Merge branch 'master' of git@pixhawk.ethz.ch:qgroundcontrol into checkRemote

qgroundcontrol.pro

@@ -73,7 +73,8 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/watchdog/WatchdogProcessView.ui \
     src/ui/watchdog/WatchdogView.ui \
     src/ui/QGCFirmwareUpdate.ui \
-    src/ui/QGCPxImuFirmwareUpdate.ui
+    src/ui/QGCPxImuFirmwareUpdate.ui \
+    src/ui/QGCDataPlot2D.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -149,7 +150,10 @@ HEADERS += src/MG.h \
     src/ui/HSIDisplay.h \
     src/QGC.h \
     src/ui/QGCFirmwareUpdate.h \
-    src/ui/QGCPxImuFirmwareUpdate.h
+    src/ui/QGCPxImuFirmwareUpdate.h \
+    src/comm/MAVLinkLightProtocol.h \
+    src/ui/QGCDataPlot2D.h \
+    src/ui/linechart/IncrementalPlot.h
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -207,5 +211,8 @@ SOURCES += src/main.cc \
     src/ui/HSIDisplay.cc \
     src/QGC.cc \
     src/ui/QGCFirmwareUpdate.cc \
-    src/ui/QGCPxImuFirmwareUpdate.cc
+    src/ui/QGCPxImuFirmwareUpdate.cc \
+    src/comm/MAVLinkLightProtocol.cc \
+    src/ui/QGCDataPlot2D.cc \
+    src/ui/linechart/IncrementalPlot.cc
 RESOURCES = mavground.qrc

src/LogCompressor.cc

 #include <QFile>
 #include <QTextStream>
 #include <QStringList>
+#include <QFileInfo>
 #include "LogCompressor.h"
 
 #include <QDebug>
 
-LogCompressor::LogCompressor(QString logFileName, int uasid) :
+LogCompressor::LogCompressor(QString logFileName, QString outFileName, int uasid) :
         logFileName(logFileName),
+        outFileName(outFileName),
+        running(true),
+        currentDataLine(0),
+        dataLines(1),
         uasid(uasid)
 {
     start();
@@ -17,13 +22,23 @@ void LogCompressor::run()
     QString separator = "\t";
     QString fileName = logFileName;
     QFile file(fileName);
+    QFile outfile(outFileName);
     QStringList* keys = new QStringList();
     QStringList* times = new QStringList();
 
     if (!file.exists()) return;
-    if (!file.open(QIODevice::ReadWrite | QIODevice::Text))
+    if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
         return;
 
+    if (outFileName != "")
+    {
+        // Check if file is writeable
+        if (!QFileInfo(outfile).isWritable())
+        {
+            return;
+        }
+    }
+
     // Find all keys
     QTextStream in(&file);
     while (!in.atEnd()) {
@@ -43,9 +58,9 @@ void LogCompressor::run()
         spacer += " " + separator;
     }
 
-    qDebug() << header;
+    //qDebug() << header;
 
-    qDebug() << "NOW READING TIMES";
+    //qDebug() << "NOW READING TIMES";
 
     // Find all times
     //in.reset();
@@ -62,6 +77,9 @@ void LogCompressor::run()
             times->append(time);
         }
     }
+
+    dataLines = times->length();
+
     times->sort();
 
     // Create lines
@@ -74,7 +92,10 @@ void LogCompressor::run()
     // Fill in the values for all keys
     file.reset();
     QTextStream data(&file);
+    int linecounter = 0;
     while (!data.atEnd()) {
+        linecounter++;
+        currentDataLine = linecounter;
         QString line = data.readLine();
         QStringList parts = line.split(separator);
         // Get time
@@ -100,20 +121,43 @@ void LogCompressor::run()
 
     // Add header, write out file
     file.close();
-    QFile::remove(file.fileName());
-    if (!file.open(QIODevice::ReadWrite | QIODevice::Text))
+
+    if (outFileName == "")
+    {
+        QFile::remove(file.fileName());
+        outfile.setFileName(file.fileName());
+    }
+    if (!outfile.open(QIODevice::WriteOnly | QIODevice::Text))
         return;
-    file.write(QString(QString("unix_timestamp") + separator + header.replace(" ", "_") + QString("\n")).toLatin1());
+    outfile.write(QString(QString("unix_timestamp") + separator + header.replace(" ", "_") + QString("\n")).toLatin1());
     //QString fileHeader = QString("unix_timestamp") + header.replace(" ", "_") + QString("\n");
 
-    // Debug output
+    // File output
     for (int i = 0; i < outLines->length(); i++)
     {
         //qDebug() << outLines->at(i);
-        file.write(QString(outLines->at(i) + "\n").toLatin1());
+        outfile.write(QString(outLines->at(i) + "\n").toLatin1());
 
     }
 
+    currentDataLine = 0;
+    dataLines = 1;
     delete keys;
     qDebug() << "Done with logfile processing";
+    running = false;
+}
+
+bool LogCompressor::isFinished()
+{
+    return !running;
+}
+
+int LogCompressor::getCurrentLine()
+{
+    return currentDataLine;
+}
+
+int LogCompressor::getDataLines()
+{
+    return dataLines;
 }

src/LogCompressor.h

@@ -6,10 +6,17 @@
 class LogCompressor : public QThread
 {
 public:
-    LogCompressor(QString logFileName, int uasid = 0);
+    LogCompressor(QString logFileName, QString outFileName="", int uasid = 0);
+    bool isFinished();
+    int getDataLines();
+    int getCurrentLine();
 protected:
     void run();
     QString logFileName;
+    QString outFileName;
+    bool running;
+    int currentDataLine;
+    int dataLines;
     int uasid;
 };
 

src/Waypoint.cc

@@ -31,6 +31,7 @@ This file is part of the PIXHAWK project
  */
 
 #include "Waypoint.h"
+#include <QStringList>
 
 Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _autocontinue, bool _current, float _orbit, int _holdTime)
 : id(_id),
@@ -50,6 +51,30 @@ Waypoint::~Waypoint()
 
 }
 
+void Waypoint::save(QTextStream &saveStream)
+{
+    saveStream << "\t" << this->getId() << "\t" << this->getX() << "\t" << this->getY()  << "\t" << this->getZ()  << "\t" << this->getYaw()  << "\t" << this->getAutoContinue() << "\t" << this->getCurrent() << "\t" << this->getOrbit() << "\t" << this->getHoldTime() << "\n";
+}
+
+bool Waypoint::load(QTextStream &loadStream)
+{
+    const QStringList &wpParams = loadStream.readLine().split("\t");
+    if (wpParams.size() == 10)
+    {
+        this->id = wpParams[1].toInt();
+        this->x = wpParams[2].toDouble();
+        this->y = wpParams[3].toDouble();
+        this->z = wpParams[4].toDouble();
+        this->yaw = wpParams[5].toDouble();
+        this->autocontinue = (wpParams[6].toInt() == 1 ? true : false);
+        this->current = (wpParams[7].toInt() == 1 ? true : false);
+        this->orbit = wpParams[8].toDouble();
+        this->holdTime = wpParams[9].toInt();
+        return true;
+    }
+    return false;
+}
+
 void Waypoint::setId(quint16 id)
 {
     this->id = id;

src/Waypoint.h

@@ -35,6 +35,7 @@ This file is part of the PIXHAWK project
 
 #include <QObject>
 #include <QString>
+#include <QTextStream>
 
 class Waypoint : public QObject
 {
@@ -54,6 +55,10 @@ public:
     float getOrbit() const { return orbit; }
     float getHoldTime() const { return holdTime; }
 
+    void save(QTextStream &saveStream);
+    bool load(QTextStream &loadStream);
+
+
 private:
     quint16 id;
     float x;

src/comm/MAVLinkLightProtocol.cc

+/*=====================================================================
+
+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 Example implementation of a different protocol than the default MAVLink.
+ *   @author Lorenz Meier <mail@qgroundcontrol.org>
+ */
+
+#include "MAVLinkLightProtocol.h"
+#include "UASManager.h"
+#include "ArduPilotMAV.h"
+#include "LinkManager.h"
+
+MAVLinkLightProtocol::MAVLinkLightProtocol() :
+    MAVLinkProtocol()
+{
+}
+
+
+/**
+ * @param message message to send
+ */
+void MAVLinkLightProtocol::sendMessage(mavlink_light_message_t message)
+{
+    // Get all links connected to this unit
+    QList<LinkInterface*> links = LinkManager::instance()->getLinksForProtocol(this);
+
+    // Emit message on all links that are currently connected
+    QList<LinkInterface*>::iterator i;
+    for (i = links.begin(); i != links.end(); ++i)
+    {
+        sendMessage(*i, message);
+    }
+}
+
+/**
+ * @param link the link to send the message over
+ * @param message message to send
+ */
+void MAVLinkLightProtocol::sendMessage(LinkInterface* link, mavlink_light_message_t message)
+{
+    // Create buffer
+    uint8_t buffer[100]; // MAXIMUM PACKET LENGTH, INCLUDING STX BYTES
+    // Write message into buffer, prepending start sign
+    //int len = mavlink_msg_to_send_buffer(buffer, &message);
+
+
+    // FIXME TO SEND BUFFER FUNCTION MISSING
+    Q_UNUSED(message);
+    int len = 0;
+
+    // If link is connected
+    if (link->isConnected())
+    {
+        // Send the portion of the buffer now occupied by the message
+        link->writeBytes((const char*)buffer, len);
+    }
+}
+
+/**
+ * The bytes are copied by calling the LinkInterface::readBytes() method.
+ * This method parses all incoming bytes and constructs a MAVLink packet.
+ * It can handle multiple links in parallel, as each link has it's own buffer/
+ * parsing state machine.
+ * @param link The interface to read from
+ * @see LinkInterface
+ **/
+void MAVLinkLightProtocol::receiveBytes(LinkInterface* link)
+{
+    receiveMutex.lock();
+    // Prepare buffer
+    static const int maxlen = 4096 * 100;
+    static char buffer[maxlen];
+    qint64 bytesToRead = link->bytesAvailable();
+
+    // Get all data at once, let link read the bytes in the buffer array
+    link->readBytes(buffer, maxlen);
+
+    // Run through all bytes
+    for (int position = 0; position < bytesToRead; position++)
+    {
+        mavlink_light_message_t msg;
+        // FIXME PARSE
+        if (1 == 0/* parsing returned a message */)
+        {
+
+            int sysid = 0; // system id from message, or always null if only one MAV is supported
+            UASInterface* uas = UASManager::instance()->getUASForId(sysid);
+
+            // Check and (if necessary) create UAS object
+            if (uas == NULL)
+            {
+                ArduPilotMAV* mav = new ArduPilotMAV(this, sysid); // FIXME change to msg.sysid if this field exists
+                // Connect this robot to the UAS object
+                // it is IMPORTANT here to use the right object type,
+                // else the slot of the parent object is called (and thus the special
+                // packets never reach their goal)
+                connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
+                uas = mav;
+                // Make UAS aware that this link can be used to communicate with the actual robot
+                uas->addLink(link);
+                // Now add UAS to "official" list, which makes the whole application aware of it
+                UASManager::instance()->addUAS(uas);
+            }
+
+            // The packet is emitted as a whole, as it is only 255 - 261 bytes short
+            // kind of inefficient, but no issue for a groundstation pc.
+            // It buys as reentrancy for the whole code over all threads
+            emit messageReceived(link, msg);
+        }
+    }
+    receiveMutex.unlock();
+}
+
+/**
+ * @return The name of this protocol
+ **/
+QString MAVLinkLightProtocol::getName()
+{
+    return QString(tr("MAVLinkLight protocol"));
+}

src/comm/MAVLinkLightProtocol.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 Example implementation of a different protocol than the default MAVLink.
+ *   @author Lorenz Meier <mail@qgroundcontrol.org>
+ */
+
+#ifndef MAVLINKLIGHTPROTOCOL_H
+#define MAVLINKLIGHTPROTOCOL_H
+
+#include <inttypes.h>
+#include <MAVLinkProtocol.h>
+
+#define MAVLINK_LIGHT_MAX_PAYLOAD_LEN 50
+
+// Not part of message struct, but sent on link
+// uint8_t stx1;
+// uint8_t stx2;
+typedef struct {
+    uint8_t msgid;   ///< ID of message in payload
+    uint8_t payload[MAVLINK_LIGHT_MAX_PAYLOAD_LEN]; ///< Payload data, ALIGNMENT IMPORTANT ON MCU
+    uint8_t ck_a;    ///< Checksum high byte
+    uint8_t ck_b;    ///< Checksum low byte
+} mavlink_light_message_t;
+
+class MAVLinkLightProtocol : public MAVLinkProtocol
+{
+Q_OBJECT
+public:
+    explicit MAVLinkLightProtocol();
+    QString getName();
+
+signals:
+    /** @brief Message received and directly copied via signal */
+    void messageReceived(LinkInterface* link, mavlink_light_message_t message);
+
+public slots:
+    void sendMessage(mavlink_light_message_t message);
+    void sendMessage(LinkInterface* link, mavlink_light_message_t message);
+    void receiveBytes(LinkInterface* link);
+
+};
+
+#endif // MAVLINKLIGHTPROTOCOL_H

src/comm/MAVLinkProtocol.cc

@@ -323,7 +323,7 @@ void MAVLinkProtocol::sendMessage(mavlink_message_t message)
     for (i = links.begin(); i != links.end(); ++i)
     {
         sendMessage(*i, message);
-        qDebug() << __FILE__ << __LINE__ << "SENT HEARTBEAT MESSAGE OVER" << ((LinkInterface*)*i)->getName() << "LIST SIZE:" << links.size();
+        //qDebug() << __FILE__ << __LINE__ << "SENT MESSAGE OVER" << ((LinkInterface*)*i)->getName() << "LIST SIZE:" << links.size();
     }
 }
 

src/comm/MAVLinkSimulationLink.cc

@@ -186,10 +186,13 @@ void MAVLinkSimulationLink::mainloop()
     static float drainRate = 0.025; // x.xx% of the capacity is linearly drained per second
 
     mavlink_attitude_t attitude;
+    memset(&attitude, 0, sizeof(mavlink_attitude_t));
     #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
       mavlink_raw_aux_t rawAuxValues;
+      memset(&rawAuxValues, 0, sizeof(mavlink_raw_aux_t));
     #endif
     mavlink_raw_imu_t rawImuValues;
+    memset(&rawImuValues, 0, sizeof(mavlink_raw_imu_t));
 
     uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
     int bufferlength;

src/uas/ArduPilotMAV.cc

+/*=====================================================================
+
+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 Implementation of class MainWindow
+ *   @author Your Name here
+ */
+
 #include "ArduPilotMAV.h"
 
 ArduPilotMAV::ArduPilotMAV(MAVLinkProtocol* mavlink, int id) :

src/uas/UASWaypointManager.cc

@@ -131,8 +131,8 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
 
         if(wp->seq == current_wp_id)
         {
-            //update the UI FIXME
-            emit waypointUpdated(wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->param1, wp->param2);
+            Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->param1, wp->param2);
+            localAddWaypoint(lwp);
 
             //get next waypoint
             current_wp_id++;
@@ -223,42 +223,182 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
         {
             protocol_timer.stop();
             current_state = WP_IDLE;
+
+            // update the local main storage
+            if (wpc->seq < waypoints.size())
+            {
+                for(int i = 0; i < waypoints.size(); i++)
+                {
+                    if (waypoints[i]->getId() == wpc->seq)
+                    {
+                        waypoints[i]->setCurrent(true);
+                    }
+                    else
+                    {
+                        waypoints[i]->setCurrent(false);
+                    }
+                }
+            }
+
             emit updateStatusString(QString("New current waypoint %1").arg(wpc->seq));
+            //emit update to UI widgets
+            emit currentWaypointChanged(wpc->seq);
         }
         qDebug() << "new current waypoint" << wpc->seq;
-        emit currentWaypointChanged(wpc->seq);
     }
 }
 
-void UASWaypointManager::clearWaypointList()
+int UASWaypointManager::setCurrentWaypoint(quint16 seq)
 {
-    if(current_state == WP_IDLE)
+    if (seq < waypoints.size())
     {
-        protocol_timer.start(PROTOCOL_TIMEOUT_MS);
-        current_retries = PROTOCOL_MAX_RETRIES;
+        if(current_state == WP_IDLE)
+        {
+            //update local main storage
+            for(int i = 0; i < waypoints.size(); i++)
+            {
+                if (waypoints[i]->getId() == seq)
+                {
+                    waypoints[i]->setCurrent(true);
+                }
+                else
+                {
+                    waypoints[i]->setCurrent(false);
+                }
+            }
 
-        current_state = WP_CLEARLIST;
-        current_wp_id = 0;
-        current_partner_systemid = uas.getUASID();
-        current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER;
+            //TODO: signal changed waypoint list
 
-        sendWaypointClearAll();
+            //send change to UAS - important to note: if the transmission fails, we have inconsistencies
+            protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+            current_retries = PROTOCOL_MAX_RETRIES;
+
+            current_state = WP_SETCURRENT;
+            current_wp_id = seq;
+            current_partner_systemid = uas.getUASID();
+            current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER;
+
+            sendWaypointSetCurrent(current_wp_id);
+
+            //emit waypointListChanged();
+
+            return 0;
+        }
+    }
+    return -1;
+}
+
+void UASWaypointManager::localAddWaypoint(Waypoint *wp)
+{
+    if (wp)
+    {
+        wp->setId(waypoints.size());
+        waypoints.insert(waypoints.size(), wp);
+        emit waypointListChanged();
     }
 }
 
-void UASWaypointManager::setCurrent(quint16 seq)
+int UASWaypointManager::localRemoveWaypoint(quint16 seq)
+{
+    if (seq < waypoints.size())
+    {
+        Waypoint *t = waypoints[seq];
+        waypoints.remove(seq);
+        delete t;
+
+        for(int i = seq; i < waypoints.size(); i++)
+        {
+            waypoints[i]->setId(i);
+        }
+        emit waypointListChanged();
+        return 0;
+    }
+    return -1;
+}
+
+void UASWaypointManager::localMoveWaypoint(quint16 cur_seq, quint16 new_seq)
+{
+    if (cur_seq != new_seq && cur_seq < waypoints.size() && new_seq < waypoints.size())
+    {
+        Waypoint *t = waypoints[cur_seq];
+        if (cur_seq < new_seq)
+        {
+            for (int i = cur_seq; i < new_seq; i++)
+            {
+                waypoints[i] = waypoints[i+1];
+                //waypoints[i]->setId(i);       // let the local IDs stay the same so that they can be found more easily by the user
+            }
+        }
+        else
+        {
+            for (int i = cur_seq; i > new_seq; i--)
+            {
+                waypoints[i] = waypoints[i-1];
+               // waypoints[i]->setId(i);
+            }
+        }
+        waypoints[new_seq] = t;
+        //waypoints[new_seq]->setId(new_seq);
+
+        emit waypointListChanged();
+    }
+}
+
+void UASWaypointManager::localSaveWaypoints(const QString &saveFile)
+{
+    QFile file(saveFile);
+    if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
+        return;
+
+    QTextStream out(&file);
+    for (int i = 0; i < waypoints.size(); i++)
+    {
+        waypoints[i]->save(out);
+    }
+    file.close();
+}
+
+void UASWaypointManager::localLoadWaypoints(const QString &loadFile)
+{
+    QFile file(loadFile);
+    if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
+        return;
+
+    while(waypoints.size()>0)
+    {
+        Waypoint *t = waypoints[0];
+        waypoints.remove(0);
+        delete t;
+    }
+
+    QTextStream in(&file);
+    while (!in.atEnd())
+    {
+        Waypoint *t = new Waypoint();
+        if(t->load(in))
+        {
+            t->setId(waypoints.size());
+            waypoints.insert(waypoints.size(), t);
+        }
+    }
+    file.close();
+
+    emit waypointListChanged();
+}
+
+void UASWaypointManager::clearWaypointList()
 {
     if(current_state == WP_IDLE)
     {
         protocol_timer.start(PROTOCOL_TIMEOUT_MS);
         current_retries = PROTOCOL_MAX_RETRIES;
 
-        current_state = WP_SETCURRENT;
-        current_wp_id = seq;
+        current_state = WP_CLEARLIST;
+        current_wp_id = 0;
         current_partner_systemid = uas.getUASID();
         current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER;
 
-        sendWaypointSetCurrent(current_wp_id);
+        sendWaypointClearAll();
     }
 }
 
@@ -266,6 +406,13 @@ void UASWaypointManager::readWaypoints()
 {
     if(current_state == WP_IDLE)
     {
+        while(waypoints.size()>0)
+        {
+            Waypoint *t = waypoints.back();
+            delete t;
+            waypoints.pop_back();
+        }
+
         protocol_timer.start(PROTOCOL_TIMEOUT_MS);
         current_retries = PROTOCOL_MAX_RETRIES;
 
@@ -300,6 +447,8 @@ void UASWaypointManager::writeWaypoints()
                 waypoint_buffer.pop_back();
             }
 
+            bool noCurrent = true;
+
             //copy waypoint data to local buffer
             for (int i=0; i < current_count; i++)
             {
@@ -309,17 +458,20 @@ void UASWaypointManager::writeWaypoints()
                 const Waypoint *cur_s = waypoints.at(i);
 
                 cur_d->autocontinue = cur_s->getAutoContinue();
-                cur_d->current = cur_s->getCurrent();
+                cur_d->current = cur_s->getCurrent() & noCurrent;   //make sure only one current waypoint is selected, the first selected will be chosen
                 cur_d->orbit = 0;
                 cur_d->orbit_direction = 0;
                 cur_d->param1 = cur_s->getOrbit();
                 cur_d->param2 = cur_s->getHoldTime();
-                cur_d->type = 1;        //FIXME
-                cur_d->seq = i;
+                cur_d->type = 1;    //FIXME: we only use local waypoints at the moment
+                cur_d->seq = i;     // don't read out the sequence number of the waypoint class
                 cur_d->x = cur_s->getX();
                 cur_d->y = cur_s->getY();
                 cur_d->z = cur_s->getZ();
                 cur_d->yaw = cur_s->getYaw();
+
+                if (cur_s->getCurrent() && noCurrent)
+                    noCurrent = false;
             }
 
             //send the waypoint count to UAS (this starts the send transaction)
@@ -341,8 +493,7 @@ void UASWaypointManager::sendWaypointClearAll()
     wpca.target_system = uas.getUASID();
     wpca.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
 
-    const QString str = QString("clearing waypoint list...");
-    emit updateStatusString(str);
+    emit updateStatusString(QString("clearing waypoint list..."));
 
     mavlink_msg_waypoint_clear_all_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpca);
     uas.sendMessage(message);
@@ -360,8 +511,7 @@ void UASWaypointManager::sendWaypointSetCurrent(quint16 seq)
     wpsc.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
     wpsc.seq = seq;
 
-    const QString str = QString("Updating target waypoint...");
-    emit updateStatusString(str);
+    emit updateStatusString(QString("Updating target waypoint..."));
 
     mavlink_msg_waypoint_set_current_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpsc);
     uas.sendMessage(message);
@@ -379,8 +529,7 @@ void UASWaypointManager::sendWaypointCount()
     wpc.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
     wpc.count = current_count;
 
-    const QString str = QString("start transmitting waypoints...");
-    emit updateStatusString(str);
+    emit updateStatusString(QString("start transmitting waypoints..."));
 
     mavlink_msg_waypoint_count_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpc);
     uas.sendMessage(message);
@@ -397,8 +546,7 @@ void UASWaypointManager::sendWaypointRequestList()
     wprl.target_system = uas.getUASID();
     wprl.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
 
-    const QString str = QString("requesting waypoint list...");
-    emit updateStatusString(str);
+    emit updateStatusString(QString("requesting waypoint list..."));
 
     mavlink_msg_waypoint_request_list_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wprl);
     uas.sendMessage(message);
@@ -416,8 +564,7 @@ void UASWaypointManager::sendWaypointRequest(quint16 seq)
     wpr.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
     wpr.seq = seq;
 
-    const QString str = QString("retrieving waypoint ID %1 of %2 total").arg(wpr.seq).arg(current_count);
-    emit updateStatusString(str);
+    emit updateStatusString(QString("retrieving waypoint ID %1 of %2 total").arg(wpr.seq).arg(current_count));
 
     mavlink_msg_waypoint_request_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpr);
     uas.sendMessage(message);
@@ -438,8 +585,7 @@ void UASWaypointManager::sendWaypoint(quint16 seq)
         wp->target_system = uas.getUASID();
         wp->target_component = MAV_COMP_ID_WAYPOINTPLANNER;
 
-        const QString str = QString("sending waypoint ID %1 of %2 total").arg(wp->seq).arg(current_count);
-        emit updateStatusString(str);
+        emit updateStatusString(QString("sending waypoint ID %1 of %2 total").arg(wp->seq).arg(current_count));
 
         mavlink_msg_waypoint_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, wp);
         uas.sendMessage(message);

src/uas/UASWaypointManager.h

@@ -75,7 +75,23 @@ public:
     void handleWaypointCurrent(quint8 systemId, quint8 compId, mavlink_waypoint_current_t *wpc);        ///< Handles received set current waypoint messages
     /*@}*/
 
-    QVector<Waypoint *> &getWaypointList(void) { return waypoints; }    ///< Returns a reference to the local waypoint list. Gives full access to the internal data structure - Subject to change: Public const access and friend access for the waypoint list widget.
+    /** @name Remote operations */
+    /*@{*/
+    void clearWaypointList();                       ///< Sends the waypoint clear all message to the MAV
+    void readWaypoints();                           ///< Requests the MAV's current waypoint list
+    void writeWaypoints();                          ///< Sends the local waypoint list to the MAV
+    int setCurrentWaypoint(quint16 seq);            ///< Changes the current waypoint and sends the sequence number of the waypoint that should get the new target waypoint to the UAS
+    /*@}*/
+
+    /** @name Local waypoint list operations */
+    /*@{*/
+    const QVector<Waypoint *> &getWaypointList(void) { return waypoints; }  ///< Returns a const reference to the local waypoint list.
+    void localAddWaypoint(Waypoint *wp);                        ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly
+    int localRemoveWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
+    void localMoveWaypoint(quint16 cur_seq, quint16 new_seq);   ///< locally move a waypoint from its current position cur_seq to a new position new_seq
+    void localSaveWaypoints(const QString &saveFile);           ///< saves the local waypoint list to saveFile
+    void localLoadWaypoints(const QString &loadFile);           ///< loads a waypoint list from loadFile
+    /*@}*/
 
 private:
     /** @name Message send functions */
@@ -91,15 +107,11 @@ private:
 
 public slots:
     void timeout();                                 ///< Called by the timer if a response times out. Handles send retries.
-    void setCurrent(quint16 seq);                   ///< Sends the sequence number of the waypoint that should get the new target waypoint
-    void clearWaypointList();                       ///< Sends the waypoint clear all message to the MAV
-    void readWaypoints();                           ///< Requests the MAV's current waypoint list
-    void writeWaypoints();                          ///< Sends the local waypoint list to the MAV
 
 signals:
-    void waypointUpdated(quint16,double,double,double,double,bool,bool,double,int); ///< Adds a waypoint to the waypoint list widget
-    void currentWaypointChanged(quint16);                                           ///< emits the new current waypoint sequence number
-    void updateStatusString(const QString &);                                       ///< emits the current status string
+    void waypointListChanged(void);                 ///< emits signal that the local waypoint list has been changed
+    void currentWaypointChanged(quint16);           ///< emits the new current waypoint sequence number
+    void updateStatusString(const QString &);       ///< emits the current status string
 
 private:
     UAS &uas;                                       ///< Reference to the corresponding UAS

src/ui/CommConfigurationWindow.cc

@@ -99,7 +99,7 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
     }
     else if (dynamic_cast<UDPLink*>(link) != 0)
     {
-        ui.linkGroupBox->setTitle(tr("udp link"));
+        ui.linkGroupBox->setTitle(tr("UDP Link"));
     }
     else
     {

src/ui/HSIDisplay.cc

@@ -633,7 +633,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
 {
     if (uas)
     {
-        QVector<Waypoint*>& list = uas->getWaypointManager().getWaypointList();
+        const QVector<Waypoint*>& list = uas->getWaypointManager().getWaypointList();
 
         QColor color;
         painter.setBrush(Qt::NoBrush);

src/ui/MainWindow.cc

@@ -2,9 +2,7 @@
 
 QGroundControl Open Source Ground Control Station
 
-(c) 2009, 2010 QGROUNDCONTROL/PIXHAWK PROJECT
-<http://www.qgroundcontrol.org>
-<http://pixhawk.ethz.ch>
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
 This file is part of the QGROUNDCONTROL project
 
@@ -140,15 +138,18 @@ void MainWindow::buildWidgets()
   headDown1   = new HDDisplay(acceptList, this);
   headDown2   = new HDDisplay(acceptList2, this);
   joystick    = new JoystickInput();
+  dataplot    = new QGCDataPlot2D();
 }
 
-void MainWindow::connectWidgets(){
+void MainWindow::connectWidgets()
+{
   connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), linechart, SLOT(addSystem(UASInterface*)));
   connect(UASManager::instance(), SIGNAL(activeUASSet(int)), linechart, SLOT(selectSystem(int)));
   connect(mavlink, SIGNAL(receiveLossChanged(int, float)), info, SLOT(updateSendLoss(int, float)));
 }
 
-void MainWindow::arrangeCenterStack(){
+void MainWindow::arrangeCenterStack()
+{
 
   centerStack = new QStackedWidget(this);
 
@@ -156,11 +157,13 @@ void MainWindow::arrangeCenterStack(){
   centerStack->addWidget(protocol);
   centerStack->addWidget(map);
   centerStack->addWidget(hud);
+  centerStack->addWidget(dataplot);
 
   setCentralWidget(centerStack);
 }
 
-void MainWindow::configureWindowName(){
+void MainWindow::configureWindowName()
+{
   QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();
   QString windowname = qApp->applicationName() + " " + qApp->applicationVersion();
   bool prevAddr = false;
@@ -245,11 +248,14 @@ void MainWindow::reloadStylesheet()
     {
         styleSheet = new QFile(":/images/style-mission.css");
     }
-    if (styleSheet->open(QIODevice::ReadOnly | QIODevice::Text)) {
+    if (styleSheet->open(QIODevice::ReadOnly | QIODevice::Text))
+    {
         QString style = QString(styleSheet->readAll());
         style.replace("ICONDIR", QCoreApplication::applicationDirPath()+ "/images/");
         qApp->setStyleSheet(style);
-    } else {
+    }
+    else
+    {
         qDebug() << "Style not set:" << styleSheet->fileName() << "opened: " << styleSheet->isOpen();
     }
     delete styleSheet;
@@ -292,12 +298,59 @@ void MainWindow::connectActions()
     connect(ui.actionSettingsView, SIGNAL(triggered()), this, SLOT(loadSettingsView()));
     connect(ui.actionShow_full_view, SIGNAL(triggered()), this, SLOT(loadAllView()));
     connect(ui.actionShow_MAVLink_view, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
+    connect(ui.actionShow_data_analysis_view, SIGNAL(triggered()), this, SLOT(loadDataView()));
     connect(ui.actionStyleConfig, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));
 
+    connect(ui.actionOnline_documentation, SIGNAL(triggered()), this, SLOT(showHelp()));
+    connect(ui.actionCredits_Developers, SIGNAL(triggered()), this, SLOT(showCredits()));
+    connect(ui.actionProject_Roadmap, SIGNAL(triggered()), this, SLOT(showRoadMap()));
+
     // Joystick configuration
     connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));
 }
 
+void MainWindow::showHelp()
+{
+    if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/user_guide")))
+    {
+        QMessageBox msgBox;
+        msgBox.setIcon(QMessageBox::Critical);
+        msgBox.setText("Could not open help in browser");
+        msgBox.setInformativeText("To get to the online help, please open http://qgroundcontrol.org/user_guide in a browser.");
+        msgBox.setStandardButtons(QMessageBox::Ok);
+        msgBox.setDefaultButton(QMessageBox::Ok);
+        msgBox.exec();
+    }
+}
+
+void MainWindow::showCredits()
+{
+    if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/credits")))
+    {
+        QMessageBox msgBox;
+        msgBox.setIcon(QMessageBox::Critical);
+        msgBox.setText("Could not open credits in browser");
+        msgBox.setInformativeText("To get to the online help, please open http://qgroundcontrol.org/credits in a browser.");
+        msgBox.setStandardButtons(QMessageBox::Ok);
+        msgBox.setDefaultButton(QMessageBox::Ok);
+        msgBox.exec();
+    }
+}
+
+void MainWindow::showRoadMap()
+{
+    if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/roadmap")))
+    {
+        QMessageBox msgBox;
+        msgBox.setIcon(QMessageBox::Critical);
+        msgBox.setText("Could not open roadmap in browser");
+        msgBox.setInformativeText("To get to the online help, please open http://qgroundcontrol.org/roadmap in a browser.");
+        msgBox.setStandardButtons(QMessageBox::Ok);
+        msgBox.setDefaultButton(QMessageBox::Ok);
+        msgBox.exec();
+    }
+}
+
 void MainWindow::configure()
 {
     joystickWidget = new JoystickWidget(joystick, this);
@@ -485,6 +538,12 @@ void MainWindow::loadPixhawkView()
     this->show();
 }
 
+void MainWindow::loadDataView()
+{
+    clearView();
+    centerStack->setCurrentWidget(dataplot);
+}
+
 void MainWindow::loadPilotView()
 {
     clearView();

src/ui/MainWindow.h

@@ -62,6 +62,7 @@ This file is part of the PIXHAWK project
 #include "HDDisplay.h"
 #include "WatchdogControl.h"
 #include "HSIDisplay.h"
+#include "QGCDataPlot2D.h"
 
 #include "LogCompressor.h"
 
@@ -116,6 +117,15 @@ public slots:
     void loadAllView();
     /** @brief Load MAVLink XML generator view */
     void loadMAVLinkView();
+    /** @brief Load data view, allowing to plot flight data */
+    void loadDataView();
+
+    /** @brief Show the online help for users */
+    void showHelp();
+    /** @brief Show the authors / credits */
+    void showCredits();
+    /** @brief Show the project roadmap */
+    void showRoadMap();
 
     // Fixme find a nicer solution that scales to more AP types
     void loadSlugsView();
@@ -158,6 +168,7 @@ protected:
     HDDisplay* headDown2;
     WatchdogControl* watchdogControl;
     HSIDisplay* hsi;
+    QGCDataPlot2D* dataplot;
 
     // Popup widgets
     JoystickWidget* joystickWidget;

src/ui/MainWindow.ui

@@ -35,7 +35,7 @@
      <x>0</x>
      <y>0</y>
      <width>1000</width>
-     <height>25</height>
+     <height>22</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuMGround">
@@ -75,13 +75,23 @@
     <addaction name="actionSettingsView"/>
     <addaction name="separator"/>
     <addaction name="actionShow_MAVLink_view"/>
+    <addaction name="actionShow_data_analysis_view"/>
     <addaction name="actionShow_full_view"/>
     <addaction name="actionStyleConfig"/>
    </widget>
+   <widget class="QMenu" name="menuHelp">
+    <property name="title">
+     <string>Help</string>
+    </property>
+    <addaction name="actionOnline_documentation"/>
+    <addaction name="actionProject_Roadmap"/>
+    <addaction name="actionCredits_Developers"/>
+   </widget>
    <addaction name="menuMGround"/>
    <addaction name="menuNetwork"/>
    <addaction name="menuUnmanned_System"/>
    <addaction name="menuWindow"/>
+   <addaction name="menuHelp"/>
   </widget>
   <widget class="QToolBar" name="mainToolBar">
    <attribute name="toolBarArea">
@@ -263,6 +273,42 @@
     <string>Show MAVLink view</string>
    </property>
   </action>
+  <action name="actionOnline_documentation">
+   <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>Online documentation</string>
+   </property>
+  </action>
+  <action name="actionShow_data_analysis_view">
+   <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>Show data analysis view</string>
+   </property>
+  </action>
+  <action name="actionProject_Roadmap">
+   <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="actionCredits_Developers">
+   <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>Credits / Developers</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>

src/ui/QGCDataPlot2D.cc

+
+#include <QFileDialog>
+#include <QTemporaryFile>
+#include <QMessageBox>
+#include <QPrintDialog>
+#include <QProgressDialog>
+#include <QHBoxLayout>
+#include <QSvgGenerator>
+#include <QPrinter>
+#include <QDesktopServices>
+#include "QGCDataPlot2D.h"
+#include "ui_QGCDataPlot2D.h"
+#include "MG.h"
+#include <cmath>
+
+#include <QDebug>
+
+QGCDataPlot2D::QGCDataPlot2D(QWidget *parent) :
+        QWidget(parent),
+        plot(new IncrementalPlot()),
+        logFile(NULL),
+        ui(new Ui::QGCDataPlot2D)
+{
+    ui->setupUi(this);
+
+    // Add plot to ui
+    QHBoxLayout* layout = new QHBoxLayout(ui->plotFrame);
+    layout->addWidget(plot);
+    ui->plotFrame->setLayout(layout);
+
+    // Connect user actions
+    connect(ui->selectFileButton, SIGNAL(clicked()), this, SLOT(selectFile()));
+    connect(ui->saveCsvButton, SIGNAL(clicked()), this, SLOT(saveCsvLog()));
+    connect(ui->reloadButton, SIGNAL(clicked()), this, SLOT(reloadFile()));
+    connect(ui->savePlotButton, SIGNAL(clicked()), this, SLOT(savePlot()));
+    connect(ui->printButton, SIGNAL(clicked()), this, SLOT(print()));
+    connect(ui->legendCheckBox, SIGNAL(clicked(bool)), plot, SLOT(showLegend(bool)));
+    connect(ui->style, SIGNAL(currentIndexChanged(QString)), plot, SLOT(setStyleText(QString)));
+}
+
+void QGCDataPlot2D::reloadFile()
+{
+    if (QFileInfo(fileName).isReadable())
+    {
+        if (ui->inputFileType->currentText().contains("pxIMU"))
+        {
+            loadRawLog(fileName, ui->xAxis->currentText(), ui->yAxis->text());
+        }
+        else if (ui->inputFileType->currentText().contains("CSV"))
+        {
+            loadCsvLog(fileName, ui->xAxis->currentText(), ui->yAxis->text());
+        }
+    }
+}
+
+void QGCDataPlot2D::loadFile()
+{
+    if (QFileInfo(fileName).isReadable())
+    {
+        if (ui->inputFileType->currentText().contains("pxIMU"))
+        {
+            loadRawLog(fileName);
+        }
+        else if (ui->inputFileType->currentText().contains("CSV"))
+        {
+            loadCsvLog(fileName);
+        }
+    }
+}
+
+void QGCDataPlot2D::savePlot()
+{
+    QString fileName = "plot.svg";
+    fileName = QFileDialog::getSaveFileName(
+            this, "Export File Name", QDesktopServices::storageLocation(QDesktopServices::DesktopLocation),
+            "SVG Documents (*.svg);;");
+    while(!fileName.endsWith("svg"))
+    {
+        QMessageBox msgBox;
+        msgBox.setIcon(QMessageBox::Critical);
+        msgBox.setText("Unsuitable file extension for SVG");
+        msgBox.setInformativeText("Please choose .svg as file extension. Click OK to change the file extension, cancel to not save the file.");
+        msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
+        msgBox.setDefaultButton(QMessageBox::Ok);
+        if(msgBox.exec() == QMessageBox::Cancel) break;
+        fileName = QFileDialog::getSaveFileName(
+                this, "Export File Name", QDesktopServices::storageLocation(QDesktopServices::DesktopLocation),
+                "SVG Documents (*.svg);;");
+    }
+    exportSVG(fileName);
+
+    //    else if (fileName.endsWith("pdf"))
+    //    {
+    //        print(fileName);
+    //    }
+}
+
+
+void QGCDataPlot2D::print()
+{
+    QPrinter printer(QPrinter::HighResolution);
+    //    printer.setOutputFormat(QPrinter::PdfFormat);
+    //    //QPrinter printer(QPrinter::HighResolution);
+    //    printer.setOutputFileName(fileName);
+
+    QString docName = plot->title().text();
+    if ( !docName.isEmpty() )
+    {
+        docName.replace (QRegExp (QString::fromLatin1 ("\n")), tr (" -- "));
+        printer.setDocName (docName);
+    }
+
+    printer.setCreator("QGroundControl");
+    printer.setOrientation(QPrinter::Landscape);
+
+    QPrintDialog dialog(&printer);
+    if ( dialog.exec() )
+    {
+        plot->setStyleSheet("QWidget { background-color: #FFFFFF; color: #000000; background-clip: border; font-size: 11pt;}");
+        plot->setCanvasBackground(Qt::white);
+        QwtPlotPrintFilter filter;
+        filter.color(Qt::white, QwtPlotPrintFilter::CanvasBackground);
+        filter.color(Qt::black, QwtPlotPrintFilter::AxisScale);
+        filter.color(Qt::black, QwtPlotPrintFilter::AxisTitle);
+        filter.color(Qt::black, QwtPlotPrintFilter::MajorGrid);
+        filter.color(Qt::black, QwtPlotPrintFilter::MinorGrid);
+        if ( printer.colorMode() == QPrinter::GrayScale )
+        {
+            int options = QwtPlotPrintFilter::PrintAll;
+            options &= ~QwtPlotPrintFilter::PrintBackground;
+            options |= QwtPlotPrintFilter::PrintFrameWithScales;
+            filter.setOptions(options);
+        }
+        plot->print(printer, filter);
+    }
+}
+
+void QGCDataPlot2D::exportSVG(QString fileName)
+{
+    if ( !fileName.isEmpty() )
+    {
+        QSvgGenerator generator;
+        generator.setFileName(fileName);
+        generator.setSize(QSize(800, 600));
+
+        QwtPlotPrintFilter filter;
+        filter.color(Qt::white, QwtPlotPrintFilter::CanvasBackground);
+        filter.color(Qt::black, QwtPlotPrintFilter::AxisScale);
+        filter.color(Qt::black, QwtPlotPrintFilter::AxisTitle);
+        filter.color(Qt::black, QwtPlotPrintFilter::MajorGrid);
+        filter.color(Qt::black, QwtPlotPrintFilter::MinorGrid);
+
+        plot->print(generator, filter);
+    }
+}
+
+/**
+ * Selects a filename and attempts immediately to load it.
+ */
+void QGCDataPlot2D::selectFile()
+{
+    // Let user select the log file name
+    //QDate date(QDate::currentDate());
+    // QString("./pixhawk-log-" + date.toString("yyyy-MM-dd") + "-" + QString::number(logindex) + ".log")
+    fileName = QFileDialog::getOpenFileName(this, tr("Specify log file name"), tr("."), tr("Logfile (*.txt)"));
+    // Store reference to file
+
+    QFileInfo fileInfo(fileName);
+
+    if (!fileInfo.isReadable())
+    {
+        QMessageBox msgBox;
+        msgBox.setIcon(QMessageBox::Critical);
+        msgBox.setText("Could not open file");
+        msgBox.setInformativeText(tr("The file is owned by user %1. Is the file currently used by another program?").arg(fileInfo.owner()));
+        msgBox.setStandardButtons(QMessageBox::Ok);
+        msgBox.setDefaultButton(QMessageBox::Ok);
+        msgBox.exec();
+        ui->filenameLabel->setText(tr("Could not open %1").arg(fileInfo.baseName()+"."+fileInfo.completeSuffix()));
+    }
+    else
+    {
+        ui->filenameLabel->setText(tr("Opened %1").arg(fileInfo.completeBaseName()+"."+fileInfo.completeSuffix()));
+        // Open and import the file
+        loadFile();
+    }
+
+}
+
+void QGCDataPlot2D::loadRawLog(QString file, QString xAxisName, QString yAxisFilter)
+{
+    if (logFile != NULL)
+    {
+        logFile->close();
+        delete logFile;
+    }
+    // Postprocess log file
+    logFile = new QTemporaryFile();
+    compressor = new LogCompressor(file, logFile->fileName());
+
+    // Block UI
+    QProgressDialog progress("Transforming RAW log file to CSV", "Abort Transformation", 0, 1, this);
+    progress.setWindowModality(Qt::WindowModal);
+
+    while (!compressor->isFinished())
+    {
+        MG::SLEEP::usleep(100000);
+        progress.setMaximum(compressor->getDataLines());
+        progress.setValue(compressor->getCurrentLine());
+    }
+    // Enforce end
+    progress.setMaximum(compressor->getDataLines());
+    progress.setValue(compressor->getDataLines());
+
+    // Done with preprocessing - now load csv log
+    loadCsvLog(logFile->fileName(), xAxisName, yAxisFilter);
+}
+
+/**
+ * This function loads a CSV file into the plot. It tries to assign the dimension names
+ * based on the first data row and tries to guess the separator char.
+ *
+ * @param file Name of the file to open
+ * @param xAxisName Optional paramater. If given, the x axis dimension will be selected to match this string
+ * @param yAxisFilter Optional parameter. If given, only data dimension names present in the filter string will be
+ *        plotted
+ *
+ * @code
+ *
+ * QString file = "/home/user/datalog.txt"; // With header: x<tab>y<tab>z
+ * QString xAxis = "x";
+ * QString yAxis = "z";
+ *
+ * // Plotted result will be x vs z with y ignored.
+ * @endcode
+ */
+void QGCDataPlot2D::loadCsvLog(QString file, QString xAxisName, QString yAxisFilter)
+{
+    if (logFile != NULL)
+    {
+        logFile->close();
+        delete logFile;
+    }
+    logFile = new QFile(file);
+
+    // Load CSV data
+    if (!logFile->open(QIODevice::ReadOnly | QIODevice::Text))
+        return;
+
+    // Extract header
+
+    // Read in values
+    // Find all keys
+    QTextStream in(logFile);
+
+    // First line is header
+    QString header = in.readLine();
+
+    bool charRead = false;
+    QString separator = "";
+    QList<QChar> sepCandidates;
+    sepCandidates << '\t';
+    sepCandidates << ',';
+    sepCandidates << ';';
+    sepCandidates << ' ';
+    sepCandidates << '~';
+    sepCandidates << '|';
+
+    // Iterate until separator is found
+    // or full header is parsed
+    for (int i = 0; i < header.length(); i++)
+    {
+        if (sepCandidates.contains(header.at(i)))
+        {
+            // Separator found
+            if (charRead)
+            {
+                separator += header[i];
+            }
+        }
+        else
+        {
+            // Char found
+            charRead = true;
+            // If the separator is not empty, this char
+            // has been read after a separator, so detection
+            // is now complete
+            if (separator != "") break;
+        }
+    }
+
+    QString out = separator;
+    out.replace("\t", "<tab>");
+    ui->filenameLabel->setText(file.split("/").last().split("\\").last()+" Separator: \""+out+"\"");
+    //qDebug() << "READING CSV:" << header;
+
+    // Clear plot
+    plot->removeData();
+
+    QVector<double> xValues;
+    QMap<QString, QVector<double>* > yValues;
+
+    QStringList curveNames = header.split(separator, QString::SkipEmptyParts);
+    QString curveName;
+
+    // Clear UI elements
+    ui->xAxis->clear();
+    ui->yAxis->clear();
+
+    int curveNameIndex = 0;
+
+    //int xValueIndex = curveNames.indexOf(xAxisName);
+
+    QString xAxisFilter;
+    if (xAxisName == "")
+    {
+        xAxisFilter = curveNames.first();
+    }
+    else
+    {
+        xAxisFilter = xAxisName;
+    }
+
+    foreach(curveName, curveNames)
+    {
+        ui->xAxis->addItem(curveName);
+        if (curveName != xAxisFilter)
+        {
+            if ((yAxisFilter == "") || yAxisFilter.contains(curveName))
+            {
+                yValues.insert(curveName, new QVector<double>());
+                // Add separator starting with second item
+                if (curveNameIndex > 0 && curveNameIndex < curveNames.size())
+                {
+                    ui->yAxis->setText(ui->yAxis->text()+"|");
+                }
+                ui->yAxis->setText(ui->yAxis->text()+curveName);
+                curveNameIndex++;
+            }
+        }
+    }
+
+    // Select current axis in UI
+    ui->xAxis->setCurrentIndex(curveNames.indexOf(xAxisFilter));
+
+    // Read data
+
+    double x,y;
+
+    while (!in.atEnd())
+    {
+        QString line = in.readLine();
+
+        QStringList values = line.split(separator, QString::SkipEmptyParts);
+
+        foreach(curveName, curveNames)
+        {
+            bool okx;
+            if (curveName == xAxisFilter)
+            {
+                // X  AXIS HANDLING
+
+                // Take this value as x if it is selected
+                x = values.at(curveNames.indexOf(curveName)).toDouble(&okx);
+                xValues.append(x - 1270125570000LL);
+                qDebug() << "x" << x - 1270125570000LL;
+            }
+            else
+            {
+                // Y  AXIS HANDLING
+
+                if(yAxisFilter == "" || yAxisFilter.contains(curveName))
+                {
+                    // Only append y values where a valid x value is present
+                    if (yValues.value(curveName)->size() == xValues.size() - 1)
+                    {
+                        bool oky;
+                        int curveNameIndex = curveNames.indexOf(curveName);
+                        if (values.size() > curveNameIndex)
+                        {
+                            y = values.at(curveNameIndex).toDouble(&oky);
+                            yValues.value(curveName)->append(y);
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    // Add data array of each curve to the plot at once (fast)
+    // Iterates through all x-y curve combinations
+    for (int i = 0; i < yValues.size(); i++)
+    {
+        plot->appendData(yValues.keys().at(i), xValues.data(), yValues.values().at(i)->data(), xValues.size());
+    }
+}
+
+/**
+ * Linear regression (least squares) for n data points.
+ * Computes:
+ *
+ * y = a * x + b
+ *
+ * @param x values on x axis
+ * @param y corresponding values on y axis
+ * @param n Number of values
+ * @param a returned slope of line
+ * @param b y-axis intersection
+ * @param r regression coefficient. The larger the coefficient is, the better is
+ *          the match of the regression.
+ * @return 1 on success, 0 on failure (e.g. because of infinite slope)
+ */
+int QGCDataPlot2D::linearRegression(double* x,double* y,int n,double* a,double* b,double* r)
+{
+    int i;
+    double sumx=0,sumy=0,sumx2=0,sumy2=0,sumxy=0;
+    double sxx,syy,sxy;
+
+    *a = 0;
+    *b = 0;
+    *r = 0;
+    if (n < 2)
+        return(FALSE);
+
+    /* Conpute some things we need */
+    for (i=0;i<n;i++) {
+        sumx += x[i];
+        sumy += y[i];
+        sumx2 += (x[i] * x[i]);
+        sumy2 += (y[i] * y[i]);
+        sumxy += (x[i] * y[i]);
+    }
+    sxx = sumx2 - sumx * sumx / n;
+    syy = sumy2 - sumy * sumy / n;
+    sxy = sumxy - sumx * sumy / n;
+
+    /* Infinite slope (b), non existant intercept (a) */
+    if (fabs(sxx) == 0)
+        return(FALSE);
+
+    /* Calculate the slope (b) and intercept (a) */
+    *b = sxy / sxx;
+    *a = sumy / n - (*b) * sumx / n;
+
+    /* Compute the regression coefficient */
+    if (fabs(syy) == 0)
+        *r = 1;
+    else
+        *r = sxy / sqrt(sxx * syy);
+
+    return(TRUE);
+}
+
+void QGCDataPlot2D::saveCsvLog()
+{
+    QString fileName = "export.csv";
+    fileName = QFileDialog::getSaveFileName(
+            this, "Export CSV File Name", QDesktopServices::storageLocation(QDesktopServices::DesktopLocation),
+            "CSV file (*.csv);;Text file (*.txt)");
+    //    QFileInfo fileInfo(fileName);
+    //
+    //    // Check if we could create a new file in this directory
+    //    QDir dir(fileInfo.absoluteDir());
+    //    QFileInfo dirInfo(dir);
+    //
+    //    while(!(dirInfo.isWritable()))
+    //    {
+    //        QMessageBox msgBox;
+    //        msgBox.setIcon(QMessageBox::Critical);
+    //        msgBox.setText("File cannot be written, Operating System denies permission");
+    //        msgBox.setInformativeText("Please choose a different file name or directory. Click OK to change the file, cancel to not save the file.");
+    //        msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
+    //        msgBox.setDefaultButton(QMessageBox::Ok);
+    //        if(msgBox.exec() == QMessageBox::Cancel) break;
+    //        fileName = QFileDialog::getSaveFileName(
+    //                this, "Export CSV File Name", QDesktopServices::storageLocation(QDesktopServices::DesktopLocation),
+    //            "CSV file (*.csv);;Text file (*.txt)");
+    //    }
+
+    bool success = logFile->copy(fileName);
+
+    qDebug() << "Saved CSV log. Success: " << success;
+
+    //qDebug() << "READE TO SAVE CSV LOG TO " << fileName;
+}
+
+QGCDataPlot2D::~QGCDataPlot2D()
+{
+    delete ui;
+}
+
+void QGCDataPlot2D::changeEvent(QEvent *e)
+{
+    QWidget::changeEvent(e);
+    switch (e->type()) {
+    case QEvent::LanguageChange:
+        ui->retranslateUi(this);
+        break;
+    default:
+        break;
+    }
+}

src/ui/QGCDataPlot2D.h

+#ifndef QGCDATAPLOT2D_H
+#define QGCDATAPLOT2D_H
+
+#include <QWidget>
+#include <QFile>
+#include "IncrementalPlot.h"
+#include "LogCompressor.h"
+
+namespace Ui {
+    class QGCDataPlot2D;
+}
+
+class QGCDataPlot2D : public QWidget {
+    Q_OBJECT
+public:
+    QGCDataPlot2D(QWidget *parent = 0);
+    ~QGCDataPlot2D();
+
+    /** @brief Linear regression over data points */
+    int linearRegression(double *x,double *y,int n,double *a,double *b,double *r);
+
+public slots:
+    void loadFile();
+    /** @brief Reload a file, with filtering enabled */
+    void reloadFile();
+    void selectFile();
+    void loadCsvLog(QString file, QString xAxisName="", QString yAxisFilter="");
+    void loadRawLog(QString file, QString xAxisName="", QString yAxisFilter="");
+    void saveCsvLog();
+    /** @brief Save plot to PDF or SVG */
+    void savePlot();
+    /** @brief Export SVG file */
+    void exportSVG(QString file);
+    /** @brief Print or save PDF file (MacOS/Linux) */
+    void print();
+
+protected:
+    void changeEvent(QEvent *e);
+    IncrementalPlot* plot;
+    LogCompressor* compressor;
+    QFile* logFile;
+    QString fileName;
+
+private:
+    Ui::QGCDataPlot2D *ui;
+};
+
+#endif // QGCDATAPLOT2D_H

src/ui/QGCDataPlot2D.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCDataPlot2D</class>
+ <widget class="QWidget" name="QGCDataPlot2D">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>807</width>
+    <height>308</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout" columnstretch="2,10,2,0,0,0,0,0,0,0,0,0,0">
+   <item row="0" column="0" colspan="2">
+    <widget class="QLabel" name="label_2">
+     <property name="text">
+      <string>X</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="2">
+    <widget class="QComboBox" name="xAxis"/>
+   </item>
+   <item row="0" column="3">
+    <widget class="QLabel" name="label_3">
+     <property name="text">
+      <string>Y</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="4">
+    <widget class="QLineEdit" name="yAxis"/>
+   </item>
+   <item row="0" column="5" colspan="2">
+    <widget class="QComboBox" name="style">
+     <item>
+      <property name="text">
+       <string>Style..</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Only crosses</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Only circles</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Only dots</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Lines and crosses</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Lines and circles</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Lines and dots</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Dotted lines and crosses</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Dotted lines and circles</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Dotted lines and dots</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Dashed lines and crosses</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Dashed lines and circles</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Dashed lines and dots</string>
+      </property>
+     </item>
+    </widget>
+   </item>
+   <item row="0" column="9">
+    <widget class="QPushButton" name="reloadButton">
+     <property name="text">
+      <string>Reload</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="10">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>40</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="0" column="11">
+    <widget class="QPushButton" name="savePlotButton">
+     <property name="text">
+      <string>Save Plot</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0" colspan="13">
+    <widget class="QFrame" name="plotFrame">
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0">
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string>File</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="1" colspan="2">
+    <widget class="QComboBox" name="inputFileType">
+     <item>
+      <property name="text">
+       <string>CSV</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>pxIMU</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>RAW</string>
+      </property>
+     </item>
+    </widget>
+   </item>
+   <item row="2" column="3" colspan="4">
+    <widget class="QLabel" name="filenameLabel">
+     <property name="text">
+      <string>Please select input file..</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="10">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>40</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="0" column="12">
+    <widget class="QPushButton" name="printButton">
+     <property name="text">
+      <string>Print</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="12">
+    <widget class="QPushButton" name="saveCsvButton">
+     <property name="text">
+      <string>Save CSV</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="9">
+    <widget class="QPushButton" name="selectFileButton">
+     <property name="text">
+      <string>Select file</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="7">
+    <widget class="QCheckBox" name="symmetricCheckBox">
+     <property name="text">
+      <string>Symmetric</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="8">
+    <widget class="QCheckBox" name="legendCheckBox">
+     <property name="text">
+      <string>Legend</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/QGCFirmwareUpdate.ui

+<?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
- <author/>
- <comment/>
- <exportmacro/>
  <class>QGCFirmwareUpdate</class>
  <widget class="QWidget" name="QGCFirmwareUpdate">
   <property name="geometry">
@@ -16,6 +14,6 @@
    <string>Form</string>
   </property>
  </widget>
- <pixmapfunction/>
+ <resources/>
  <connections/>
 </ui>

src/ui/QGCParamWidget.cc

@@ -165,7 +165,7 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
 {
     Q_UNUSED(uas);
     // Reference to item in tree
-    QTreeWidgetItem* parameterItem;
+    QTreeWidgetItem* parameterItem = NULL;
 
     // Get component
     if (!components->contains(component))
@@ -405,7 +405,7 @@ void QGCParamWidget::loadParameters()
 
                         changedValues.value(wpParams.at(1).toInt())->insert(wpParams.at(2), (float)wpParams.at(3).toDouble());
 
-                        qDebug() << "MARKING COMP" << wpParams.at(1).toInt() << "PARAM" << wpParams.at(2) << "VALUE" << (float)wpParams.at(3).toDouble() << "AS CHANGED";
+                        //qDebug() << "MARKING COMP" << wpParams.at(1).toInt() << "PARAM" << wpParams.at(2) << "VALUE" << (float)wpParams.at(3).toDouble() << "AS CHANGED";
 
                         // Mark in UI
 

src/ui/WaypointList.cc

@@ -55,8 +55,6 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
     listLayout->setAlignment(Qt::AlignTop);
     m_ui->listWidget->setLayout(listLayout);
 
-    wpViews = QMap<Waypoint*, WaypointView*>();
-
     this->uas = NULL;
 
     // ADD WAYPOINT
@@ -93,11 +91,6 @@ WaypointList::~WaypointList()
     delete m_ui;
 }
 
-void WaypointList::updateStatusLabel(const QString &string)
-{
-    m_ui->statusLabel->setText(string);
-}
-
 void WaypointList::updateLocalPosition(UASInterface* uas, double x, double y, double z, quint64 usec)
 {
     Q_UNUSED(uas);
@@ -122,90 +115,38 @@ void WaypointList::setUAS(UASInterface* uas)
     {
         this->uas = uas;
 
-        connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)),                                          this, SLOT(updateStatusLabel(const QString &)));
-        connect(&uas->getWaypointManager(), SIGNAL(waypointUpdated(quint16,double,double,double,double,bool,bool,double,int)),    this, SLOT(setWaypoint(quint16,double,double,double,double,bool,bool,double,int)));
-        connect(&uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)),                                              this, SLOT(currentWaypointChanged(quint16)));
-        connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
-        connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)),  this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)),       this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
 
-        connect(this, SIGNAL(sendWaypoints()),       &uas->getWaypointManager(), SLOT(writeWaypoints()));
-        connect(this, SIGNAL(requestWaypoints()),   &uas->getWaypointManager(), SLOT(readWaypoints()));
-        connect(this, SIGNAL(clearWaypointList()),  &uas->getWaypointManager(), SLOT(clearWaypointList()));
-        connect(this, SIGNAL(setCurrent(quint16)),  &uas->getWaypointManager(), SLOT(setCurrent(quint16)));
+        connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)),        this, SLOT(updateStatusLabel(const QString &)));
+        connect(&uas->getWaypointManager(), SIGNAL(waypointListChanged(void)),                  this, SLOT(waypointListChanged(void)));
+        connect(&uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)),            this, SLOT(currentWaypointChanged(quint16)));
     }
 }
 
-void WaypointList::setWaypoint(quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current, double orbit, int holdTime)
-{
-    if (this->uas)
-    {
-        Waypoint* wp = new Waypoint(id, x, y, z, yaw, autocontinue, current, orbit, holdTime);
-        addWaypoint(wp);
-    }
-}
-
-void WaypointList::waypointReached(quint16 waypointId)
+void WaypointList::saveWaypoints()
 {
-    if (this->uas)
+    if (uas)
     {
-        updateStatusLabel(QString("Waypoint %1 reached.").arg(waypointId));
+        QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)"));
+        uas->getWaypointManager().localSaveWaypoints(fileName);
     }
 }
 
-void WaypointList::changeCurrentWaypoint(quint16 seq)
+void WaypointList::loadWaypoints()
 {
-    if (this->uas)
+    if (uas)
     {
-        QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
-
-        if (seq < waypoints.size())
-        {
-            for(int i = 0; i < waypoints.size(); i++)
-            {
-                WaypointView* widget = wpViews.find(waypoints[i]).value();
-
-                if (waypoints[i]->getId() == seq)
-                {
-                    waypoints[i]->setCurrent(true);
-                    widget->setCurrent(true);
-                    emit setCurrent(seq);
-                }
-                else
-                {
-                    waypoints[i]->setCurrent(false);
-                    widget->setCurrent(false);
-                }
-            }
-            redrawList();
-        }
+        QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
+        uas->getWaypointManager().localLoadWaypoints(fileName);
     }
 }
 
-void WaypointList::currentWaypointChanged(quint16 seq)
+void WaypointList::transmit()
 {
-    if (this->uas)
+    if (uas)
     {
-        QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
-
-        if (seq < waypoints.size())
-        {
-            for(int i = 0; i < waypoints.size(); i++)
-            {
-                WaypointView* widget = wpViews.find(waypoints[i]).value();
-
-                if (waypoints[i]->getId() == seq)
-                {
-                    waypoints[i]->setCurrent(true);
-                    widget->setCurrent(true);
-                }
-                else
-                {
-                    waypoints[i]->setCurrent(false);
-                    widget->setCurrent(false);
-                }
-            }
-            redrawList();
-        }
+        uas->getWaypointManager().writeWaypoints();
     }
 }
 
@@ -213,38 +154,25 @@ void WaypointList::read()
 {
     if (uas)
     {
-        QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
-
-        while(waypoints.size()>0)
-        {
-            removeWaypoint(waypoints[0]);
-        }
-
-        emit requestWaypoints();
+        uas->getWaypointManager().readWaypoints();
     }
 }
 
-void WaypointList::transmit()
-{
-    emit sendWaypoints();
-    //emit requestWaypoints(); FIXME
-}
-
 void WaypointList::add()
 {
-    // Only add waypoints if UAS is present
     if (uas)
     {
-        QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
-
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
         if (waypoints.size() > 0)
         {
             Waypoint *last = waypoints.at(waypoints.size()-1);
-            addWaypoint(new Waypoint(waypoints.size(), last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime()));
+            Waypoint *wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
+            uas->getWaypointManager().localAddWaypoint(wp);
         }
         else
         {
-            addWaypoint(new Waypoint(waypoints.size(), 1.1, 1.1, -0.8, 0.0, true, true, 0.15, 2000));
+            Waypoint *wp = new Waypoint(0, 1.1, 1.1, -0.8, 0.0, true, true, 0.15, 2000);
+            uas->getWaypointManager().localAddWaypoint(wp);
         }
     }
 }
@@ -253,47 +181,66 @@ void WaypointList::addCurrentPositonWaypoint()
 {
     if (uas)
     {
-        QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
-
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
         if (waypoints.size() > 0)
         {
             Waypoint *last = waypoints.at(waypoints.size()-1);
-            addWaypoint(new Waypoint(waypoints.size(), (float)(qRound(mavX*100))/100.f, (float)(qRound(mavY*100))/100.f, (float)(qRound(mavZ*100))/100.f, (float)(qRound(mavYaw*100))/100.f, last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime()));
+            Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
+            uas->getWaypointManager().localAddWaypoint(wp);
         }
         else
         {
-            addWaypoint(new Waypoint(waypoints.size(), (float)(qRound(mavX*100))/100.f, (float)(qRound(mavY*100))/100.f, (float)(qRound(mavZ*100))/100.f, (float)(qRound(mavYaw*100))/100.f, true, true, 0.15, 2000));
+            Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., true, true, 0.15, 2000);
+            uas->getWaypointManager().localAddWaypoint(wp);
         }
+    }
+}
 
+void WaypointList::updateStatusLabel(const QString &string)
+{
+    m_ui->statusLabel->setText(string);
+}
+
+void WaypointList::changeCurrentWaypoint(quint16 seq)
+{
+    if (uas)
+    {
+        uas->getWaypointManager().setCurrentWaypoint(seq);
     }
 }
 
-void WaypointList::addWaypoint(Waypoint* wp)
+void WaypointList::currentWaypointChanged(quint16 seq)
 {
     if (uas)
     {
-        uas->getWaypointManager().getWaypointList().push_back(wp);
-        if (!wpViews.contains(wp))
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+
+        if (seq < waypoints.size())
         {
-            WaypointView* wpview = new WaypointView(wp, this);
-            wpViews.insert(wp, wpview);
-            listLayout->addWidget(wpViews.value(wp));
-            connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*)));
-            connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
-            connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
-            connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
-            connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
+            for(int i = 0; i < waypoints.size(); i++)
+            {
+                WaypointView* widget = wpViews.find(waypoints[i]).value();
+
+                if (waypoints[i]->getId() == seq)
+                {
+                    widget->setCurrent(true);
+                }
+                else
+                {
+                    widget->setCurrent(false);
+                }
+            }
         }
     }
 }
 
-void WaypointList::redrawList()
+void WaypointList::waypointListChanged()
 {
     if (uas)
     {
-        QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
 
-        // Clear list layout
+        // first remove all views of non existing waypoints
         if (!wpViews.empty())
         {
             QMapIterator<Waypoint*,WaypointView*> viewIt(wpViews);
@@ -301,13 +248,43 @@ void WaypointList::redrawList()
             while(viewIt.hasNext())
             {
                 viewIt.next();
-                listLayout->removeWidget(viewIt.value());
+                Waypoint *cur = viewIt.key();
+                int i;
+                for (i = 0; i < waypoints.size(); i++)
+                {
+                    if (waypoints[i] == cur)
+                    {
+                        break;
+                    }
+                }
+                if (i == waypoints.size())
+                {
+                    WaypointView* widget = wpViews.find(cur).value();
+                    widget->hide();
+                    listLayout->removeWidget(widget);
+                    wpViews.remove(cur);
+                }
             }
-            // Re-add waypoints
-            for(int i = 0; i < waypoints.size(); i++)
+        }
+
+        // then add/update the views for each waypoint in the list
+        for(int i = 0; i < waypoints.size(); i++)
+        {
+            Waypoint *wp = waypoints[i];
+            if (!wpViews.contains(wp))
             {
-                listLayout->addWidget(wpViews.value(waypoints[i]));
+                WaypointView* wpview = new WaypointView(wp, this);
+                wpViews.insert(wp, wpview);
+                connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)),    this, SLOT(moveDown(Waypoint*)));
+                connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)),      this, SLOT(moveUp(Waypoint*)));
+                connect(wpview, SIGNAL(removeWaypoint(Waypoint*)),      this, SLOT(removeWaypoint(Waypoint*)));
+                connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
+                connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
             }
+
+            WaypointView *wpv = wpViews.value(wp);
+            wpv->updateValues();    // update the values of the ui elements in the view
+            listLayout->addWidget(wpv);
         }
     }
 }
@@ -316,27 +293,20 @@ void WaypointList::moveUp(Waypoint* wp)
 {
     if (uas)
     {
-        QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
 
-        int id = wp->getId();
-        if (waypoints.size() > 1 && waypoints.size() > id)
+        //get the current position of wp in the local storage
+        int i;
+        for (i = 0; i < waypoints.size(); i++)
         {
-            Waypoint* temp = waypoints[id];
-            if (id > 0)
-            {
-                waypoints[id] = waypoints[id-1];
-                waypoints[id-1] = temp;
-                waypoints[id-1]->setId(id-1);
-                waypoints[id]->setId(id);
-            }
-            else
-            {
-                waypoints[id] = waypoints[waypoints.size()-1];
-                waypoints[waypoints.size()-1] = temp;
-                waypoints[waypoints.size()-1]->setId(waypoints.size()-1);
-                waypoints[id]->setId(id);
-            }
-            redrawList();
+            if (waypoints[i] == wp)
+                break;
+        }
+
+        // if wp was found and its not the first entry, move it
+        if (i < waypoints.size() && i > 0)
+        {
+            uas->getWaypointManager().localMoveWaypoint(i, i-1);
         }
     }
 }
@@ -345,27 +315,20 @@ void WaypointList::moveDown(Waypoint* wp)
 {
     if (uas)
     {
-        QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
 
-        int id = wp->getId();
-        if (waypoints.size() > 1 && waypoints.size() > id)
+        //get the current position of wp in the local storage
+        int i;
+        for (i = 0; i < waypoints.size(); i++)
         {
-            Waypoint* temp = waypoints[id];
-            if (id != waypoints.size()-1)
-            {
-                waypoints[id] = waypoints[id+1];
-                waypoints[id+1] = temp;
-                waypoints[id+1]->setId(id+1);
-                waypoints[id]->setId(id);
-            }
-            else
-            {
-                waypoints[id] = waypoints[0];
-                waypoints[0] = temp;
-                waypoints[0]->setId(0);
-                waypoints[id]->setId(id);
-            }
-            redrawList();
+            if (waypoints[i] == wp)
+                break;
+        }
+
+        // if wp was found and its not the last entry, move it
+        if (i < waypoints.size()-1)
+        {
+            uas->getWaypointManager().localMoveWaypoint(i, i+1);
         }
     }
 }
@@ -374,24 +337,7 @@ void WaypointList::removeWaypoint(Waypoint* wp)
 {
     if (uas)
     {
-        QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
-
-        // Delete from list
-        if (wp != NULL)
-        {
-            waypoints.remove(wp->getId());
-            for(int i = wp->getId(); i < waypoints.size(); i++)
-            {
-                waypoints[i]->setId(i);
-            }
-
-            // Remove from view
-            WaypointView* widget = wpViews.find(wp).value();
-            wpViews.remove(wp);
-            widget->hide();
-            listLayout->removeWidget(widget);
-            delete wp;
-        }
+        uas->getWaypointManager().localRemoveWaypoint(wp->getId());
     }
 }
 
@@ -406,52 +352,3 @@ void WaypointList::changeEvent(QEvent *e)
     }
 }
 
-void WaypointList::saveWaypoints()
-{
-    if (uas)
-    {
-        QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)"));
-        QFile file(fileName);
-        if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
-            return;
-
-        QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
-
-        QTextStream in(&file);
-        for (int i = 0; i < waypoints.size(); i++)
-        {
-            Waypoint* wp = waypoints[i];
-            in << "\t" << wp->getId() << "\t" << wp->getX() << "\t" << wp->getY()  << "\t" << wp->getZ()  << "\t" << wp->getYaw()  << "\t" << wp->getAutoContinue() << "\t" << wp->getCurrent() << "\t" << wp->getOrbit() << "\t" << wp->getHoldTime() << "\n";
-            in.flush();
-        }
-        file.close();
-    }
-}
-
-void WaypointList::loadWaypoints()
-{
-    if (uas)
-    {
-        QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
-        QFile file(fileName);
-        if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
-            return;
-
-        QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
-
-        while(waypoints.size()>0)
-        {
-            removeWaypoint(waypoints[0]);
-        }
-
-        QTextStream in(&file);
-        while (!in.atEnd())
-        {
-            QStringList wpParams = in.readLine().split("\t");
-            if (wpParams.size() == 10)
-                addWaypoint(new Waypoint(wpParams[1].toInt(), wpParams[2].toDouble(), wpParams[3].toDouble(), wpParams[4].toDouble(), wpParams[5].toDouble(), (wpParams[6].toInt() == 1 ? true : false), (wpParams[7].toInt() == 1 ? true : false), wpParams[8].toDouble(), wpParams[9].toInt()));
-        }
-        file.close();
-    }
-}
-

src/ui/WaypointList.h

@@ -54,42 +54,44 @@ class WaypointList : public QWidget {
     virtual ~WaypointList();
 
 public slots:
+    void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
+    void updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
+
     void setUAS(UASInterface* uas);
-    void redrawList();
 
-    //UI Buttons
+    //Waypoint list operations
+    /** @brief Save the local waypoint list to a file */
     void saveWaypoints();
+    /** @brief Load a waypoint list from a file */
     void loadWaypoints();    
+    /** @brief Transmit the local waypoint list to the UAS */
     void transmit();
+    /** @brief Read the remote waypoint list */
     void read();
     /** @brief Add a waypoint */
     void add();
     /** @brief Add a waypoint at the current MAV position */
     void addCurrentPositonWaypoint();
-    void moveUp(Waypoint* wp);
-    void moveDown(Waypoint* wp);
 
+    //Update events
     /** @brief sets statusLabel string */
     void updateStatusLabel(const QString &string);
-
-    void changeCurrentWaypoint(quint16 seq);    ///< The user wants to change the current waypoint
-    void currentWaypointChanged(quint16 seq);   ///< The waypointplanner changed the current waypoint
-    void setWaypoint(quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current, double orbit, int holdTime);
-    void addWaypoint(Waypoint* wp);
+    /** @brief The user wants to change the current waypoint */
+    void changeCurrentWaypoint(quint16 seq);
+    /** @brief The waypoint planner changed the current waypoint */
+    void currentWaypointChanged(quint16 seq);
+    /** @brief The waypoint manager informs that the waypoint list was changed */
+    void waypointListChanged(void);
+
+    // Waypoint operations
+    void moveUp(Waypoint* wp);
+    void moveDown(Waypoint* wp);
     void removeWaypoint(Waypoint* wp);
-    void waypointReached(quint16 waypointId);
-    void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
-    void updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
-
-signals:
-    void sendWaypoints();
-    void requestWaypoints();
-    void clearWaypointList();
-    void setCurrent(quint16);
 
 protected:
     virtual void changeEvent(QEvent *e);
 
+protected:
     QMap<Waypoint*, WaypointView*> wpViews;
     QVBoxLayout* listLayout;
     UASInterface* uas;

src/ui/WaypointView.cc

@@ -48,15 +48,7 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
     this->wp = wp;
 
     // Read values and set user interface
-    m_ui->xSpinBox->setValue(wp->getX());
-    m_ui->ySpinBox->setValue(wp->getY());
-    m_ui->zSpinBox->setValue(wp->getZ());
-    m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
-    m_ui->selectedBox->setChecked(wp->getCurrent());
-    m_ui->autoContinue->setChecked(wp->getAutoContinue());
-    m_ui->idLabel->setText(QString("%1").arg(wp->getId()));\
-    m_ui->orbitSpinBox->setValue(wp->getOrbit());
-    m_ui->holdTimeSpinBox->setValue(wp->getHoldTime());
+    updateValues();
 
     connect(m_ui->xSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
     connect(m_ui->ySpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
@@ -110,15 +102,30 @@ void WaypointView::changedCurrent(int state)
 {
     if (state == 0)
     {
-        wp->setCurrent(false);
+        //m_ui->selectedBox->setChecked(true);
+        //m_ui->selectedBox->setCheckState(Qt::Checked);
+        //wp->setCurrent(false);
     }
     else
     {
-        wp->setCurrent(true);
+        //wp->setCurrent(true);
         emit changeCurrentWaypoint(wp->getId());   //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false
     }
 }
 
+void WaypointView::updateValues()
+{
+    m_ui->xSpinBox->setValue(wp->getX());
+    m_ui->ySpinBox->setValue(wp->getY());
+    m_ui->zSpinBox->setValue(wp->getZ());
+    m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
+    m_ui->selectedBox->setChecked(wp->getCurrent());
+    m_ui->autoContinue->setChecked(wp->getAutoContinue());
+    m_ui->idLabel->setText(QString("%1").arg(wp->getId()));\
+    m_ui->orbitSpinBox->setValue(wp->getOrbit());
+    m_ui->holdTimeSpinBox->setValue(wp->getHoldTime());
+}
+
 void WaypointView::setCurrent(bool state)
 {
     if (state)

src/ui/WaypointView.h

@@ -57,6 +57,7 @@ public slots:
     void remove();
     void changedAutoContinue(int);
     void changedCurrent(int);
+    void updateValues(void);
 
     void setYaw(int);   //hidden degree to radian conversion
 

src/ui/linechart/IncrementalPlot.cc

+#include <qwt_plot.h>
+#include <qwt_plot_canvas.h>
+#include <qwt_plot_curve.h>
+#include <qwt_symbol.h>
+#include <qwt_plot_layout.h>
+#include <qwt_plot_grid.h>
+#include <qwt_scale_engine.h>
+#include "IncrementalPlot.h"
+#include <Scrollbar.h>
+#include <ScrollZoomer.h>
+#include <float.h>
+#if QT_VERSION >= 0x040000
+#include <qpaintengine.h>
+#endif
+
+CurveData::CurveData():
+        d_count(0)
+{
+}
+
+void CurveData::append(double *x, double *y, int count)
+{
+    int newSize = ( (d_count + count) / 1000 + 1 ) * 1000;
+    if ( newSize > size() )
+    {
+        d_x.resize(newSize);
+        d_y.resize(newSize);
+    }
+
+    for ( register int i = 0; i < count; i++ )
+    {
+        d_x[d_count + i] = x[i];
+        d_y[d_count + i] = y[i];
+    }
+    d_count += count;
+}
+
+int CurveData::count() const
+{
+    return d_count;
+}
+
+int CurveData::size() const
+{
+    return d_x.size();
+}
+
+const double *CurveData::x() const
+{
+    return d_x.data();
+}
+
+const double *CurveData::y() const
+{
+    return d_y.data();
+}
+
+IncrementalPlot::IncrementalPlot(QWidget *parent):
+        QwtPlot(parent)
+{
+    setAutoReplot(false);
+
+    setFrameStyle(QFrame::NoFrame);
+    setLineWidth(0);
+    setStyleText("solid crosses");
+    setCanvasLineWidth(2);
+
+    plotLayout()->setAlignCanvasToScales(true);
+
+    QwtPlotGrid *grid = new QwtPlotGrid;
+    grid->setMajPen(QPen(Qt::gray, 0, Qt::DotLine));
+    grid->attach(this);
+
+    QwtLinearScaleEngine* yScaleEngine = new QwtLinearScaleEngine();
+    setAxisScaleEngine(QwtPlot::yLeft, yScaleEngine);
+
+    setAxisAutoScale(xBottom);
+    setAxisAutoScale(yLeft);
+
+    resetScaling();
+
+    // enable zooming
+
+    zoomer = new ScrollZoomer(canvas());
+    zoomer->setRubberBandPen(QPen(Qt::red, 2, Qt::DotLine));
+    zoomer->setTrackerPen(QPen(Qt::red));
+    //zoomer->setZoomBase(QwtDoubleRect());
+    legend = NULL;
+
+    colors = QList<QColor>();
+    nextColor = 0;
+
+    ///> Color map for plots, includes 20 colors
+    ///> Map will start from beginning when the first 20 colors are exceeded
+    colors.append(QColor(242,255,128));
+    colors.append(QColor(70,80,242));
+    colors.append(QColor(232,33,47));
+    colors.append(QColor(116,251,110));
+    colors.append(QColor(81,183,244));
+    colors.append(QColor(234,38,107));
+    colors.append(QColor(92,247,217));
+    colors.append(QColor(151,59,239));
+    colors.append(QColor(231,72,28));
+    colors.append(QColor(236,48,221));
+    colors.append(QColor(75,133,243));
+    colors.append(QColor(203,254,121));
+    colors.append(QColor(104,64,240));
+    colors.append(QColor(200,54,238));
+    colors.append(QColor(104,250,138));
+    colors.append(QColor(235,43,165));
+    colors.append(QColor(98,248,176));
+    colors.append(QColor(161,252,116));
+    colors.append(QColor(87,231,246));
+    colors.append(QColor(230,126,23));
+}
+
+IncrementalPlot::~IncrementalPlot()
+{
+
+}
+
+void IncrementalPlot::showLegend(bool show)
+{
+    if (show)
+    {
+        if (legend == NULL)
+        {
+            legend = new QwtLegend;
+            legend->setFrameStyle(QFrame::Box);
+        }
+        insertLegend(legend, QwtPlot::RightLegend);
+    }
+    else
+    {
+        delete legend;
+        legend = NULL;
+    }
+    replot();
+}
+
+/**
+ * Set datapoint and line style. This interface is intented
+ * to be directly connected to the UI and allows to parse
+ * human-readable, textual descriptions into plot specs.
+ *
+ * Data points: Either "circles", "crosses" or the default "dots"
+ * Lines: Either "dotted", ("solid"/"line") or no lines if not used
+ *
+ * No special formatting is needed, as long as the keywords are contained
+ * in the string. Lower/uppercase is ignored as well.
+ *
+ * @param style Formatting string for line/data point style
+ */
+void IncrementalPlot::setStyleText(QString style)
+{
+    foreach (QwtPlotCurve* curve, d_curve)
+    {
+        // Style of datapoints
+        if (style.toLower().contains("circles"))
+        {
+            curve->setSymbol(QwtSymbol(QwtSymbol::Ellipse,
+                                       QBrush(curve->pen().color()), curve->pen(), QSize(5, 5)) );
+        }
+        else if (style.toLower().contains("crosses"))
+        {
+            curve->setSymbol(QwtSymbol(QwtSymbol::XCross,
+                                       QBrush(curve->pen().color()), curve->pen(), QSize(5, 5)) );
+        }
+        else // Always show dots (style.toLower().contains("dots"))
+        {
+            curve->setSymbol(QwtSymbol(QwtSymbol::Rect,
+                                       QBrush(curve->pen().color()), curve->pen(), QSize(1, 1)) );
+        }
+
+        // Style of lines
+        if (style.toLower().contains("dotted"))
+        {
+            curve->setStyle(QwtPlotCurve::Dots);
+        }
+        else if (style.toLower().contains("line") || style.toLower().contains("solid"))
+        {
+            curve->setStyle(QwtPlotCurve::Lines);
+        }
+        else
+        {
+            curve->setStyle(QwtPlotCurve::NoCurve);
+        }
+    }
+}
+
+void IncrementalPlot::resetScaling()
+{
+    xmin = 0;
+    xmax = 500;
+    ymin = 0;
+    ymax = 500;
+
+    setAxisScale(xBottom, xmin+xmin*0.05, xmax+xmax*0.05);
+    setAxisScale(yLeft, ymin+ymin*0.05, ymax+ymax*0.05);
+
+    replot();
+
+    // Make sure the first data access hits these
+    xmin = DBL_MAX;
+    xmax = DBL_MIN;
+    ymin = DBL_MAX;
+    ymax = DBL_MIN;
+}
+
+void IncrementalPlot::appendData(QString key, double x, double y)
+{
+    appendData(key, &x, &y, 1);
+}
+
+void IncrementalPlot::appendData(QString key, double *x, double *y, int size)
+{
+    CurveData* data;
+    QwtPlotCurve* curve;
+    if (!d_data.contains(key))
+    {
+        data = new CurveData;
+        d_data.insert(key, data);
+    }
+    else
+    {
+        data = d_data.value(key);
+    }
+
+    if (!d_curve.contains(key))
+    {
+        curve = new QwtPlotCurve(key);
+        d_curve.insert(key, curve);
+        curve->setStyle(QwtPlotCurve::NoCurve);
+        curve->setPaintAttribute(QwtPlotCurve::PaintFiltered);
+
+        const QColor &c = getNextColor();
+        curve->setSymbol(QwtSymbol(QwtSymbol::XCross,
+                                   QBrush(c), QPen(c), QSize(5, 5)) );
+
+        curve->attach(this);
+    }
+    else
+    {
+        curve = d_curve.value(key);
+    }
+
+    data->append(x, y, size);
+    curve->setRawData(data->x(), data->y(), data->count());
+
+    bool scaleChanged = false;
+
+    // Update scales
+    for (int i = 0; i<size; i++)
+    {
+        if (x[i] < xmin)
+        {
+            xmin = x[i];
+            scaleChanged = true;
+        }
+        if (x[i] > xmax)
+        {
+            xmax = x[i];
+            scaleChanged = true;
+        }
+
+        if (y[i] < ymin)
+        {
+            ymin = y[i];
+            scaleChanged = true;
+        }
+        if (y[i] > ymax)
+        {
+            ymax = y[i];
+            scaleChanged = true;
+        }
+    }
+    //    setAxisScale(xBottom, xmin+xmin*0.05, xmax+xmax*0.05);
+    //    setAxisScale(yLeft, ymin+ymin*0.05, ymax+ymax*0.05);
+
+    //#ifdef __GNUC__
+    //#warning better use QwtData
+    //#endif
+
+    //replot();
+
+    if(scaleChanged)
+    {
+        setAxisScale(xBottom, xmin+xmin*0.05, xmax+xmax*0.05);
+        setAxisScale(yLeft, ymin+ymin*0.05, ymax+ymax*0.05);
+        zoomer->setZoomBase(true);
+    }
+    else
+    {
+
+        const bool cacheMode =
+                canvas()->testPaintAttribute(QwtPlotCanvas::PaintCached);
+
+#if QT_VERSION >= 0x040000 && defined(Q_WS_X11)
+        // Even if not recommended by TrollTech, Qt::WA_PaintOutsidePaintEvent
+        // works on X11. This has an tremendous effect on the performance..
+
+        canvas()->setAttribute(Qt::WA_PaintOutsidePaintEvent, true);
+#endif
+
+        canvas()->setPaintAttribute(QwtPlotCanvas::PaintCached, false);
+        // FIXME Check if here all curves should be drawn
+        //        QwtPlotCurve* plotCurve;
+        //        foreach(plotCurve, d_curve)
+        //        {
+        //            plotCurve->draw(0, curve->dataSize()-1);
+        //        }
+
+        curve->draw(curve->dataSize() - size, curve->dataSize() - 1);
+        canvas()->setPaintAttribute(QwtPlotCanvas::PaintCached, cacheMode);
+
+#if QT_VERSION >= 0x040000 && defined(Q_WS_X11)
+        canvas()->setAttribute(Qt::WA_PaintOutsidePaintEvent, false);
+#endif
+
+    }
+
+}
+
+QList<QColor> IncrementalPlot::getColorMap()
+{
+    return colors;
+}
+
+QColor IncrementalPlot::getNextColor()
+{
+    /* Return current color and increment counter for next round */
+    nextColor++;
+    if(nextColor >= colors.size()) nextColor = 0;
+    return colors[nextColor++];
+}
+
+QColor IncrementalPlot::getColorForCurve(QString id)
+{
+    return d_curve.value(id)->pen().color();
+}
+
+void IncrementalPlot::removeData()
+{
+    foreach (QwtPlotCurve* curve, d_curve)
+    {
+        delete curve;
+    }
+    d_curve.clear();
+
+    foreach (CurveData* data, d_data)
+    {
+        delete data;
+    }
+    d_data.clear();
+    resetScaling();
+    replot();
+}

src/ui/linechart/IncrementalPlot.h

+#ifndef INCREMENTALPLOT_H
+#define INCREMENTALPLOT_H
+
+#include <QTimer>
+#include <qwt_array.h>
+#include <qwt_plot.h>
+#include <qwt_legend.h>
+#include <QMap>
+#include "ScrollZoomer.h"
+
+class QwtPlotCurve;
+
+class CurveData
+{
+    // A container class for growing data
+public:
+
+    CurveData();
+
+    void append(double *x, double *y, int count);
+
+    int count() const;
+    int size() const;
+    const double *x() const;
+    const double *y() const;
+
+private:
+    int d_count;
+    QwtArray<double> d_x;
+    QwtArray<double> d_y;
+    QTimer *d_timer;
+    int d_timerCount;
+};
+
+class IncrementalPlot : public QwtPlot
+{
+    Q_OBJECT
+public:
+    IncrementalPlot(QWidget *parent = NULL);
+    virtual ~IncrementalPlot();
+
+    /** @brief Get color map of this plot */
+    QList<QColor> getColorMap();
+    /** @brief Get next color of color map */
+    QColor getNextColor();
+    /** @brief Get color for curve id */
+    QColor getColorForCurve(QString id);
+
+public slots:
+    void appendData(QString key, double x, double y);
+    void appendData(QString key, double *x, double *y, int size);
+
+    void resetScaling();
+    void removeData();
+    /** @brief Show the plot legend */
+    void showLegend(bool show);
+    /** @brief Set new plot style */
+    void setStyleText(QString style);
+
+protected:
+    QList<QColor> colors;
+    int nextColor;
+    ScrollZoomer* zoomer;
+    QwtLegend* legend;
+    double xmin;
+    double xmax;
+    double ymin;
+    double ymax;
+
+private:
+    QMap<QString, CurveData* > d_data;
+    QMap<QString, QwtPlotCurve* > d_curve;
+};
+
+#endif /* INCREMENTALPLOT_H */

src/ui/linechart/LinechartPlot.cc

@@ -134,7 +134,8 @@ d_curve(NULL)
     setCanvasBackground(QColor(40, 40, 40));
 
     // Enable zooming
-    Zoomer *zoomer = new Zoomer(canvas());
+    //zoomer = new Zoomer(canvas());
+    zoomer = new ScrollZoomer(canvas());
     zoomer->setRubberBandPen(QPen(Qt::blue, 2, Qt::DotLine));
     zoomer->setTrackerPen(QPen(Qt::blue));
 
@@ -581,16 +582,23 @@ void LinechartPlot::paintRealtime()
     {
         // Update plot window value to new max time if the last time was also the max time
         windowLock.lock();
-        if (automaticScrollActive) {
-            if (MG::TIME::getGroundTimeNow() > maxTime && abs(MG::TIME::getGroundTimeNow() - maxTime) < 5000000)
-            {
-                plotPosition = MG::TIME::getGroundTimeNow();
-            }
-            else
-            {
+        if (automaticScrollActive)
+        {
+
+            // FIXME Check, but commenting this out should have been
+            // beneficial (does only add complexity)
+//            if (MG::TIME::getGroundTimeNow() > maxTime && abs(MG::TIME::getGroundTimeNow() - maxTime) < 5000000)
+//            {
+//                plotPosition = MG::TIME::getGroundTimeNow();
+//            }
+//            else
+//            {
                 plotPosition = maxTime;// + lastMaxTimeAdded.msec();
-            }
+//            }
             setAxisScale(QwtPlot::xBottom, plotPosition - plotInterval, plotPosition, timeScaleStep);
+
+            // FIXME Last fix for scroll zoomer is here
+            //setAxisScale(QwtPlot::yLeft, minValue + minValue * 0.05, maxValue + maxValue * 0.05f, (maxValue - minValue) / 10.0);
             /* Notify about change. Even if the window position was not changed
          * itself, the relative position of the window to the interval must
          * have changed, as the interval likely increased in length */
@@ -618,8 +626,17 @@ void LinechartPlot::paintRealtime()
         canvas()->setAttribute(Qt::WA_PaintOutsidePaintEvent, directPaint);
 #endif
 
+        // Only set current view as zoombase if zoomer is not active
+        // else we could not zoom out any more
 
-        replot();
+        if(zoomer->zoomStack().size() < 2)
+        {
+            zoomer->setZoomBase(true);
+        }
+        else
+        {
+            replot();
+        }
 
 #ifndef _WIN32
         canvas()->setAttribute(Qt::WA_PaintOutsidePaintEvent, oldDirectPaint);
@@ -726,10 +743,11 @@ void TimeSeriesData::append(quint64 ms, double value)
 {
     dataMutex.lock();
     // Pre- allocate new space
+    // FIXME Check this for validity
     if(static_cast<quint64>(size()) < (count + 100))
     {
-        this->ms.resize(size() + 1000);
-        this->value.resize(size() + 1000);
+        this->ms.resize(size() + 10000);
+        this->value.resize(size() + 10000);
     }
     this->ms[count] = ms;
     this->value[count] = value;
@@ -779,16 +797,16 @@ void TimeSeriesData::append(quint64 ms, double value)
     if(maxInterval > 0)
     { // maxInterval = 0 means infinite
 
-        if(interval >= maxInterval && !this->ms.isEmpty() && !this->value.isEmpty())
+        if(interval > maxInterval && !this->ms.isEmpty() && !this->value.isEmpty())
         {
             // The time at which this time series should be cut
-            quint64 minTime = stopTime - maxInterval;
+            double minTime = stopTime - maxInterval;
             // Delete elements from the start of the list as long the time
             // value of this elements is before the cut time
             while(this->ms.first() < minTime)
             {
-                this->ms.remove(0);
-                this->value.remove(0);
+                this->ms.pop_front();
+                this->value.pop_front();
             }
         }
     }

src/ui/linechart/LinechartPlot.h

@@ -265,6 +265,7 @@ protected:
     QMap<QString, QwtPlotCurve*> curves;
     QMap<QString, TimeSeriesData*> data;
     QMap<QString, QwtScaleMap*> scaleMaps;
+    ScrollZoomer* zoomer;
 
     QList<QColor> colors;
     int nextColor;

src/ui/linechart/LinechartWidget.cc

@@ -42,6 +42,8 @@ This file is part of the PIXHAWK project
 #include <QColor>
 #include <QPalette>
 #include <QFileDialog>
+#include <QDesktopServices>
+#include <QMessageBox>
 
 #include "LinechartWidget.h"
 #include "LinechartPlot.h"
@@ -259,20 +261,39 @@ void LinechartWidget::startLogging()
     // Let user select the log file name
     QDate date(QDate::currentDate());
     // QString("./pixhawk-log-" + date.toString("yyyy-MM-dd") + "-" + QString::number(logindex) + ".log")
-    QString fileName = QFileDialog::getSaveFileName(this, tr("Specify log file name"), tr("."), tr("Logfile (*.txt)"));
+    QString fileName = QFileDialog::getSaveFileName(this, tr("Specify log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("Logfile (*.txt, *.csv);;"));
     // Store reference to file
-    logFile = new QFile(fileName);
-    if (logFile->open(QIODevice::WriteOnly | QIODevice::Text))
+    // Append correct file ending if needed
+    bool abort = false;
+    while (!(fileName.endsWith(".txt") || fileName.endsWith(".csv")))
     {
-        logging = true;
-        logindex++;
-        logButton->setText(tr("Stop logging"));
-        disconnect(logButton, SIGNAL(clicked()), this, SLOT(startLogging()));
-        connect(logButton, SIGNAL(clicked()), this, SLOT(stopLogging()));
+        QMessageBox msgBox;
+        msgBox.setIcon(QMessageBox::Critical);
+        msgBox.setText("Unsuitable file extension for logfile");
+        msgBox.setInformativeText("Please choose .txt or .csv as file extension. Click OK to change the file extension, cancel to not start logging.");
+        msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
+        msgBox.setDefaultButton(QMessageBox::Ok);
+        if(msgBox.exec() == QMessageBox::Cancel)
+        {
+            abort = true;
+            break;
+        }
+        fileName = QFileDialog::getSaveFileName(this, tr("Specify log file name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("Logfile (*.txt, *.csv);;"));
+
     }
-    else
+
+    // Check if the user did not abort the file save dialog
+    if (!abort && fileName != "")
     {
-        return;
+        logFile = new QFile(fileName);
+        if (logFile->open(QIODevice::WriteOnly | QIODevice::Text))
+        {
+            logging = true;
+            logindex++;
+            logButton->setText(tr("Stop logging"));
+            disconnect(logButton, SIGNAL(clicked()), this, SLOT(startLogging()));
+            connect(logButton, SIGNAL(clicked()), this, SLOT(stopLogging()));
+        }
     }
 }
 
@@ -418,7 +439,7 @@ void LinechartWidget::removeCurve(QString curve)
     Q_UNUSED(curve)
     //TODO @todo Ensure that the button for a curve gets deleted when the original curve is deleted
     // Remove name
-}
+    }
 
 void LinechartWidget::setActive(bool active)
 {

testlog.txt

+x	y	z
+0	1	2
+1	2	3
+2	3	4
+3	4	5
+4	5	6
+5	10	15
+6	11	16
+7	12	19
+8	14	21
+9	15	21
+10	17	25
+200	200	200
+250	250	280
+300	320	340
\ No newline at end of file

testlog2.txt

+unix_timestamp	Accel._X	Accel._Y	Accel._Z	Battery	Bottom_Rotor	CPU_Load	Ground_Dist.	Gyro_Phi	Gyro_Psi	Gyro_Theta	Left_Servo	Mag._X	Mag._Y	Mag._Z	Pressure	Right_Servo	Temperature	Top_Rotor	pitch_IMU	roll_IMU	yaw_IMU	
+1270125571544	5	-197	982	 	 	 	0	29685	29866	29888	 	0	0	0	96186	 	354	 	-0.112812	0.13585	-1.94192	
+1270125571564	6	-198	983	 	 	 	0	29781	29995	29871	 	0	0	0	96183	 	354	 	-0.112085	0.137193	-1.94139	
+1270125571584	10	-197	982	 	 	 	0	29739	30018	29867	 	0	0	0	96171	 	354	 	-0.111693	0.136574	-1.94353	
+1270125571604	7	-198	982	 	 	 	0	29802	29911	29803	 	0	0	0	96177	 	354	 	-0.112179	0.135778	-1.94617	
+1270125571645	4	-197	984	 	 	 	0	29782	29844	29844	 	0	0	0	96180	 	354	 	-0.113056	0.135965	-1.94715	
+1270125571665	4	-200	985	 	 	 	0	29685	29867	29884	 	0	0	0	96183	 	354	 	-0.113231	0.135327	-1.94586	
+1270125571685	7	-198	983	 	 	 	0	29757	30018	29829	 	0	0	0	96177	 	354	 	-0.112604	0.136857	-1.94508	
+1270125571706	6	-198	982	 	 	 	0	29759	29992	29867	 	0	0	0	96183	 	354	 	-0.1126	0.136602	-1.94915	
+1270125571746	7	-196	985	 	 	 	0	29803	29910	29800	 	0	0	0	96183	 	354	 	-0.112392	0.136709	-1.95079	
+1270125571766	4	-198	981	 	 	 	0	29750	29828	29888	 	0	0	0	96186	 	354	 	-0.113342	0.135532	-1.95064	
+1270125571787	5	-197	984	 	 	 	0	29759	29931	29881	 	0	0	0	96174	 	354	 	-0.112628	0.135657	-1.9488	
+1270125571807	10	-197	982	 	 	 	0	29739	29958	29819	 	0	0	0	96174	 	354	 	-0.112506	0.135777	-1.95001	
+1270125571847	4	-198	981	 	 	 	0	29786	29829	29864	 	0	0	0	96232	 	356	 	-0.112359	0.135253	-1.94825	
+1270125571867	5	-201	978	 	 	 	0	29719	29856	29890	 	0	0	0	96218	 	356	 	-0.11218	0.134669	-1.94657	
+1270125571888	7	-198	986	 	 	 	0	29782	29813	29845	 	0	0	0	96223	 	356	 	-0.111451	0.135688	-1.9455	
+1270125571908	10	-200	984	 	 	 	0	29693	30048	29885	 	0	0	0	96215	 	356	 	-0.110745	0.1365	-1.94668	
+1270125571948	5	-197	982	 	 	 	0	29757	29899	29844	 	0	0	0	96229	 	356	 	-0.110004	0.135859	-1.94573	
+1270125571969	6	-197	983	 	 	 	0	29727	29829	29814	 	0	0	0	96249	 	356	 	-0.110316	0.135751	-1.94565	
+1270125571989	6	-197	978	 	 	 	0	29790	29828	29815	 	0	0	0	96220	 	356	 	-0.111159	0.136244	-1.94416	
+1270125572009	5	-194	983	 	 	 	0	29718	29856	29890	 	0	0	0	96229	 	356	 	-0.111216	0.135992	-1.94196	
+1270125572050	3	-196	985	 	 	 	0	29739	29978	29827	 	0	0	0	96223	 	356	 	-0.110727	0.136577	-1.94402	
+1270125572070	8	-198	982	 	 	 	0	29782	29829	29815	 	0	0	0	96235	 	356	 	-0.111423	0.136697	-1.94566	
+1270125572090	8	-195	982	 	 	 	0	29687	29865	29894	 	0	0	0	96218	 	356	 	-0.112088	0.136097	-1.9442	
+1270125572130	8	-198	986	 	 	 	0	29793	29859	29844	 	0	0	0	96244	 	356	 	-0.110282	0.137491	-1.94235	
+1270125572171	6	-198	982	 	 	 	0	29790	29856	29879	 	0	0	0	96244	 	356	 	-0.112179	0.136971	-1.94365	
+1270125572191	3	-198	980	 	 	 	0	29759	30018	29829	 	0	0	0	96218	 	356	 	-0.111623	0.136194	-1.94286	
+1270125572211	7	-198	984	 	 	 	0	29758	29829	29846	 	0	0	0	96229	 	356	 	-0.112275	0.136007	-1.94387	
+1270125572252	8	-197	980	 	 	 	0	29743	30018	29824	 	0	0	0	96215	 	356	 	-0.111515	0.135539	-1.94281	
+1270125572272	11	-195	984	 	 	 	0	29741	29867	29844	 	0	0	0	96249	 	356	 	-0.111995	0.135753	-1.94527	
+1270125572292	4	-200	984	 	 	 	0	29771	29980	29865	 	0	0	0	96215	 	356	 	-0.111913	0.135829	-1.94455	
+1270125572312	6	-198	983	 	 	 	0	29792	29837	29845	 	0	0	0	96229	 	356	 	-0.111884	0.134861	-1.94478	
+1270125572353	5	-196	983	 	 	 	0	29685	29867	29884	 	0	0	0	96238	 	356	 	-0.111332	0.135644	-1.94784	
+1270125572373	5	-198	982	 	 	 	0	29693	29852	29904	 	0	0	0	96238	 	356	 	-0.110772	0.136927	-1.94698	
+1270125572393	6	-195	982	 	 	 	0	29738	29791	29818	 	0	0	0	96229	 	356	 	-0.109851	0.138106	-1.94592	
+1270125572414	8	-198	986	 	 	 	0	29782	29844	29829	 	0	0	0	96223	 	356	 	-0.111077	0.137396	-1.9428	
+1270125572454	11	-198	983	 	 	 	0	29743	29986	29833	 	0	0	0	96220	 	356	 	-0.110257	0.136744	-1.94155	
+1270125572474	6	-198	983	 	 	 	0	29749	29866	29813	 	0	0	0	96223	 	356	 	-0.110497	0.136917	-1.94351	
+1270125572495	6	-197	984	 	 	 	0	29719	29828	29890	 	0	0	0	96223	 	356	 	-0.111349	0.136959	-1.94295	
+1270125572515	7	-197	983	 	 	 	0	29760	29791	29818	 	0	0	0	96232	 	356	 	-0.111323	0.137251	-1.93972	
+1270125572555	10	-198	984	 	 	 	0	29800	30016	29857	 	0	0	0	96241	 	356	 	-0.110873	0.137041	-1.94196	
+1270125572575	5	-200	982	 	 	 	0	29760	29962	29866	 	0	0	0	96232	 	356	 	-0.110648	0.136038	-1.9445	
+1270125572596	4	-197	983	 	 	 	0	29740	30024	29867	 	0	0	0	96238	 	356	 	-0.110486	0.136046	-1.94576	
+1270125572616	8	-196	985	 	 	 	0	29802	29783	29808	 	0	0	0	96235	 	356	 	-0.111227	0.135128	-1.94567	
+1270125572656	5	-198	986	 	 	 	0	29771	29972	29867	 	0	0	0	96229	 	356	 	-0.111182	0.133833	-1.94823	
+1270125572697	8	-196	980	 	 	 	0	29739	29978	29803	 	0	0	0	96238	 	356	 	-0.111457	0.133602	-1.94682	
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\ No newline at end of file