diff --git a/src/ui/HSIDisplay.cc b/src/ui/HSIDisplay.cc
index bdccbf302d3f0476ecf7be54c960ef86a058df9b..645d2832d3bdc6dffa7482e6ba90c31f80554df5 100644
--- a/src/ui/HSIDisplay.cc
+++ b/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())
diff --git a/src/ui/UASControl.ui b/src/ui/UASControl.ui
index c1a095749e0cb2cde8db34ff6ce149fb01b79d85..bc34fd146b929d2281b9ca6962fe1b74888364c3 100644
--- a/src/ui/UASControl.ui
+++ b/src/ui/UASControl.ui
@@ -6,14 +6,20 @@
0
0
- 380
- 190
+ 280
+ 164
+
+
+ 280
+ 130
+
+
Form
-
+
6
@@ -147,10 +153,13 @@
Qt::Vertical
+
+ QSizePolicy::Expanding
+
- 20
- 0
+ 0
+ 1
diff --git a/src/ui/UASInfo.ui b/src/ui/UASInfo.ui
index 029e796c19b97702463ec9d0556510d933d2d09c..a86c9a2623c27ad2c2a54915c61e67acdba7933f 100644
--- a/src/ui/UASInfo.ui
+++ b/src/ui/UASInfo.ui
@@ -287,7 +287,7 @@
-
- CPU Load
+ MCU Load
@@ -370,14 +370,14 @@
- -
+
-
Qt::Horizontal
- -
+
-
Qt::Vertical
@@ -393,13 +393,69 @@
- -
+
-
No error status received yet
+ -
+
+
+ CPU Load
+
+
+
+ -
+
+
+ 0
+
+
+ Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter
+
+
+
+ -
+
+
+ %
+
+
+
+ -
+
+
+
+ 16777215
+ 20
+
+
+
+
+ 0
+ 18
+
+
+
+ 24
+
+
+
+ -
+
+
+ Qt::Horizontal
+
+
+
+ 13
+ 15
+
+
+
+
diff --git a/src/ui/uas/UASControlWidget.cc b/src/ui/uas/UASControlWidget.cc
index 31fbc7df8d61d04ad57b420b5cb249969ae539de..0ac7a740a5b6da061d302b96b52b647bd8a8e53d 100644
--- a/src/ui/uas/UASControlWidget.cc
+++ b/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"));
diff --git a/src/ui/uas/UASView.cc b/src/ui/uas/UASView.cc
index defc81c479a48ee3069beb6351d6fc6114a342e3..18ff0086c799796d934be83df476a10bf768f043 100644
--- a/src/ui/uas/UASView.cc
+++ b/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);
diff --git a/src/ui/uas/UASView.h b/src/ui/uas/UASView.h
index 928423e35d2589e5583765583c353b50eba1c681..7f57f808460b4734af3fd5cbfbd4889af2ccba2f 100644
--- a/src/ui/uas/UASView.h
+++ b/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 */