Merge branch 'experimental' of github.com:pixhawk/qgroundcontrol into experimental

lib/QMapControl/src/mapcontrol.cpp

@@ -368,11 +368,13 @@ namespace qmapcontrol
         layermanager->zoomIn();
         update();
     }
+
     void MapControl::zoomOut()
     {
         layermanager->zoomOut();
         update();
     }
+
     void MapControl::setZoom(int zoomlevel)
     {
         layermanager->setZoom(zoomlevel);

qgcunittest/SlugsMavUnitTest.cc

-#include "SlugsMavUnitTest.h"
-
-SlugsMavUnitTest::SlugsMavUnitTest()
-{
-}
-
-void SlugsMavUnitTest::initTestCase()
-{
-
-}
-
-void SlugsMavUnitTest::cleanupTestCase()
-{
-
-}
-
-void SlugsMavUnitTest::first_test()
-{
-  QCOMPARE(1,2);
-}
+#include "SlugsMavUnitTest.h"
+
+SlugsMavUnitTest::SlugsMavUnitTest()
+{
+}
+
+void SlugsMavUnitTest::initTestCase()
+{
+    mav = new MAVLinkProtocol();
+    slugsMav = new SlugsMAV(mav, UASID);
+}
+
+void SlugsMavUnitTest::cleanupTestCase()
+{
+    delete slugsMav;
+    delete mav;
+}
+
+void SlugsMavUnitTest::first_test()
+{
+  QCOMPARE(1,1);
+}
+
+void SlugsMavUnitTest::getPwmCommands_test()
+{
+    mavlink_pwm_commands_t* k = slugsMav->getPwmCommands();
+    k->aux1=80;
+
+    mavlink_pwm_commands_t* k2 = slugsMav->getPwmCommands();
+    k2->aux1=81;
+
+    QCOMPARE(k->aux1, k2->aux1);
+}
+

qgcunittest/SlugsMavUnitTest.h

-#ifndef SLUGSMAVUNITTEST_H
-#define SLUGSMAVUNITTEST_H
-
-#include <QObject>
-#include <QtCore/QString>
-#include <QtTest/QtTest>
-#include "UAS.h"
-#include "MAVLinkProtocol.h"
-#include "UASInterface.h"
-#include "AutoTest.h"
-
-class SlugsMavUnitTest : public QObject
-{
-    Q_OBJECT
-public:
-  SlugsMavUnitTest();
-signals:
-
-private slots:
-  void initTestCase();
-  void cleanupTestCase();
-  void first_test();
-};
-
-DECLARE_TEST(SlugsMavUnitTest)
-
-#endif // SLUGSMAVUNITTEST_H
+#ifndef SLUGSMAVUNITTEST_H
+#define SLUGSMAVUNITTEST_H
+
+#include <QObject>
+#include <QtCore/QString>
+#include <QtTest/QtTest>
+
+#include "UAS.h"
+#include "MAVLinkProtocol.h"
+#include "UASInterface.h"
+#include "AutoTest.h"
+#include "SlugsMAV.h"
+
+class SlugsMavUnitTest : public QObject
+{
+    Q_OBJECT
+public:
+#define UASID 5
+    MAVLinkProtocol* mav;
+    SlugsMAV* slugsMav;
+  SlugsMavUnitTest();
+signals:
+
+private slots:
+  void initTestCase();
+  void cleanupTestCase();
+  void first_test();
+
+  void getPwmCommands_test();
+
+};
+
+DECLARE_TEST(SlugsMavUnitTest)
+
+#endif // SLUGSMAVUNITTEST_H

qgcunittest/UASUnitTest.h

@@ -4,51 +4,63 @@
 #include <QObject>
 #include <QtCore/QString>
 #include <QtTest/QtTest>
+#include <QApplication>
+
 #include "UAS.h"
 #include "MAVLinkProtocol.h"
 #include "SerialLink.h"
 #include "UASInterface.h"
 #include "AutoTest.h"
+#include "LinkManager.h"
+#include "UASWaypointManager.h"
+#include "SerialLink.h"
+#include "LinkInterface.h"
 
 class UASUnitTest : public QObject
 {
     Q_OBJECT
 public:
-#define  UASID  50
-    MAVLinkProtocol* mav;
-    UAS* uas;
-    SerialLink* link;
-    UASUnitTest();
+  #define  UASID  100
+  MAVLinkProtocol* mav;
+  UAS* uas;
+  UASUnitTest();
 
 signals:
 
 private slots:
-    void initTestCase();
-    void cleanupTestCase();
-    void getUASID_test();
-    void getUASName_test();
-    void getUpTime_test();
-    void getCommunicationStatus_test();
-    void filterVoltage_test();
-    void getAutopilotType_test();
-    void setAutopilotType_test();
-    void getStatusForCode_test();
-    void getLocalX_test();
-    void getLocalY_test();
-    void getLocalZ_test();
-    void getLatitude_test();
-    void getLongitude_test();
-    void getAltitude_test();
-    void getRoll_test();
-    void getPitch_test();
-    void getYaw_test();
-    void attitudeLimitsZero_test();
-    void attitudeLimitsPi_test();
-    void attitudeLimitsMinusPi_test();
-    void attitudeLimitsTwoPi_test();
-    void attitudeLimitsMinusTwoPi_test();
-    void attitudeLimitsTwoPiOne_test();
-    void attitudeLimitsMinusTwoPiOne_test();
+  void initTestCase();
+  void cleanupTestCase();
+
+
+  void getUASID_test();
+  void getUASName_test();
+  void getUpTime_test();
+  void getCommunicationStatus_test();
+  void filterVoltage_test();
+  void getAutopilotType_test();
+  void setAutopilotType_test();
+  void getStatusForCode_test();
+  void getLocalX_test();
+  void getLocalY_test();
+  void getLocalZ_test();
+  void getLatitude_test();
+  void getLongitude_test();
+  void getAltitude_test();
+  void getRoll_test();
+  void getPitch_test();
+  void getYaw_test();
+
+  void getSelected_test();
+  void getSystemType_test();
+  void getAirframe_test();
+
+
+  void getWaypointList_test();
+  void getWaypoint_test();
+
+  void signalWayPoint_test();
+  void signalUASLink_test();
+  void signalIdUASLink_test();
 
 protected:
     UAS *prueba;

qgroundcontrol.pri

@@ -395,7 +395,8 @@ win32-g++ {
     message(Building for Windows Platform (32bit))
 
     # Special settings for debug
-    #CONFIG += CONSOLE
+    CONFIG += CONSOLE
+    OUTPUT += CONSOLE
 
     INCLUDEPATH += $$BASEDIR/lib/sdl/include \
                    $$BASEDIR/lib/opal/include #\ #\

qgroundcontrol.pro

@@ -146,8 +146,6 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/map3D/QGCGoogleEarthView.ui \
     src/ui/SlugsDataSensorView.ui \
     src/ui/SlugsHilSim.ui \
-    src/ui/SlugsPIDControl.ui \
-    src/ui/SlugsVideoCamControl.ui \
     src/ui/SlugsPadCameraControl.ui \
     src/ui/uas/QGCUnconnectedInfoWidget.ui \
     src/ui/designer/QGCToolWidget.ui \
@@ -159,6 +157,7 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/mission/QGCCustomWaypointAction.ui \
     src/ui/QGCUDPLinkConfiguration.ui \
     src/ui/QGCSettingsWidget.ui \
+    src/ui/UASControlParameters.ui \
     src/ui/mission/QGCMissionDoWidget.ui \
     src/ui/mission/QGCMissionConditionWidget.ui
 
@@ -256,8 +255,6 @@ HEADERS += src/MG.h \
     src/ui/map3D/QGCWebPage.h \
     src/ui/SlugsDataSensorView.h \
     src/ui/SlugsHilSim.h \
-    src/ui/SlugsPIDControl.h \
-    src/ui/SlugsVideoCamControl.h \
     src/ui/SlugsPadCameraControl.h \
     src/ui/QGCMainWindowAPConfigurator.h \
     src/comm/MAVLinkSwarmSimulationLink.h \
@@ -274,6 +271,7 @@ HEADERS += src/MG.h \
     src/ui/QGCWaypointListMulti.h \
     src/ui/QGCUDPLinkConfiguration.h \
     src/ui/QGCSettingsWidget.h \
+    src/ui/uas/UASControlParameters.h \
     src/ui/mission/QGCMissionDoWidget.h \
     src/ui/mission/QGCMissionConditionWidget.h \
     src/uas/QGCUASParamManager.h
@@ -387,8 +385,6 @@ SOURCES += src/main.cc \
     src/ui/map3D/QGCWebPage.cc \
     src/ui/SlugsDataSensorView.cc \
     src/ui/SlugsHilSim.cc \
-    src/ui/SlugsPIDControl.cpp \
-    src/ui/SlugsVideoCamControl.cpp \
     src/ui/SlugsPadCameraControl.cpp \
     src/ui/QGCMainWindowAPConfigurator.cc \
     src/comm/MAVLinkSwarmSimulationLink.cc \
@@ -405,6 +401,7 @@ SOURCES += src/main.cc \
     src/ui/QGCWaypointListMulti.cc \
     src/ui/QGCUDPLinkConfiguration.cc \
     src/ui/QGCSettingsWidget.cc \
+    src/ui/uas/UASControlParameters.cpp \
     src/ui/mission/QGCMissionDoWidget.cc \
     src/ui/mission/QGCMissionConditionWidget.cc \
     src/uas/QGCUASParamManager.cc
@@ -469,3 +466,6 @@ win32:exists(src/lib/opalrt/OpalApi.h):exists(C:/OPAL-RT/RT-LAB7.2.4/Common/bin)
     FORMS += src/ui/OpalLinkSettings.ui
     DEFINES += OPAL_RT
 }
+
+TRANSLATIONS  += es-MX.ts \
+    en-US.ts

src/Core.cc

@@ -65,8 +65,11 @@ This file is part of the QGROUNDCONTROL project
  * @param argv The string array of parameters
  **/
 
+
 Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
 {
+
+
     // Set application name
     this->setApplicationName(QGC_APPLICATION_NAME);
     this->setApplicationVersion(QGC_APPLICATION_VERSION);

src/comm/MAVLinkProtocol.cc

@@ -324,6 +324,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                     currLossCounter = 0;
                     currReceiveCounter = 0;
                     emit receiveLossChanged(message.sysid, receiveLoss);
+                    //qDebug() << "LOSSCHANGED" << message.sysid<<" "<<receiveLoss;
                 }
 
                 // The packet is emitted as a whole, as it is only 255 - 261 bytes short

src/comm/UDPLink.cc

@@ -161,7 +161,7 @@ void UDPLink::writeBytes(const char* data, qint64 size)
             unsigned char v =data[i];
             qDebug("%02x ", v);
         }
-        qDebug("\n");
+        qDebug() <<"Sent to " << currentHost.toString() << ":" << currentPort;
 
         socket->writeDatagram(data, size, currentHost, currentPort);
     }

src/main.cc

@@ -39,6 +39,21 @@ This file is part of the QGROUNDCONTROL project
   #undef main
 #endif
 
+
+// Install a message handler so you do not need
+// the MSFT debug tools installed to se
+// qDebug(), qWarning(), qCritical and qAbort
+#ifdef Q_OS_WIN
+void msgHandler( QtMsgType type, const char* msg )
+{
+    const char symbols[] = { 'I', 'E', '!', 'X' };
+    QString output = QString("[%1] %2").arg( symbols[type] ).arg( msg );
+    std::cerr << output.toStdString() << std::endl;
+    if( type == QtFatalMsg ) abort();
+}
+
+#endif
+
 /**
  * @brief Starts the application
  *
@@ -46,9 +61,15 @@ This file is part of the QGROUNDCONTROL project
  * @param argv Commandline arguments
  * @return exit code, 0 for normal exit and !=0 for error cases
  */
+
 int main(int argc, char *argv[])
 {
 
+// install the message handler
+#ifdef Q_OS_WIN
+    qInstallMsgHandler( msgHandler );
+#endif
+
     Core core(argc, argv);
     return core.exec();
 }

src/uas/SlugsMAV.h

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-    QGROUNDCONTROL is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    QGROUNDCONTROL is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-#ifndef SLUGSMAV_H
-#define SLUGSMAV_H
-
-#include "UAS.h"
-#include "mavlink.h"
-#include <QTimer>
-
-#define SLUGS_UPDATE_RATE   100   // in ms
-class SlugsMAV : public UAS
-{
-    Q_OBJECT
-    Q_INTERFACES(UASInterface)
-public:
-    SlugsMAV(MAVLinkProtocol* mavlink, int id = 0);
-
-public slots:
-    /** @brief Receive a MAVLink message from this MAV */
-    void receiveMessage(LinkInterface* link, mavlink_message_t message);
-
-    void emitSignals (void);
-
-#ifdef MAVLINK_ENABLED_SLUGS
-    mavlink_pwm_commands_t* getPwmCommands();
-#endif
-
-signals:
-
-    void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData);
-    void slugsGPSCogSog(int uasId, double cog, double sog);
-
-#ifdef MAVLINK_ENABLED_SLUGS
-
-    void slugsCPULoad(int systemId, const mavlink_cpu_load_t& cpuLoad);
-    void slugsAirData(int systemId, const mavlink_air_data_t& airData);
-    void slugsSensorBias(int systemId, const mavlink_sensor_bias_t& sensorBias);
-    void slugsDiagnostic(int systemId, const mavlink_diagnostic_t& diagnostic);
-    void slugsPilotConsolePWM(int systemId, const mavlink_pilot_console_t& pilotConsole);
-    void slugsPWM(int systemId, const mavlink_pwm_commands_t& pwmCommands);
-    void slugsNavegation(int systemId, const mavlink_slugs_navigation_t& slugsNavigation);
-    void slugsDataLog(int systemId, const mavlink_data_log_t& dataLog);
-    void slugsFilteredData(int systemId, const mavlink_filtered_data_t& filteredData);
-    void slugsGPSDateTime(int systemId, const mavlink_gps_date_time_t& gpsDateTime);
-    void slugsActionAck(int systemId, const mavlink_action_ack_t& actionAck);
-
-    void slugsPidValues(int systemId, const mavlink_pid_t& pidValues);
-
-    void slugsBootMsg(int uasId, mavlink_boot_t& boot);
-    void slugsAttitude(int uasId, mavlink_attitude_t& attitude);
-
-
-
-
-
-#endif
-
-protected:
-
-   typedef struct _mavlink_pid_values_t {
-         float P[11];
-         float I[11];
-         float D[11];
-     }mavlink_pid_values_t;
-
-   unsigned char updateRoundRobin;
-   QTimer* widgetTimer;
-
-
-   mavlink_raw_imu_t 			mlRawImuData;
-
-#ifdef MAVLINK_ENABLED_SLUGS
-   mavlink_gps_raw_t			mlGpsData;
-   mavlink_attitude_t           mlAttitude;
-   mavlink_cpu_load_t 			mlCpuLoadData;
-   mavlink_air_data_t 			mlAirData;
-   mavlink_sensor_bias_t 		mlSensorBiasData;
-   mavlink_diagnostic_t 		mlDiagnosticData;
-   mavlink_pilot_console_t 		mlPilotConsoleData;
-   mavlink_filtered_data_t 		mlFilteredData;
-   mavlink_boot_t 				mlBoot;
-   mavlink_gps_date_time_t 		mlGpsDateTime;
-   mavlink_mid_lvl_cmds_t 		mlMidLevelCommands;
-   mavlink_set_mode_t 			mlApMode;
-   mavlink_pwm_commands_t		mlPwmCommands;
-   mavlink_pid_values_t			mlPidValues;
-   mavlink_pid_t			mlSinglePid;
-
-   mavlink_slugs_navigation_t	mlNavigation;
-   mavlink_data_log_t			mlDataLog;
-   mavlink_ctrl_srfc_pt_t		mlPassthrough;
-   mavlink_action_ack_t			mlActionAck;
-
-   mavlink_slugs_action_t		mlAction;
-
-
-
-
-   // Standart messages MAVLINK used by SLUGS
-private:
-
-
-   void emitGpsSignals (void);
-   void emitPidSignal(void);
-
-   int uasId;
-
-#endif // if SLUGS
-
-};
-
-#endif // SLUGSMAV_H
+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+#ifndef SLUGSMAV_H
+#define SLUGSMAV_H
+
+#include "UAS.h"
+#include "mavlink.h"
+#include <QTimer>
+
+#define SLUGS_UPDATE_RATE   200   // in ms
+class SlugsMAV : public UAS
+{
+    Q_OBJECT
+    Q_INTERFACES(UASInterface)
+
+    enum SLUGS_ACTION {
+        SLUGS_ACTION_NONE,
+        SLUGS_ACTION_SUCCESS,
+        SLUGS_ACTION_FAIL,
+        SLUGS_ACTION_EEPROM,
+        SLUGS_ACTION_MODE_CHANGE,
+        SLUGS_ACTION_MODE_REPORT,
+        SLUGS_ACTION_PT_CHANGE,
+        SLUGS_ACTION_PT_REPORT,
+        SLUGS_ACTION_PID_CHANGE,
+        SLUGS_ACTION_PID_REPORT,
+        SLUGS_ACTION_WP_CHANGE,
+        SLUGS_ACTION_WP_REPORT,
+        SLUGS_ACTION_MLC_CHANGE,
+        SLUGS_ACTION_MLC_REPORT
+    };
+
+
+public:
+    SlugsMAV(MAVLinkProtocol* mavlink, int id = 0);
+
+public slots:
+    /** @brief Receive a MAVLink message from this MAV */
+    void receiveMessage(LinkInterface* link, mavlink_message_t message);
+
+    void emitSignals (void);
+
+signals:
+
+    void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData);
+    void slugsGPSCogSog(int uasId, double cog, double sog);
+
+#ifdef MAVLINK_ENABLED_SLUGS
+
+    void slugsCPULoad(int systemId, const mavlink_cpu_load_t& cpuLoad);
+    void slugsAirData(int systemId, const mavlink_air_data_t& airData);
+    void slugsSensorBias(int systemId, const mavlink_sensor_bias_t& sensorBias);
+    void slugsDiagnostic(int systemId, const mavlink_diagnostic_t& diagnostic);
+    void slugsNavegation(int systemId, const mavlink_slugs_navigation_t& slugsNavigation);
+    void slugsDataLog(int systemId, const mavlink_data_log_t& dataLog);
+    void slugsGPSDateTime(int systemId, const mavlink_gps_date_time_t& gpsDateTime);
+    void slugsActionAck(int systemId, const mavlink_action_ack_t& actionAck);
+
+    void slugsBootMsg(int uasId, mavlink_boot_t& boot);
+    void slugsAttitude(int uasId, mavlink_attitude_t& attitude);
+
+    void slugsScaled(int uasId, const mavlink_scaled_imu_t& scaled);
+    void slugsServo(int uasId, const mavlink_servo_output_raw_t& servo);
+    void slugsChannels(int uasId, const mavlink_rc_channels_raw_t& channels);
+
+#endif
+
+protected:
+    unsigned char updateRoundRobin;
+    QTimer* widgetTimer;
+    mavlink_raw_imu_t mlRawImuData;
+
+    #ifdef MAVLINK_ENABLED_SLUGS
+    mavlink_gps_raw_t mlGpsData;
+    mavlink_attitude_t mlAttitude;
+    mavlink_cpu_load_t mlCpuLoadData;
+    mavlink_air_data_t mlAirData;
+    mavlink_sensor_bias_t mlSensorBiasData;
+    mavlink_diagnostic_t mlDiagnosticData;
+    mavlink_boot_t mlBoot;
+    mavlink_gps_date_time_t mlGpsDateTime;
+    mavlink_mid_lvl_cmds_t mlMidLevelCommands;
+    mavlink_set_mode_t mlApMode;
+
+    mavlink_slugs_navigation_t mlNavigation;
+    mavlink_data_log_t mlDataLog;
+    mavlink_ctrl_srfc_pt_t mlPassthrough;
+    mavlink_action_ack_t mlActionAck;
+
+    mavlink_slugs_action_t mlAction;
+
+    mavlink_scaled_imu_t mlScaled;
+    mavlink_servo_output_raw_t mlServo;
+    mavlink_rc_channels_raw_t mlChannels;
+
+
+   // Standart messages MAVLINK used by SLUGS
+private:
+
+
+   void emitGpsSignals (void);
+   void emitPidSignal(void);
+
+   int uasId;
+
+#endif // if SLUGS
+
+};
+
+#endif // SLUGSMAV_H

src/uas/UAS.h

@@ -233,6 +233,13 @@ public slots:
     void home();
     void halt();
     void go();
+    /** @brief Places the UAV in Hardware-in-the-Loop simulation status **/
+    void startHil();
+
+    /** @brief Stops the UAV's Hardware-in-the-Loop simulation status **/
+    void stopHil();
+
+
     /** @brief Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/
     void emergencySTOP();
 
@@ -365,6 +372,9 @@ protected slots:
     // MESSAGE RECEPTION
     /** @brief Receive a named value message */
     void receiveMessageNamedValue(const mavlink_message_t& message);
+
+private:
+//    unsigned int mode;          ///< The current mode of the MAV
 };
 
 

src/uas/UASWaypointManager.cc

@@ -138,7 +138,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
 
         if(wp->seq == current_wp_id)
         {
-            //qDebug() << "Got WP: " << wp->seq << wp->x <<  wp->y << wp->z << wp->param4 << "auto:" << wp->autocontinue << "curr:" << wp->current << wp->param1 << wp->param2 << (MAV_FRAME) wp->frame << (MAV_CMD) wp->command;
+            //qDebug() << "Got WP: " << wp->seq << wp->x <<  wp->y << wp->z << wp->param4 << "auto:" << wp->autocontinue << "curr:" << wp->current << wp->param1 << wp->param2 << "Frame:"<< (MAV_FRAME) wp->frame << "Command:" << (MAV_CMD) wp->command;
             Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->param1, wp->param2, wp->param3, wp->param4, wp->autocontinue, wp->current, (MAV_FRAME) wp->frame, (MAV_CMD) wp->command);
             addWaypoint(lwp, false);
 
@@ -351,6 +351,7 @@ int UASWaypointManager::removeWaypoint(quint16 seq)
         {
             waypoints[i]->setId(i);
         }
+
         emit waypointListChanged();
         emit waypointListChanged(uas.getUASID());
         return 0;

src/ui/MainWindow.cc

@@ -393,29 +393,13 @@ void MainWindow::buildCommonWidgets()
         addToCentralWidgetsMenu (protocolWidget, "Mavlink Generator", SLOT(showCentralWidget()),CENTRAL_PROTOCOL);
     }
 
-#ifdef MAVLINK_ENABLED_SLUGS
-    //TODO temporaly debug
-    if (!slugsHilSimWidget)
-    {
-        slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
-        slugsHilSimWidget->setWidget( new SlugsHilSim(this));
-        addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
-    }
-
-    //TODO temporaly debug
-    if (!slugsCamControlWidget)
-    {
-        slugsCamControlWidget = new QDockWidget(tr("Slugs Video Camera Control"), this);
-        slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));
-        addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget(bool)), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
-    }
-#endif
-
     if (!dataplotWidget)
     {
         dataplotWidget    = new QGCDataPlot2D(this);
         addToCentralWidgetsMenu (dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()),CENTRAL_DATA_PLOT);
     }
+
+
 }
 
 
@@ -615,6 +599,15 @@ void MainWindow::buildSlugsWidgets()
         addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
     }
 
+#if (defined _MSC_VER) | (defined Q_OS_MAC)
+    if (!gEarthWidget)
+    {
+        gEarthWidget = new QGCGoogleEarthView(this);
+        addToCentralWidgetsMenu(gEarthWidget, tr("Google Earth"), SLOT(showCentralWidget()), CENTRAL_GOOGLE_EARTH);
+    }
+
+#endif
+
     if (!slugsDataWidget)
     {
         // Dialog widgets
@@ -624,13 +617,6 @@ void MainWindow::buildSlugsWidgets()
         addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget(bool)), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
     }
 
-    if (!slugsPIDControlWidget)
-    {
-        slugsPIDControlWidget = new QDockWidget(tr("Slugs PID Control"), this);
-        slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));
-        slugsPIDControlWidget->setObjectName("SLUGS_PID_CONTROL_DOCK_WIDGET");
-        addToToolsMenu (slugsPIDControlWidget, tr("PID Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_PID, Qt::LeftDockWidgetArea);
-    }
 
     if (!slugsHilSimWidget)
     {
@@ -640,13 +626,29 @@ void MainWindow::buildSlugsWidgets()
         addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
     }
 
+    if (!controlParameterWidget){
+		controlParameterWidget = new QDockWidget(tr("Control Parameters"), this);
+        controlParameterWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_PARAMETERWIDGET");
+        controlParameterWidget->setWidget( new UASControlParameters(this) );
+        addToToolsMenu (controlParameterWidget, tr("Control Parameters"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL_PARAM, Qt::LeftDockWidgetArea);
+	}
+
+    if (!parametersDockWidget)
+    {       
+        parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this);
+        parametersDockWidget->setWidget( new ParameterInterface(this) );
+        parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET");
+        addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea);
+    }
+
     if (!slugsCamControlWidget)
     {
-        slugsCamControlWidget = new QDockWidget(tr("Slugs Video Camera Control"), this);
-        slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));
+        slugsCamControlWidget = new QDockWidget(tr("Camera Control"), this);
+        slugsCamControlWidget->setWidget(new SlugsPadCameraControl(this));
         slugsCamControlWidget->setObjectName("SLUGS_CAM_CONTROL_DOCK_WIDGET");
         addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget(bool)), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
     }
+
 }
 
 
@@ -1013,6 +1015,7 @@ void MainWindow::updateLocationSettings (Qt::DockWidgetArea location)
     }
 }
 
+
 /**
  * Connect the signals and slots of the common window widgets
  */
@@ -1027,6 +1030,8 @@ void MainWindow::connectCommonWidgets()
     if (mapWidget && waypointsDockWidget->widget())
     {
 
+        //
+        connect(waypointsDockWidget->widget(), SIGNAL(changePointList()), mapWidget, SLOT(clearWaypoints()));
     }
 
     //TODO temporaly debug
@@ -1034,6 +1039,8 @@ void MainWindow::connectCommonWidgets()
         connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
                 slugsHilSimWidget->widget(), SLOT(activeUasSet(UASInterface*)));
     }
+
+
 }
 
 void MainWindow::createCustomWidget()
@@ -1049,6 +1056,7 @@ void MainWindow::createCustomWidget()
     QDockWidget* dock = new QDockWidget("Unnamed Tool", this);
     connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
     dock->setWidget(tool);
+
     QAction* showAction = new QAction("Show Unnamed Tool", this);
     showAction->setCheckable(true);
     connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
@@ -1076,7 +1084,15 @@ void MainWindow::connectSlugsWidgets()
                 slugsDataWidget->widget(), SLOT(setActiveUAS(UASInterface*)));
     }
 
+    if (controlParameterWidget && controlParameterWidget->widget()){
+        connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
+                controlParameterWidget->widget(), SLOT(activeUasSet(UASInterface*)));
+    }
 
+    if(controlDockWidget && controlParameterWidget)
+    {
+       connect(controlDockWidget->widget(), SIGNAL(changedMode(int)), controlParameterWidget->widget(), SLOT(changedMode(int)));
+    }
 }
 
 void MainWindow::arrangeCommonCenterStack()
@@ -1128,6 +1144,10 @@ void MainWindow::arrangeSlugsCenterStack()
     if (linechartWidget && (centerStack->indexOf(linechartWidget) == -1)) centerStack->addWidget(linechartWidget);
     if (hudWidget && (centerStack->indexOf(hudWidget) == -1)) centerStack->addWidget(hudWidget);
 
+#if (defined _MSC_VER) | (defined Q_OS_MAC)
+    if (gEarthWidget && (centerStack->indexOf(gEarthWidget) == -1)) centerStack->addWidget(gEarthWidget);
+#endif
+
 }
 
 void MainWindow::loadSettings()
@@ -1706,18 +1726,27 @@ void MainWindow::UASCreated(UASInterface* uas)
                 // Connect Slugs Actions
                 connectSlugsActions();
 
+//                if(slugsDataWidget)
+//                {
+//                    SlugsDataSensorView *mm = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
+//                    if(mm)
+//                    {
+//                        mm->addUAS(uas);
+//                    }
+//                }
+
                 // FIXME: This type checking might be redundant
-                //            if (slugsDataWidget) {
-                //              SlugsDataSensorView* dataWidget = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
-                //              if (dataWidget) {
-                //                SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
-                //                if (mav2) {
-                (dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget()))->addUAS(uas);
-                //                  //loadSlugsView();
-                //                  loadGlobalOperatorView();
-                //                }
-                //              }
-                //            }
+//                //            if (slugsDataWidget) {
+//                //              SlugsDataSensorView* dataWidget = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
+//                //              if (dataWidget) {
+//                //                SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
+//                //                if (mav2) {
+//                (dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget()))->addUAS(uas);
+//                //                  //loadSlugsView();
+//                //                  loadGlobalOperatorView();
+//                //                }
+//                //              }
+//                //            }
 
             }
             break;
@@ -1931,6 +1960,8 @@ void MainWindow::presentView()
     // UAS CONTROL
     showTheWidget(MENU_UAS_CONTROL, currentView);
 
+    showTheWidget(MENU_UAS_CONTROL_PARAM, currentView);
+
     // UAS LIST
     showTheWidget(MENU_UAS_LIST, currentView);
 

src/ui/MainWindow.h

@@ -70,12 +70,10 @@ This file is part of the QGROUNDCONTROL project
 #include "SlugsDataSensorView.h"
 #include "LogCompressor.h"
 
-#include "SlugsPIDControl.h"
-
 #include "SlugsHilSim.h"
 
-#include "SlugsVideoCamControl.h"
-
+#include "SlugsPadCameraControl.h"
+#include "UASControlParameters.h"
 
 /**
  * @brief Main Application Window
@@ -121,6 +119,7 @@ public slots:
     void configure();
     /** @brief Set the currently controlled UAS */
     void setActiveUAS(UASInterface* uas);
+
     /** @brief Add a new UAS */
     void UASCreated(UASInterface* uas);
     /** @brief Update system specs of a UAS */
@@ -211,6 +210,7 @@ protected:
     // 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_PARAM,
       MENU_UAS_CONTROL,
       MENU_UAS_INFO,
       MENU_CAMERA,
@@ -380,6 +380,7 @@ protected:
 #endif
     // Dock widgets
     QPointer<QDockWidget> controlDockWidget;
+    QPointer<QDockWidget> controlParameterWidget;
     QPointer<QDockWidget> infoDockWidget;
     QPointer<QDockWidget> cameraDockWidget;
     QPointer<QDockWidget> listDockWidget;
@@ -400,7 +401,6 @@ protected:
     QPointer<QDockWidget> rcViewDockWidget;
     QPointer<QDockWidget> hudDockWidget;
     QPointer<QDockWidget> slugsDataWidget;
-    QPointer<QDockWidget> slugsPIDControlWidget;
     QPointer<QDockWidget> slugsHilSimWidget;
     QPointer<QDockWidget> slugsCamControlWidget;
 

src/ui/MapWidget.h

@@ -40,8 +40,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QPointF"
 
 #include <qmath.h>
-
-
+#include <QSettings>
 
 class QMenu;
 class Waypoint;
@@ -76,8 +75,8 @@ public slots:
     void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 usec);
     void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
     void updatePosition(float time, double lat, double lon);
-    void updateCameraPosition(double distance, double bearing, QString dir);
-    QPointF getPointxBearing_Range(double lat1, double lon1, double bearing, double distance);
+    //void updateCameraPosition(double distance, double bearing, QString dir);
+    //QPointF getPointxBearing_Range(double lat1, double lon1, double bearing, double distance);
 
     /** @brief Clear the waypoints overlay layer */
     void clearWaypoints(int uas=0);
@@ -93,7 +92,7 @@ public slots:
     void updateWaypoint(int uas, Waypoint* wp);
     void updateWaypoint(int uas, Waypoint* wp, bool updateView);
 
-    void drawBorderCamAtMap(bool status);
+    //void drawBorderCamAtMap(bool status);
     /** @brief Bring up dialog to go to a specific location */
     void goTo();
 
@@ -118,6 +117,7 @@ protected:
     QPushButton* followgps;
     QPushButton* createPath;
     QPushButton* clearTracking;
+    QPushButton* setHome;
     QLabel* gpsposition;
     QMenu* mapMenu;
     QPushButton* mapButton;
@@ -128,9 +128,7 @@ protected:
     qmapcontrol::Layer* overlay;            ///< Street overlay (foreground)
     qmapcontrol::Layer* tracks;             ///< Layer for UAV tracks
     qmapcontrol::GeometryLayer* geomLayer;  ///< Layer for waypoints
-
-    //only for experiment
-    qmapcontrol::GeometryLayer* camLayer; ///< Layer for camera indicator
+    qmapcontrol::GeometryLayer* homePosition;       ///< Layer for station control
 
     int zoomLevel;
     int detailZoom; ///< Steps zoomed in further than qMapControl allows
@@ -142,8 +140,6 @@ protected:
     QMap<int, qmapcontrol::Point*> uasIcons;
     QMap<int, qmapcontrol::LineString*> uasTrails;
     QMap<int, QPen*> mavPens;
-    //QMap<int, QList<qmapcontrol::Point*> > mavWps;
-    //QMap<int, qmapcontrol::LineString*> waypointPaths;
     UASInterface* mav;
     quint64 lastUpdate;
     bool initialized;
@@ -157,20 +153,23 @@ protected:
     void captureGeometryDrag(Geometry* geom, QPointF coordinate);
     void captureGeometryEndDrag(Geometry* geom, QPointF coordinate);
 
+    void captureGeometryDragHome(Geometry* geom, QPointF coordinate);
+
     void createPathButtonClicked(bool checked);
 
     /** @brief Create the graphic representation of the waypoint */
     void createWaypointGraphAtMap(int id, const QPointF coordinate);
     void mapproviderSelected(QAction* action);
 
+    void createHomePosition(const QMouseEvent* event, const QPointF coordinate);
+    void createHomePosition(const QPointF coordinate);
+    void createHomePositionClick(bool click);
+    void loadSettingsMap(int8_t index);
+
   signals:
-    //void movePoint(QPointF newCoord);
-    //void captureMapCoordinateClick(const QPointF coordinate); //ROCA
-    //void createGlobalWP(bool value, QPointF centerCoordinate);
     void waypointCreated(Waypoint* wp);
     void sendGeometryEndDrag(const QPointF coordinate, const int index);
 
-
 private:
     Ui::MapWidget *m_ui;
     QList<qmapcontrol::Point*> wps;
@@ -180,14 +179,8 @@ private:
     QPen* pointPen;
     int wpExists(const QPointF coordinate);
     bool waypointIsDrag;
-
-
-    qmapcontrol::LineString* camLine;
-    QList<qmapcontrol::Point*> camPoints;
-    QPointF lastCamBorderPos;
-    bool drawCamBorder;
-    int radioCamera;
-
+    QPointF homeCoordinate;
+    int8_t index;
 };
 
 #endif // MAPWIDGET_H

src/ui/QGCRemoteControlView.cc

@@ -43,33 +43,17 @@ QGCRemoteControlView::QGCRemoteControlView(QWidget *parent) :
     uasId(-1),
     rssi(0.0f),
     updated(false),
-    channelLayout(new QVBoxLayout()),
-    ui(new Ui::QGCRemoteControlView)
+    channelLayout(new QVBoxLayout())//,
+    //ui(new Ui::QGCRemoteControlView)
 {
-
-    //ui->setupUi(this);
+    ui->setupUi(this);
     QGridLayout* layout = new QGridLayout(this);
     layout->addLayout(channelLayout, 1, 0, 1, 2);
-    // Name label
     nameLabel = new QLabel(this);
-    nameLabel->setText("No MAV selected yet..");
     layout->addWidget(nameLabel, 0, 0, 1, 2);
 
-    // RSSI bar
-    // Create new layout
-    QHBoxLayout* rssiLayout = new QHBoxLayout();
-    rssiLayout->setSpacing(5);
-    // Add content
-    rssiLayout->addWidget(new QLabel(tr("Signal"), this));
-    // Append raw label
-    // Append progress bar
-    rssiBar = new QProgressBar(this);
-    rssiBar->setMinimum(0);
-    rssiBar->setMaximum(100);
-    rssiBar->setValue(0);
-    rssiLayout->addWidget(rssiBar);
-    layout->addItem(rssiLayout, 2, 0, 1, 2);
-    setVisible(false);
+    this->setVisible(false);
+    //setVisible(false);
 
     calibrate = new QPushButton(tr("Calibrate"), this);
     QHBoxLayout *calibrateButtonLayout = new QHBoxLayout();
@@ -112,10 +96,9 @@ void QGCRemoteControlView::setUASId(int id)
         nameLabel->setText(QString("RC Input of %1").arg(newUAS->getUASName()));
         calibrationWindow->setUASId(id);
         connect(newUAS, SIGNAL(radioCalibrationReceived(const QPointer<RadioCalibrationData>&)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
-        connect(newUAS, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float)));
 
+        connect(newUAS, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float)));
         connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(setChannelRaw(int,float)));
-        connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannel(int,float)));
         connect(newUAS, SIGNAL(remoteControlChannelScaledChanged(int,float)), this, SLOT(setChannelScaled(int,float)));
     }
 }
@@ -127,7 +110,7 @@ void QGCRemoteControlView::setChannelRaw(int channelId, float raw)
     {
         // This is a new channel, append it
         this->raw.append(raw);
-        this->normalized.append(0);
+        //this->normalized.append(0);
         appendChannelWidget(channelId);
     }
     else
@@ -141,25 +124,25 @@ void QGCRemoteControlView::setChannelRaw(int channelId, float raw)
     redraw();
 }
 
-void QGCRemoteControlView::setChannelScaled(int channelId, float normalized)
-{
-    if (this->raw.size() <= channelId) // using raw vector as size indicator
-    {
-        // This is a new channel, append it
-        this->normalized.append(normalized);
-        this->raw.append(0);
-        appendChannelWidget(channelId);
-    }
-    else
-    {
-        // This is an existing channel, update it
-        this->normalized[channelId] = normalized;
-    }
-    updated = true;
+//void QGCRemoteControlView::setChannelScaled(int channelId, float normalized)
+//{
+//    if (this->raw.size() <= channelId) // using raw vector as size indicator
+//    {
+//        // This is a new channel, append it
+//        this->normalized.append(normalized);
+//        this->raw.append(0);
+//        appendChannelWidget(channelId);
+//    }
+//    else
+//    {
+//        // This is an existing channel, update it
+//        this->normalized[channelId] = normalized;
+//    }
+//    updated = true;
 
-    // FIXME Will be timer based in the future
-    redraw();
-}
+//    // FIXME Will be timer based in the future
+//    redraw();
+//}
 
 void QGCRemoteControlView::setRemoteRSSI(float rssiNormalized)
 {
@@ -193,18 +176,26 @@ void QGCRemoteControlView::redraw()
     if(isVisible() && updated)
     {
         // Update raw values
-        for(int i = 0; i < rawLabels.count(); i++)
-        {
-            rawLabels.at(i)->setText(QString("%1 us").arg(raw.at(i), 4, 10, QChar('0')));
-        }
+        //for(int i = 0; i < rawLabels.count(); i++)
+        //{
+            //rawLabels.at(i)->setText(QString("%1 us").arg(raw.at(i), 4, 10, QChar('0')));
+        //}
 
         // Update percent bars
         for(int i = 0; i < progressBars.count(); i++)
         {
-            progressBars.at(i)->setValue(normalized.at(i)*100.0f);
+            rawLabels.at(i)->setText(QString("%1 us").arg(raw.at(i), 4, 10, QChar('0')));
+            //int vv = normalized.at(i)*100.0f;
+            //progressBars.at(i)->setValue(vv);
+            int vv = raw.at(i)*1.0f;
+            progressBars.at(i)->setValue(vv);
         }
         // Update RSSI
-        rssiBar->setValue(rssi*100);
+        if(rssi>0)
+        {
+            //rssiBar->setValue(rssi);//*100);
+        }
+
         updated = false;
     }
 }

src/ui/QGCRemoteControlView.h

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-    QGROUNDCONTROL is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    QGROUNDCONTROL is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Declaration of QGCRemoteControlView
- *   @author Lorenz Meier <mail@qgroundcontrol.org>
- */
-
-#ifndef QGCREMOTECONTROLVIEW_H
-#define QGCREMOTECONTROLVIEW_H
-
-#include <QWidget>
-#include <QVector>
-#include <QPushButton>
-
-#include "RadioCalibration/RadioCalibrationWindow.h"
-
-namespace Ui {
-    class QGCRemoteControlView;
-}
-
-class QVBoxLayout;
-class QLabel;
-class QProgressBar;
-
-class QGCRemoteControlView : public QWidget {
-    Q_OBJECT
-public:
-    QGCRemoteControlView(QWidget *parent = 0);
-    ~QGCRemoteControlView();
-
-public slots:
-    void setUASId(int id);
-    void setChannelRaw(int channelId, float raw);
-    void setChannelScaled(int channelId, float normalized);
-    void setRemoteRSSI(float rssiNormalized);
-    void redraw();
-
-protected slots:
-    void appendChannelWidget(int channelId);
-
-protected:
-    void changeEvent(QEvent *e);
-    int uasId;
-    float rssi;
-    bool updated;
-    QVBoxLayout* channelLayout;
-    QVector<int> raw;
-    QVector<float> normalized;
-    QVector<QLabel*> rawLabels;
-    QVector<QProgressBar*> progressBars;
-    QProgressBar* rssiBar;
-    QLabel* nameLabel;
-    QPushButton *calibrate;
-    RadioCalibrationWindow *calibrationWindow;
-
-private:
-    Ui::QGCRemoteControlView *ui;
-};
-
-#endif // QGCREMOTECONTROLVIEW_H
+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Declaration of QGCRemoteControlView
+ *   @author Lorenz Meier <mail@qgroundcontrol.org>
+ */
+
+#ifndef QGCREMOTECONTROLVIEW_H
+#define QGCREMOTECONTROLVIEW_H
+
+#include <QWidget>
+#include <QVector>
+#include <QPushButton>
+
+#include "RadioCalibration/RadioCalibrationWindow.h"
+
+namespace Ui {
+    class QGCRemoteControlView;
+}
+
+class QVBoxLayout;
+class QLabel;
+class QProgressBar;
+
+class QGCRemoteControlView : public QWidget {
+    Q_OBJECT
+public:
+    QGCRemoteControlView(QWidget *parent = 0);
+    ~QGCRemoteControlView();
+
+public slots:
+    void setUASId(int id);
+    void setChannelRaw(int channelId, float raw);
+    //void setChannelScaled(int channelId, float normalized);
+    void setRemoteRSSI(float rssiNormalized);
+    void redraw();
+
+protected slots:
+    void appendChannelWidget(int channelId);
+
+protected:
+    void changeEvent(QEvent *e);
+    int uasId;
+    float rssi;
+    bool updated;
+    QVBoxLayout* channelLayout;
+    QVector<int> raw;
+    QVector<float> normalized;
+    QVector<QLabel*> rawLabels;
+    QVector<QProgressBar*> progressBars;
+    QProgressBar* rssiBar;
+    QLabel* nameLabel;
+    QPushButton *calibrate;
+    RadioCalibrationWindow *calibrationWindow;
+
+private:
+    Ui::QGCRemoteControlView *ui;
+};
+
+#endif // QGCREMOTECONTROLVIEW_H

src/ui/SlugsPIDControl.h

-#ifndef SLUGSPIDCONTROL_H
-#define SLUGSPIDCONTROL_H
-
-#include <QWidget>
-#include <QGroupBox>
-#include "UASInterface.h"
-#include "QGCMAVLink.h"
-#include "SlugsMAV.h"
-#include "mavlink.h"
-#include <QTimer>
-#include <QMutex>
-
-namespace Ui {
-    class SlugsPIDControl;
-}
-
-class SlugsPIDControl : public QWidget
-{
-    Q_OBJECT
-
-public:
-    explicit SlugsPIDControl(QWidget *parent = 0);
-    ~SlugsPIDControl();
-
-public slots:
-
-    /**
-     * @brief Called when the a new UAS is set to active.
-     *
-     * Called when the a new UAS is set to active.
-     *
-     * @param uas The new active UAS
-     */
-    void activeUasSet(UASInterface* uas);
-
-    /**
-     */
-    void setRedColorStyle();
-    /**
-     * @brief Set color StyleSheet GREEN
-     *
-     * @param
-     */
-    void setGreenColorStyle();
-
-    /**
-     * @brief Connect Set pushButtons to change the color GroupBox
-     *
-     * @param
-     */
-    void connect_set_pushButtons();
-
-    /**
-     * @brief Connect Set pushButtons to change the color GroupBox
-     *
-     * @param
-     */
-    void connect_get_pushButtons();
-
-    /**
-     * @brief Connect Edition Lines for PID Values
-     *
-     * @param
-     */
-    void connect_editLinesPDIvalues();
-
-    /**
-     * @brief send a PDI request message to UAS
-     *
-     * @param
-     */
-    void sendMessagePIDStatus(int PIDtype);
-
-// Fuctions for Air Speed GroupBox
-    /**
-     * @brief Change color style to red when PID values of Air Speed are edited
-     *
-     *
-     * @param
-     */
-    void changeColor_RED_AirSpeed_groupBox(QString text);
-    /**
-     * @brief Change color style to green when PID values of Air Speed are send to UAS
-     *
-     * @param
-     */
-    void changeColor_GREEN_AirSpeed_groupBox();
-    /**
-     * @brief Connects the SIGNALS from the editline to SLOT changeColor_RED_AirSpeed_groupBox()
-     *
-     * @param
-     */
-    void connect_AirSpeed_LineEdit();
-    /**
-     * @brief get message PID Air Speed(loop index = 0) from UAS
-     *
-     * @param
-     */
-    void get_AirSpeed_PID();
-
-
-// Functions for Pitch Followei GroupBox
-    /**
-     * @brief Change color style to red when PID values of Pitch Followei are edited
-     *
-     *
-     * @param
-     */
-     void changeColor_RED_PitchFollowei_groupBox(QString text);
-     /**
-         * @brief Change color style to green when PID values of Pitch Followei are send to UAS
-         *
-         * @param
-         */
-     void changeColor_GREEN_PitchFollowei_groupBox();
-     /**
-         * @brief Connects the SIGNALS from the editline to SLOT PitchFlowei_groupBox
-         *
-         * @param
-         */
-     void connect_PitchFollowei_LineEdit();
-     /**
-      * @brief get message PID Pitch Followei(loop index = 2) from UAS
-      *
-      * @param
-      */
-     void get_PitchFollowei_PID();
-
-
-     // Functions for Roll Control GroupBox
-     /**
-          * @brief Change color style to red when PID values of Roll Control are edited
-          *
-          *
-          * @param
-          */
-     void changeColor_RED_RollControl_groupBox(QString text);
-     /**
-              * @brief Change color style to green when PID values of Roll Control are send to UAS
-              *
-              * @param
-              */
-     void changeColor_GREEN_RollControl_groupBox();
-     /**
-              * @brief Connects the SIGNALS from the editline to SLOT RollControl_groupBox
-              *
-              * @param
-              */
-     void connect_RollControl_LineEdit();
-     /**
-      * @brief get message PID Roll Control(loop index = 4) from UAS
-      *
-      * @param
-      */
-     void get_RollControl_PID();
-
-
-     // Functions for Heigth Error GroupBox
-     /**
-          * @brief Change color style to red when PID values of Heigth Error are edited
-          *
-          *
-          * @param
-          */
-     void changeColor_RED_HeigthError_groupBox(QString text);
-     /**
-              * @brief Change color style to green when PID values of Heigth Error are send to UAS
-              *
-              * @param
-              */
-     void changeColor_GREEN_HeigthError_groupBox();
-     /**
-              * @brief Connects the SIGNALS from the editline to SLOT HeigthError_groupBox
-              *
-              * @param
-              */
-     void connect_HeigthError_LineEdit();
-     /**
-      * @brief get message PID Heigth Error(loop index = 1) from UAS
-      *
-      * @param
-      */
-     void get_HeigthError_PID();
-
-     // Functions for Yaw Damper GroupBox
-     /**
-          * @brief Change color style to red when PID values of Yaw Damper are edited
-          *
-          *
-          * @param
-          */
-     void changeColor_RED_YawDamper_groupBox(QString text);
-     /**
-              * @brief Change color style to green when PID values of Yaw Damper are send to UAS
-              *
-              * @param
-              */
-     void changeColor_GREEN_YawDamper_groupBox();
-     /**
-              * @brief Connects the SIGNALS from the editline to SLOT YawDamper_groupBox
-              *
-              * @param
-              */
-     void connect_YawDamper_LineEdit();
-     /**
-      * @brief get message PID Yaw Damper(loop index = 3) from UAS
-      *
-      * @param
-      */
-     void get_YawDamper_PID();
-
-
-
-     // Functions for Pitch to dT GroupBox
-     /**
-          * @brief Change color style to red when PID values of Pitch to dT are edited
-          *
-          *
-          * @param
-          */
-     void changeColor_RED_Pitch2dT_groupBox(QString text);
-     /**
-              * @brief Change color style to green when PID values of Pitch to dT are send to UAS
-              *
-              * @param
-              */
-     void changeColor_GREEN_Pitch2dT_groupBox();
-     /**
-              * @brief Connects the SIGNALS from the editline to SLOT Pitch2dT_groupBox
-              *
-              * @param
-              */
-     void connect_Pitch2dT_LineEdit();
-     /**
-      * @brief get message PID Pitch2dT(loop index = 8) from UAS
-      *
-      * @param
-      */
-     void get_Pitch2dT_PID();
-
-     /**
-          * @brief get and updates the values on widget
-     */
-      void slugsGetGeneral();
-      /**
-           * @brief Sent all values to UAS
-      */
-       void slugsSetGeneral();
-
-       void slugsTimerStartSet();
-       void slugsTimerStartGet();
-       void slugsTimerStop();
-
-
-
-     //Create, send and get Messages PID
-    // void createMessagePID();
-#ifdef MAVLINK_ENABLED_SLUGS
-
-     void recibeMensaje(int systemId, const mavlink_action_ack_t& action);
-     void receivePidValues(int systemId, const mavlink_pid_t& pidValues);
-
-#endif // MAVLINK_ENABLED_SLUG
-
-private:
-    Ui::SlugsPIDControl *ui;
-
-     UASInterface* activeUAS;
-     int systemId;
-
-    bool change_dT;
-
-
-    //Color Styles
-    QString REDcolorStyle;
-    QString GREENcolorStyle;
-    QString ORIGINcolorStyle;
-
-    //SlugsMav Message
-    #ifdef MAVLINK_ENABLED_SLUGS
-    mavlink_pid_t pidMessage;
-    mavlink_slugs_action_t actionSlugs;
-#endif
-
-    QTimer* refreshTimerSet;      ///< The main timer, controls the update view
-    QTimer* refreshTimerGet;      ///< The main timer, controls the update view
-    int counterRefreshSet;
-    int counterRefreshGet;
-    QMutex valuesMutex;
-};
-
-#endif // SLUGSPIDCONTROL_H

src/ui/WaypointList.h

@@ -108,7 +108,7 @@ public slots:
 signals:
   void clearPathclicked();
   void createWaypointAtMap(const QPointF coordinate);
-
+    void changePointList();
 protected:
     virtual void changeEvent(QEvent *e);