Cleanups

src/ui/HUD.cc

@@ -569,7 +569,10 @@ void HUD::paintHUD()
 
     float yawTrans = yawInt * (double)maxYawTrans;
     yawInt *= 0.6f;
-    //qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw << "asin(yawInt)" << asinYaw;
+
+    if ((yawTrans < 5.0) && (yawTrans > -5.0)) yawTrans = 0;
+
+    qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw;
 
     // Update scaling factor
     // adjust scaling to fit both horizontally and vertically

src/ui/MainWindow.cc

@@ -48,6 +48,10 @@ This file is part of the QGROUNDCONTROL project
 #include "JoystickWidget.h"
 #include "GAudioOutput.h"
 
+// FIXME Move
+#include "PxQuadMAV.h"
+#include "SlugsMAV.h"
+
 
 #include "LogCompressor.h"
 
@@ -344,6 +348,12 @@ void MainWindow::UASCreated(UASInterface* uas)
     // Revalidate UI
     // TODO Stylesheet reloading should in theory not be necessary
     reloadStylesheet();
+
+    // Check which type this UAS is of
+    PxQuadMAV* mav = dynamic_cast<PxQuadMAV*>(uas);
+    if (mav) loadPixhawkView();
+    SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
+    if (mav2) loadSlugsView();
 }
 
 /**
@@ -377,6 +387,98 @@ void MainWindow::clearView()
     }
 }
 
+void MainWindow::loadSlugsView()
+{
+    clearView();
+    // Engineer view, used in EMAV2009
+
+    // LINE CHART
+    linechart->setActive(true);
+    centerStack->setCurrentWidget(linechart);
+
+    // UAS CONTROL
+    QDockWidget* container1 = new QDockWidget(tr("Control"), this);
+    container1->setWidget(control);
+    addDockWidget(Qt::LeftDockWidgetArea, container1);
+
+    // UAS LIST
+    QDockWidget* container4 = new QDockWidget(tr("Unmanned Systems"), this);
+    container4->setWidget(list);
+    addDockWidget(Qt::BottomDockWidgetArea, container4);
+
+    // UAS STATUS
+    QDockWidget* container3 = new QDockWidget(tr("Status Details"), this);
+    container3->setWidget(info);
+    addDockWidget(Qt::LeftDockWidgetArea, container3);
+
+    // HORIZONTAL SITUATION INDICATOR
+    QDockWidget* container6 = new QDockWidget(tr("Horizontal Situation Indicator"), this);
+    container6->setWidget(hsi);
+    hsi->start();
+    addDockWidget(Qt::LeftDockWidgetArea, container6);
+
+    // WAYPOINT LIST
+    QDockWidget* container5 = new QDockWidget(tr("Waypoint List"), this);
+    container5->setWidget(waypoints);
+    addDockWidget(Qt::BottomDockWidgetArea, container5);
+
+    // DEBUG CONSOLE
+    QDockWidget* container7 = new QDockWidget(tr("Communication Console"), this);
+    container7->setWidget(debugConsole);
+    addDockWidget(Qt::BottomDockWidgetArea, container7);
+
+    // ONBOARD PARAMETERS
+    QDockWidget* containerParams = new QDockWidget(tr("Onboard Parameters"), this);
+    containerParams->setWidget(parameters);
+    addDockWidget(Qt::RightDockWidgetArea, containerParams);
+
+
+    this->show();
+}
+
+void MainWindow::loadPixhawkView()
+{
+    clearView();
+    // Engineer view, used in EMAV2009
+
+    // LINE CHART
+    linechart->setActive(true);
+    centerStack->setCurrentWidget(linechart);
+
+    // UAS CONTROL
+    QDockWidget* container1 = new QDockWidget(tr("Control"), this);
+    container1->setWidget(control);
+    addDockWidget(Qt::LeftDockWidgetArea, container1);
+
+    // UAS LIST
+    QDockWidget* container4 = new QDockWidget(tr("Unmanned Systems"), this);
+    container4->setWidget(list);
+    addDockWidget(Qt::BottomDockWidgetArea, container4);
+
+    // UAS STATUS
+    QDockWidget* container3 = new QDockWidget(tr("Status Details"), this);
+    container3->setWidget(info);
+    addDockWidget(Qt::LeftDockWidgetArea, container3);
+
+    // WAYPOINT LIST
+    QDockWidget* container5 = new QDockWidget(tr("Waypoint List"), this);
+    container5->setWidget(waypoints);
+    addDockWidget(Qt::BottomDockWidgetArea, container5);
+
+    // DEBUG CONSOLE
+    QDockWidget* container7 = new QDockWidget(tr("Communication Console"), this);
+    container7->setWidget(debugConsole);
+    addDockWidget(Qt::BottomDockWidgetArea, container7);
+
+    // ONBOARD PARAMETERS
+    QDockWidget* containerParams = new QDockWidget(tr("Onboard Parameters"), this);
+    containerParams->setWidget(parameters);
+    addDockWidget(Qt::RightDockWidgetArea, containerParams);
+
+
+    this->show();
+}
+
 void MainWindow::loadPilotView()
 {
     clearView();
@@ -490,12 +592,6 @@ void MainWindow::loadEngineerView()
     container3->setWidget(info);
     addDockWidget(Qt::LeftDockWidgetArea, container3);
 
-    // HORIZONTAL SITUATION INDICATOR
-    QDockWidget* container6 = new QDockWidget(tr("Horizontal Situation Indicator"), this);
-    container6->setWidget(hsi);
-    hsi->start();
-    addDockWidget(Qt::LeftDockWidgetArea, container6);
-
     // WAYPOINT LIST
     QDockWidget* container5 = new QDockWidget(tr("Waypoint List"), this);
     container5->setWidget(waypoints);

src/ui/MainWindow.h

@@ -117,6 +117,10 @@ public slots:
     /** @brief Load MAVLink XML generator view */
     void loadMAVLinkView();
 
+    // Fixme find a nicer solution that scales to more AP types
+    void loadSlugsView();
+    void loadPixhawkView();
+
     /** @brief Reload the CSS style sheet */
     void reloadStylesheet();
 protected:

src/ui/QGCParamWidget.cc

@@ -270,6 +270,7 @@ void QGCParamWidget::requestParameterList()
     // Clear view and request param list
     clear();
     parameters.clear();
+    received.clear();
     mav->requestParameters();
 }
 

src/ui/QGCParamWidget.h

@@ -83,6 +83,7 @@ protected:
     QMap<int, QMap<QString, QTreeWidgetItem*>* > paramGroups; ///< Parameter groups
     QMap<int, QMap<QString, float>* > changedValues; ///< Changed values
     QMap<int, QMap<QString, float>* > parameters; ///< All parameters
+    QVector<bool> received; ///< Successfully received parameters
 
 };