Merge branch 'master' of pixhawk.ethz.ch:qgroundcontrol

src/ui/HSIDisplay.cc

@@ -665,6 +665,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
             QPen pen(color);
             pen.setWidthF(refLineWidthToPen(0.4f));
             painter.setPen(pen);
+            painter.setBrush(Qt::NoBrush);
 
             // Draw line from last waypoint to this one
             if (!lastWaypoint.isNull())

src/ui/UASControl.ui

@@ -6,14 +6,20 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>380</width>
-    <height>190</height>
+    <width>280</width>
+    <height>164</height>
    </rect>
   </property>
+  <property name="minimumSize">
+   <size>
+    <width>280</width>
+    <height>130</height>
+   </size>
+  </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" rowminimumheight="0,0,0,0,0,0,100">
+  <layout class="QGridLayout" name="gridLayout" rowminimumheight="5,10,10,0,10,5,0">
    <property name="leftMargin">
     <number>6</number>
    </property>
@@ -147,10 +153,13 @@
      <property name="orientation">
       <enum>Qt::Vertical</enum>
      </property>
+     <property name="sizeType">
+      <enum>QSizePolicy::Expanding</enum>
+     </property>
      <property name="sizeHint" stdset="0">
       <size>
-       <width>20</width>
-       <height>0</height>
+       <width>0</width>
+       <height>1</height>
       </size>
      </property>
     </spacer>

src/ui/UASInfo.ui

@@ -287,7 +287,7 @@
    <item row="3" column="0">
     <widget class="QLabel" name="label_3">
      <property name="text">
-      <string>CPU Load</string>
+      <string>MCU Load</string>
      </property>
     </widget>
    </item>
@@ -370,14 +370,14 @@
      </property>
     </widget>
    </item>
-   <item row="4" column="0" colspan="6">
+   <item row="5" column="0" colspan="6">
     <widget class="Line" name="line">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
      </property>
     </widget>
    </item>
-   <item row="6" column="0" colspan="7">
+   <item row="7" column="0" colspan="7">
     <spacer name="verticalSpacer">
      <property name="orientation">
       <enum>Qt::Vertical</enum>
@@ -393,13 +393,69 @@
      </property>
     </spacer>
    </item>
-   <item row="5" column="0" colspan="6">
+   <item row="6" column="0" colspan="6">
     <widget class="QLabel" name="errorLabel">
      <property name="text">
       <string>No error status received yet</string>
      </property>
     </widget>
    </item>
+   <item row="4" column="0">
+    <widget class="QLabel" name="label_4">
+     <property name="text">
+      <string>CPU Load</string>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="2">
+    <widget class="QLabel" name="label_5">
+     <property name="text">
+      <string>0</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="3">
+    <widget class="QLabel" name="label_10">
+     <property name="text">
+      <string>%</string>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="4" colspan="2">
+    <widget class="QProgressBar" name="progressBar">
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="baseSize">
+      <size>
+       <width>0</width>
+       <height>18</height>
+      </size>
+     </property>
+     <property name="value">
+      <number>24</number>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="1">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>13</width>
+       <height>15</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
   </layout>
  </widget>
  <resources/>

src/ui/uas/UASControlWidget.cc

@@ -201,16 +201,14 @@ void UASControlWidget::cycleContextButton()
         if (!engineOn)
         {
             ui.controlButton->setText(tr("Stop Engine"));
-            mav->setMode(MAV_MODE_MANUAL);
             mav->enable_motors();
-            ui.lastActionLabel->setText(QString("Enabled motors on %1").arg(uas->getUASName()));
+            ui.lastActionLabel->setText(QString("Attempted to enable motors on %1").arg(uas->getUASName()));
         }
         else
         {
             ui.controlButton->setText(tr("Activate Engine"));
-            mav->setMode(MAV_MODE_LOCKED);
             mav->disable_motors();
-            ui.lastActionLabel->setText(QString("Disabled motors on %1").arg(uas->getUASName()));
+            ui.lastActionLabel->setText(QString("Attempted to disable motors on %1").arg(uas->getUASName()));
         }
             //ui.controlButton->setText(tr("Force Landing"));
             //ui.controlButton->setText(tr("KILL VEHICLE"));

src/ui/uas/UASView.cc

@@ -36,6 +36,7 @@ This file is part of the PIXHAWK project
 #include "MG.h"
 #include "UASManager.h"
 #include "UASView.h"
+#include "UASWaypointManager.h"
 #include "ui_UASView.h"
 
 UASView::UASView(UASInterface* uas, QWidget *parent) :
@@ -75,6 +76,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     connect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
     //connect(uas, SIGNAL(waypointUpdated(int,int,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,int,double,double,double,double,bool,bool)));
     connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int,int)));
+    connect(&(uas->getWaypointManager()), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointUpdated(quint16)));
     connect(uas, SIGNAL(systemTypeSet(UASInterface*,uint)), this, SLOT(setSystemType(UASInterface*,uint)));
 
     // Setup UAS selection
@@ -251,6 +253,11 @@ void UASView::updateSpeed(UASInterface*, double x, double y, double z, quint64 u
     totalSpeed = sqrt((pow(x, 2) + pow(y, 2) + pow(z, 2)));
 }
 
+void UASView::currentWaypointUpdated(quint16 waypoint)
+{
+    m_ui->waypointLabel->setText(tr("WP") + QString::number(waypoint));
+}
+
 void UASView::setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current)
 {
     Q_UNUSED(x);

src/ui/uas/UASView.h

@@ -63,6 +63,8 @@ public slots:
     void refresh();
     /** @brief Receive new waypoint information */
     void setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current);
+    /** @brief Update the current active waypoint */
+    void currentWaypointUpdated(quint16 waypoint);
     /** @brief Set waypoint as current target */
     void selectWaypoint(int uasId, int id);
     /** @brief Set the current system type */