uasId = currMav->getUASID();
             lat = currMav->getLatitude();
             lon = currMav->getLongitude();
-            alt = currMav->getAltitude();
+            alt = currMav->getAltitudeAMSL();
             roll = currMav->getRoll();
             pitch = currMav->getPitch();
             yaw = currMav->getYaw();

src/ui/map3D/WaypointGroupNode.cc

@@ -65,7 +65,7 @@ WaypointGroupNode::update(UASInterface* uas, MAV_FRAME frame)
     {
         double latitude = uas->getLatitude();
         double longitude = uas->getLongitude();
-        double altitude = uas->getAltitude();
+        double altitude = uas->getAltitudeAMSL();
 
         QString utmZone;
         Imagery::LLtoUTM(latitude, longitude, robotX, robotY, utmZone);
@@ -75,7 +75,7 @@ WaypointGroupNode::update(UASInterface* uas, MAV_FRAME frame)
     {
         double latitude = uas->getLatitude();
         double longitude = uas->getLongitude();
-        double altitude = uas->getAltitude() + UASManager::instance()->getHomeAltitude();
+        double altitude = uas->getAltitudeRelative();
 
         QString utmZone;
         Imagery::LLtoUTM(latitude, longitude, robotX, robotY, utmZone);

src/ui/uas/UASListWidget.cc

@@ -165,7 +165,6 @@ void UASListWidget::addUAS(UASInterface* uas)
             uWidget = NULL;
         }
     }
-
     if (!uasViews.contains(uas))
     {
         // Only display the UAS in a single link.

src/ui/uas/UASQuickView.cc

@@ -29,11 +29,10 @@ UASQuickView::UASQuickView(QWidget *parent) : QWidget(parent)
     //If we don't have any predefined settings, set some defaults.
     if (uasPropertyValueMap.size() == 0)
     {
-        valueEnabled("altitude");
+        valueEnabled("altitudeAMSL");
+        valueEnabled("altitudeRelative");
         valueEnabled("groundSpeed");
         valueEnabled("distToWP");
-        valueEnabled("yaw");
-        valueEnabled("roll");
     }
 
     QAction *action = new QAction("Add/Remove Items",this);

src/ui/uas/UASQuickViewTextItem.cc

@@ -10,7 +10,6 @@ UASQuickViewTextItem::UASQuickViewTextItem(QWidget *parent) : UASQuickViewItem(p
 
     // Create the title label. Scale the font based on available size.
     titleLabel = new QLabel(this);
-// <<<<<<< HEAD
      titleLabel->setAlignment(Qt::AlignHCenter);
      titleLabel->setSizePolicy(QSizePolicy::MinimumExpanding,QSizePolicy::Minimum);
      titleLabel->setObjectName(QString::fromUtf8("title"));
@@ -25,18 +24,6 @@ UASQuickViewTextItem::UASQuickViewTextItem(QWidget *parent) : UASQuickViewItem(p
      valueLabel->setSizePolicy(QSizePolicy::MinimumExpanding,QSizePolicy::Minimum);
      valueLabel->setObjectName(QString::fromUtf8("value"));
      valueLabel->setText("0.00");
-// =======
-//    titleLabel->setSizePolicy(QSizePolicy::Ignored,QSizePolicy::Ignored);
-//    titleLabel->setAlignment(Qt::AlignHCenter | Qt::AlignBottom);
-//    this->layout()->addWidget(titleLabel);
-//    valueLabel = new QLabel(this);
-//    valueLabel->setSizePolicy(QSizePolicy::Ignored,QSizePolicy::Ignored);
-//    valueLabel->setAlignment(Qt::AlignHCenter | Qt::AlignTop);
-//    valueLabel->setText("0.00");
-//    this->layout()->addWidget(valueLabel);
-//    //spacerItem = new QSpacerItem(20,40,QSizePolicy::Minimum,QSizePolicy::Ignored);
-//    //layout->addSpacerItem(spacerItem);
-// >>>>>>> 34eaf1fb422146f5df3b01fad4d756343b3127c9
     QFont valuefont = valueLabel->font();
     valuefont.setPixelSize(this->height() / 2.0);
     valueLabel->setFont(valuefont);