VERY EXPERIMENTAL. Saving of location for the common widgets now working and...

VERY EXPERIMENTAL. Saving of location for the common widgets now working and persisted across sessions. Needs to be extended to the individual autopilot widgets

src/comm/MAVLinkSimulationLink.cc

@@ -659,7 +659,7 @@ qint64 MAVLinkSimulationLink::bytesAvailable()
 
 void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
 {
-    qDebug() << "Simulation received " << size << " bytes from groundstation: ";
+    //qDebug() << "Simulation received " << size << " bytes from groundstation: ";
 
     // Increase write counter
     //bitsSentTotal += size * 8;

src/ui/MainWindow.cc

@@ -46,6 +46,7 @@
 **/
 MainWindow::MainWindow(QWidget *parent) :
         QMainWindow(parent),
+        toolsMenuActions(),
         settings()
 {
     this->hide();
@@ -89,33 +90,39 @@ MainWindow::~MainWindow()
 }
 
 
+
 void MainWindow::buildCommonWidgets()
 {
     //TODO:  move protocol outside UI
     mavlink     = new MAVLinkProtocol();
 
-    // Center widgets
-    mapWidget         = new MapWidget(this);
-    protocolWidget    = new XMLCommProtocolWidget(this);
-
     // Dock widgets
     controlDockWidget = new QDockWidget(tr("Control"), this);
     controlDockWidget->setWidget( new UASControlWidget(this) );
+    addToToolsMenu (controlDockWidget, tr("UAS Control"), SLOT(showToolWidget()), MENU_UAS_CONTROL, Qt::LeftDockWidgetArea);
 
     listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
     listDockWidget->setWidget( new UASListWidget(this) );
+    addToToolsMenu (listDockWidget, tr("UAS List"), SLOT(showToolWidget()), MENU_UAS_LIST, Qt::RightDockWidgetArea);
 
     waypointsDockWidget = new QDockWidget(tr("Waypoint List"), this);
     waypointsDockWidget->setWidget( new WaypointList(this, NULL) );
+    addToToolsMenu (waypointsDockWidget, tr("Waypoints List"), SLOT(showToolWidget()), MENU_WAYPOINTS, Qt::BottomDockWidgetArea);
 
     infoDockWidget = new QDockWidget(tr("Status Details"), this);
     infoDockWidget->setWidget( new UASInfoWidget(this) );
+    addToToolsMenu (infoDockWidget, tr("Status Details"), SLOT(showToolWidget()), MENU_STATUS, Qt::RightDockWidgetArea);
+
 
     debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
     debugConsoleDockWidget->setWidget( new DebugConsole(this) );
+    addToToolsMenu (debugConsoleDockWidget, tr("Communication Console"), SLOT(showToolWidget()), MENU_DEBUG_CONSOLE, Qt::BottomDockWidgetArea);
 
-}
+    // Center widgets
+    mapWidget         = new MapWidget(this);
+    protocolWidget    = new XMLCommProtocolWidget(this);
 
+}
 void MainWindow::buildPxWidgets()
 {
     //FIXME: memory of acceptList will never be freed again
@@ -151,27 +158,37 @@ void MainWindow::buildPxWidgets()
     // Dock widgets
     detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
     detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
+    addToToolsMenu (detectionDockWidget, tr("Object Recognition"), SLOT(showToolWidget()), MENU_DETECTION, Qt::RightDockWidgetArea);
+
 
     parametersDockWidget = new QDockWidget(tr("Onboard Parameters"), this);
     parametersDockWidget->setWidget( new ParameterInterface(this) );
+    addToToolsMenu (parametersDockWidget, tr("Onboard Parameters"), SLOT(showToolWidget()), MENU_PARAMETERS, Qt::RightDockWidgetArea);
 
     watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
     watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
+    addToToolsMenu (watchdogControlDockWidget, tr("Process Control"), SLOT(showToolWidget()), MENU_WATCHDOG, Qt::BottomDockWidgetArea);
+
 
     hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
     hsiDockWidget->setWidget( new HSIDisplay(this) );
+    addToToolsMenu (hsiDockWidget, tr("HSI"), SLOT(showToolWidget()), MENU_HSI, Qt::BottomDockWidgetArea);
 
     headDown1DockWidget = new QDockWidget(tr("Primary Flight Display"), this);
     headDown1DockWidget->setWidget( new HDDisplay(acceptList, this) );
+    addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget()), MENU_HDD_1, Qt::RightDockWidgetArea);
 
     headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
     headDown2DockWidget->setWidget( new HDDisplay(acceptList2, this) );
+    addToToolsMenu (headDown2DockWidget, tr("Payload Status"), SLOT(showToolWidget()), MENU_HDD_2, Qt::RightDockWidgetArea);
 
     rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
     rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
+    addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget()), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
 
-    headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
+    headUpDockWidget = new QDockWidget(tr("HUD"), this);
     headUpDockWidget->setWidget( new HUD(320, 240, this));
+    addToToolsMenu (headUpDockWidget, tr("Control Indicator"), SLOT(showToolWidget()), MENU_HUD, Qt::LeftDockWidgetArea);
 
     // Dialogue widgets
     //FIXME: free memory in destructor
@@ -183,32 +200,154 @@ void MainWindow::buildSlugsWidgets()
 {
     // Center widgets
     linechartWidget   = new Linecharts(this);
-    hudWidget         = new HUD(320, 240, this);
 
     // Dock widgets
+    headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
+    headUpDockWidget->setWidget( new HUD(320, 240, this));
+    addToToolsMenu (headUpDockWidget, tr("HUD"), SLOT(showToolWidget()), MENU_HUD, Qt::LeftDockWidgetArea);
+
+
     rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
     rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
+    addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget()), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
 
-    headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
-    headUpDockWidget->setWidget( new HUD(320, 240, this));
 
     // Dialog widgets
     slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
     slugsDataWidget->setWidget( new SlugsDataSensorView(this));
+    addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget()), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
+
 
     slugsPIDControlWidget = new QDockWidget(tr("PID Control"), this);
     slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));
+    addToToolsMenu (slugsPIDControlWidget, tr("PID Configuration"), SLOT(showToolWidget()), MENU_SLUGS_PID, Qt::LeftDockWidgetArea);
 
     slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
     slugsHilSimWidget->setWidget( new SlugsHilSim(this));
+    addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget()), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
 
     slugsCamControlWidget = new QDockWidget(tr("Video Camera Control"), this);
     slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));
+    addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget()), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
 
 }
 /**
  * Connect the signals and slots of the common window widgets
  */
+
+void MainWindow::addToToolsMenu ( QWidget* widget,
+                                 const QString title,
+                                 const char * slotName,
+                                 TOOLS_WIDGET_NAMES tool,
+                                 Qt::DockWidgetArea location){
+  QAction* tempAction;
+  QString posKey, chKey;
+  tempAction = ui.menuTools->addAction(title);
+  tempAction->setCheckable(true);
+  tempAction->setData(tool);
+
+  // populate the Hashes
+  toolsMenuActions[tool] = tempAction;
+  dockWidgets[tool] = widget;
+
+  // Based on Settings check/uncheck
+  // Postion key = menu/widget/position/pos_value
+  posKey = buildMenuKey (SUB_SECTION_LOCATION,tool);
+
+  if (!settings.contains(posKey)){
+    settings.setValue(posKey,location);
+    dockWidgetLocations[tool] = location;
+  } else {
+    dockWidgetLocations[tool] = static_cast <Qt::DockWidgetArea> (settings.value(posKey).toInt());
+  }
+
+  // Checked key = menu/widget/checked/pos_value
+  chKey = buildMenuKey(SUB_SECTION_CHECKED,tool);
+
+  if (!settings.contains(chKey)){
+    settings.setValue(chKey,false);
+    tempAction->setChecked(false);
+  } else {
+    tempAction->setChecked(settings.value(chKey).toBool());
+  }
+
+  // connect the action
+  connect(tempAction,SIGNAL(triggered()),this, slotName);
+
+  connect(static_cast <QDockWidget *>(dockWidgets[tool]),
+          SIGNAL(visibilityChanged(bool)), this, SLOT(updateVisibilitySettings(bool)));
+
+  connect(static_cast <QDockWidget *>(dockWidgets[tool]),
+          SIGNAL(dockLocationChanged(Qt::DockWidgetArea)), this, SLOT(updateLocationSettings(Qt::DockWidgetArea)));
+
+}
+
+QString MainWindow::buildMenuKey(SETTINGS_SECTIONS section, TOOLS_WIDGET_NAMES tool){
+  return (QString::number(SECTION_MENU) + "/" +
+          QString::number(tool) + "/" +
+          QString::number(section) + "/" );
+}
+
+
+void MainWindow::showToolWidget(){
+  QAction* temp = qobject_cast<QAction *>(sender());
+  int tool = temp->data().toInt();
+
+  if (temp && dockWidgets[tool]){
+    if (temp->isChecked()){
+      addDockWidget(dockWidgetLocations[tool], static_cast <QDockWidget *> (dockWidgets[tool]));
+      static_cast <QDockWidget *>(dockWidgets[tool])->show();
+    } else {
+      removeDockWidget(static_cast <QDockWidget *>(dockWidgets[tool]));
+    }
+    QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(tool));
+    settings.setValue(chKey,temp->isChecked());
+  }
+}
+
+
+void MainWindow::updateVisibilitySettings (bool vis){
+  Q_UNUSED(vis);
+
+  // This is commented since when the application closes
+  // sets the visibility to false.
+
+  // TODO: A workaround is needed. The QApplication::aboutToQuit
+  //       did not work
+
+  /*
+  QDockWidget* temp = qobject_cast<QDockWidget *>(sender());
+
+  QHashIterator<int, QWidget*> i(dockWidgets);
+  while (i.hasNext()) {
+      i.next();
+      if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp){
+        QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()));
+        qDebug() << "Key in visibility changed" << chKey;
+        settings.setValue(chKey,vis);
+        toolsMenuActions[i.key()]->setChecked(vis);
+        break;
+      }
+  }
+*/
+}
+
+void MainWindow::updateLocationSettings (Qt::DockWidgetArea location){
+  QDockWidget* temp = qobject_cast<QDockWidget *>(sender());
+
+  QHashIterator<int, QWidget*> i(dockWidgets);
+  while (i.hasNext()) {
+      i.next();
+      if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp){
+        QString posKey = buildMenuKey (SUB_SECTION_LOCATION,static_cast<TOOLS_WIDGET_NAMES>(i.key()));
+        settings.setValue(posKey,location);
+        break;
+      }
+  }
+}
+
+
+
 void MainWindow::connectCommonWidgets()
 {
     if (infoDockWidget && infoDockWidget->widget())
@@ -278,8 +417,8 @@ void MainWindow::connectSlugsWidgets()
 
 void MainWindow::arrangeCommonCenterStack()
 {
-
     centerStack = new QStackedWidget(this);
+
     if (!centerStack) return;
 
     if (mapWidget) centerStack->addWidget(mapWidget);
@@ -444,62 +583,9 @@ void MainWindow::showStatusMessage(const QString& status)
 *
 **/
 
-void MainWindow::buildHelpMenu (){
-  QIcon icon;
-
-  icon = QIcon(":/images/apps/utilities-system-monitor.svg");
-  actionOnline_documentation = new QAction(icon,tr("Online Documentation"), this);
-
-  icon = QIcon(":/images/status/software-update-available.svg");
-  actionProject_Roadmap = new QAction(icon,tr("Project Roadmap"), this);
-
-  icon = QIcon(":/images/categories/preferences-system.svg");
-  actionCredits_Developers = new QAction(icon,tr("Developer Credits"), this);
-
-  helpMenu = ui.menuBar->addMenu(tr("Help"));
-
-  helpMenu->addAction(actionOnline_documentation);
-  helpMenu->addAction(actionProject_Roadmap);
-  helpMenu->addAction(actionCredits_Developers);
-
-
-}
-
-
-void MainWindow::buildViewsMenu (){
-  QIcon icon;
-
-  icon = QIcon(":/images/status/weather-overcast.svg");
-  actionFlightView = new QAction(icon,"Flight View", this);
-
-  icon = QIcon(":/images/apps/utilities-system-monitor.svg");
-  actionEngineerView = new QAction(icon,"Engineer View", this);
-
-  icon = QIcon(":/images/status/network-wireless-encrypted.svg");
-  actionCalibrationView = new QAction(icon,"Calibration View", this);
-
-  icon = QIcon(":/images/devices/network-wired.svg");
-  actionMavlinkView = new QAction(icon,"Mavlink View", this);
-
-  icon = QIcon(":/images/categories/applications-internet.svg");
-  actionReloadStyle = new QAction(icon,"Reload Style", this);
-
-  viewsMenu = ui.menuBar->addMenu("Views");
-
-  viewsMenu->addAction(actionFlightView);
-  viewsMenu->addAction(actionEngineerView);
-  viewsMenu->addAction(actionCalibrationView);
-  viewsMenu->addSeparator();
-  viewsMenu->addAction(actionMavlinkView);
-  viewsMenu->addAction(actionReloadStyle);
-
-}
-
 
 void MainWindow::connectCommonActions()
 {
-    buildViewsMenu();
-    buildHelpMenu();
 
     // Connect actions from ui
     connect(ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(addLink()));
@@ -516,18 +602,17 @@ void MainWindow::connectCommonActions()
     connect(ui.actionConfiguration, SIGNAL(triggered()), UASManager::instance(), SLOT(configureActiveUAS()));
 
     // Views actions
-    connect(actionFlightView, SIGNAL(triggered()), this, SLOT(loadPilotView()));
-    connect(actionEngineerView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
-    connect(actionCalibrationView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
+    connect(ui.actionFlightView, SIGNAL(triggered()), this, SLOT(loadPilotView()));
+    connect(ui.actionEngineersView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
+    connect(ui.actionCalibrationView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
 
-    connect(actionMavlinkView, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
-    connect(actionReloadStyle, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));
+    connect(ui.actionMavlinkView, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
+    connect(ui.actionReloadStyle, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));
 
     // Help Actions
-    connect(actionOnline_documentation, SIGNAL(triggered()), this, SLOT(showHelp()));
-    connect(actionCredits_Developers, SIGNAL(triggered()), this, SLOT(showCredits()));
-    connect(actionProject_Roadmap, SIGNAL(triggered()), this, SLOT(showRoadMap()));
-
+    connect(ui.actionOnline_documentation, SIGNAL(triggered()), this, SLOT(showHelp()));
+    connect(ui.actionDeveloper_Credits, SIGNAL(triggered()), this, SLOT(showCredits()));
+    connect(ui.actionProject_Roadmap, SIGNAL(triggered()), this, SLOT(showRoadMap()));
 
 }
 
@@ -877,13 +962,16 @@ void MainWindow::loadPixhawkEngineerView()
     // 3D map
     if (_3DWidget)
     {
-        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
         if (centerStack)
         {
             //map3DWidget->setActive(true);
             centerStack->setCurrentWidget(_3DWidget);
         }
     }
+#else
+    if (centerStack && linechartWidget){
+      centerStack->addWidget(linechartWidget);
+    }
 #endif
 
     // UAS CONTROL
@@ -1290,9 +1378,13 @@ void MainWindow::load3DView()
 void MainWindow::loadEngineerView()
 {
     clearView();
-    // Engineer view, used in EMAV2009
+    // If there is no mav dont siwtch view
+    int selector = (UASManager::instance()->getActiveUAS())?
+                   UASManager::instance()->getActiveUAS()->getAutopilotType() :
+                   255;
+
+    switch (selector){
 
-    switch (UASManager::instance()->getActiveUAS()->getAutopilotType()){
       case (MAV_AUTOPILOT_GENERIC):
       case (MAV_AUTOPILOT_ARDUPILOTMEGA):
       case (MAV_AUTOPILOT_PIXHAWK):
@@ -1320,9 +1412,35 @@ void MainWindow::loadMAVLinkView()
         }
     }
 
+    // TODO: Refactor this code to single function calls
+
+    showTheWidget(MENU_UAS_CONTROL);
+
+    showTheWidget(MENU_UAS_LIST);
+
+    showTheWidget(MENU_WAYPOINTS);
+
+    showTheWidget(MENU_STATUS);
+
+    showTheWidget(MENU_DEBUG_CONSOLE);
+
     this->show();
 }
 
+void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget){
+  bool tempVisible;
+  Qt::DockWidgetArea tempLocation;
+  QDockWidget* tempWidget = static_cast <QDockWidget *>(dockWidgets[widget]);
+
+  tempVisible =  settings.value(buildMenuKey (SUB_SECTION_CHECKED,widget)).toBool();
+  tempLocation = static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,widget)).toInt());
+
+  if (tempWidget && tempVisible){
+    addDockWidget(tempLocation, tempWidget);
+    tempWidget->show();
+  }
+}
+
 void MainWindow::loadAllView()
 {
     clearView();
@@ -1415,7 +1533,7 @@ void MainWindow::loadAllView()
 void MainWindow::loadWidgets()
 {
     //loadOperatorView();
-    loadEngineerView();
+    loadMAVLinkView();
     //loadPilotView();
 }
 

src/ui/MainWindow.h

@@ -148,7 +148,70 @@ public slots:
 
     /** @brief Reload the CSS style sheet */
     void reloadStylesheet();
+
+
+    void showToolWidget();
+    void updateVisibilitySettings (bool vis);
+    void updateLocationSettings (Qt::DockWidgetArea location);
 protected:
+
+    // These defines are used to save the settings when selecting with
+    // which widgets populate the views
+    // FIXME: DO NOT PUT CUSTOM VALUES IN THIS ENUM since it is iterated over
+    // this will be fixed in a future release.
+    typedef enum _TOOLS_WIDGET_NAMES {
+      MENU_UAS_CONTROL,
+      MENU_UAS_INFO,
+      MENU_CAMERA,
+      MENU_UAS_LIST,
+      MENU_WAYPOINTS,
+      MENU_STATUS,
+      MENU_DETECTION,
+      MENU_DEBUG_CONSOLE,
+      MENU_PARAMETERS,
+      MENU_HDD_1,
+      MENU_HDD_2,
+      MENU_WATCHDOG,
+      MENU_HUD,
+      MENU_HSI,
+      MENU_RC_VIEW,
+      MENU_SLUGS_DATA,
+      MENU_SLUGS_PID,
+      MENU_SLUGS_HIL,
+      MENU_SLUGS_CAMERA,
+      CENTRAL_LINECHART = 255, // Separation from dockwidgets and central widgets
+      CENTRAL_PROTOCOL,
+      CENTRAL_MAP,
+      CENTRAL_3D_LOCAL,
+      CENTRAL_3D_MAP,
+      CENTRAL_GOOGLE_EARTH,
+      CENTRAL_HUD,
+      CENTRAL_DATA_PLOT,
+    }TOOLS_WIDGET_NAMES;
+
+    typedef enum _SETTINGS_SECTIONS {
+      SECTION_MENU,
+      VIEW_ENGINEER,
+      VIEW_OPERATOR,
+      VIEW_CALIBRATION,
+      VIEW_MAVLINK,
+      SUB_SECTION_CHECKED,
+      SUB_SECTION_LOCATION,
+    } SETTINGS_SECTIONS;
+
+
+    QHash<int, QAction*> toolsMenuActions; // Holds ptr to the Menu Actions
+    QHash<int, QWidget*> dockWidgets;  // Holds ptr to the Actual Dock widget
+    QHash<int, Qt::DockWidgetArea> dockWidgetLocations; // Holds the location
+
+
+    void addToToolsMenu (QWidget* widget, const QString title, const char * slotName, TOOLS_WIDGET_NAMES tool, Qt::DockWidgetArea location);
+    void showTheWidget (TOOLS_WIDGET_NAMES widget);
+
+    int currentView;
+    int aboutToQuit;
+    //QHash<int, QString> settingsSections;
+
     QStatusBar* statusBar;
     QStatusBar* createStatusBar();
     void loadWidgets();
@@ -174,8 +237,6 @@ protected:
 
     void configureWindowName();
 
-    void buildHelpMenu ();
-    void buildViewsMenu ();
 
     // TODO Should be moved elsewhere, as the protocol does not belong to the UI
     MAVLinkProtocol* mavlink;
@@ -234,17 +295,7 @@ protected:
     QAction* stopUASAct;
     QAction* killUASAct;
     QAction* simulateUASAct;
-    QAction* actionOnline_documentation;
-    QAction* actionProject_Roadmap;
-    QAction* actionCredits_Developers;
-    QAction* actionCalibrationView;
-    QAction* actionEngineerView;
-    QAction* actionFlightView;
-    QAction* actionMavlinkView;
-    QAction* actionReloadStyle;
-
-    QMenu* helpMenu;
-    QMenu* viewsMenu;
+
 
     LogCompressor* comp;
     QString screenFileName;
@@ -253,6 +304,8 @@ protected:
 private:
     Ui::MainWindow ui;
 
+    QString buildMenuKey (SETTINGS_SECTIONS section , TOOLS_WIDGET_NAMES tool);
+
 };
 
 #endif /* _MAINWINDOW_H_ */

src/ui/MainWindow.ui

@@ -80,12 +80,34 @@
     <property name="title">
      <string>Tools</string>
     </property>
+    <addaction name="separator"/>
+   </widget>
+   <widget class="QMenu" name="menuHelp">
+    <property name="title">
+     <string>Help</string>
+    </property>
+    <addaction name="actionOnline_Documentation"/>
+    <addaction name="actionProject_Roadmap_2"/>
+    <addaction name="actionDeveloper_Credits"/>
+   </widget>
+   <widget class="QMenu" name="menuPerspectives">
+    <property name="title">
+     <string>Perspectives</string>
+    </property>
+    <addaction name="actionFlightView"/>
+    <addaction name="actionEngineersView"/>
+    <addaction name="actionCalibrationView"/>
+    <addaction name="separator"/>
+    <addaction name="actionMavlinkView"/>
+    <addaction name="actionReloadStyle"/>
    </widget>
    <addaction name="menuMGround"/>
    <addaction name="menuNetwork"/>
    <addaction name="menuConnected_Systems"/>
    <addaction name="menuUnmanned_System"/>
    <addaction name="menuTools"/>
+   <addaction name="menuPerspectives"/>
+   <addaction name="menuHelp"/>
   </widget>
   <widget class="QToolBar" name="mainToolBar">
    <attribute name="toolBarArea">
@@ -344,6 +366,78 @@
     <bool>false</bool>
    </property>
   </action>
+  <action name="actionOnline_Documentation">
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/apps/utilities-system-monitor.svg</normaloff>:/images/apps/utilities-system-monitor.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Online Documentation</string>
+   </property>
+  </action>
+  <action name="actionProject_Roadmap_2">
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/status/software-update-available.svg</normaloff>:/images/status/software-update-available.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Project Roadmap</string>
+   </property>
+  </action>
+  <action name="actionDeveloper_Credits">
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/categories/preferences-system.svg</normaloff>:/images/categories/preferences-system.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Developer Credits</string>
+   </property>
+  </action>
+  <action name="actionFlightView">
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/status/weather-overcast.svg</normaloff>:/images/status/weather-overcast.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Flight</string>
+   </property>
+  </action>
+  <action name="actionEngineersView">
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/apps/utilities-system-monitor.svg</normaloff>:/images/apps/utilities-system-monitor.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Engineer</string>
+   </property>
+  </action>
+  <action name="actionMavlinkView">
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/devices/network-wired.svg</normaloff>:/images/devices/network-wired.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Mavlink</string>
+   </property>
+  </action>
+  <action name="actionReloadStyle">
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Reload Style</string>
+   </property>
+  </action>
+  <action name="actionCalibrationView">
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/status/network-wireless-encrypted.svg</normaloff>:/images/status/network-wireless-encrypted.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Calibration</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>