Fixed Google Earth

src/comm/MAVLinkSimulationLink.cc

@@ -670,8 +670,10 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
 
     // Output all bytes as hex digits
     int i;
-    for (i=0; i<size; i++) {
-        if (mavlink_parse_char(this->id, data[i], &msg, &comm)) {
+    for (i=0; i<size; i++)
+    {
+        if (mavlink_parse_char(this->id, data[i], &msg, &comm))
+        {
             // MESSAGE RECEIVED!
             qDebug() << "SIMULATION LINK RECEIVED MESSAGE!";
             emit messageReceived(msg);

src/comm/MAVLinkSimulationMAV.cc

@@ -279,9 +279,99 @@ void MAVLinkSimulationMAV::mainloop()
     timer25Hz--;
 }
 
+static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS];
+
+static const unsigned message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
+static unsigned error_count;
+
+static const mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;
+
+static void print_one_field(const mavlink_message_t *msg, const mavlink_field_info_t *f, int idx)
+{
+#define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def)
+        switch (f->type) {
+        case MAVLINK_TYPE_CHAR:
+                qDebug(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));
+                break;
+        case MAVLINK_TYPE_UINT8_T:
+                qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));
+                break;
+        case MAVLINK_TYPE_INT8_T:
+                qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));
+                break;
+        case MAVLINK_TYPE_UINT16_T:
+                qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));
+                break;
+        case MAVLINK_TYPE_INT16_T:
+                qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));
+                break;
+        case MAVLINK_TYPE_UINT32_T:
+                qDebug(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));
+                break;
+        case MAVLINK_TYPE_INT32_T:
+                qDebug(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));
+                break;
+        case MAVLINK_TYPE_UINT64_T:
+                qDebug(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));
+                break;
+        case MAVLINK_TYPE_INT64_T:
+                qDebug(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));
+                break;
+        case MAVLINK_TYPE_FLOAT:
+                qDebug(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));
+                break;
+        case MAVLINK_TYPE_DOUBLE:
+                qDebug(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));
+                break;
+        }
+}
+
+static void print_field(const mavlink_message_t *msg, const mavlink_field_info_t *f)
+{
+        qDebug("%s: ", f->name);
+        if (f->array_length == 0) {
+                print_one_field(msg, f, 0);
+                qDebug(" ");
+        } else {
+                unsigned i;
+                /* print an array */
+                if (f->type == MAVLINK_TYPE_CHAR) {
+                        qDebug("'%.*s'", f->array_length,
+                               f->wire_offset+(const char *)_MAV_PAYLOAD(msg));
+
+                } else {
+                        qDebug("[ ");
+                        for (i=0; i<f->array_length; i++) {
+                                print_one_field(msg, f, i);
+                                if (i < f->array_length) {
+                                        qDebug(", ");
+                                }
+                        }
+                        qDebug("]");
+                }
+        }
+        qDebug(" ");
+}
+
+static void print_message(const mavlink_message_t *msg)
+{
+        const mavlink_message_info_t *m = &message_info[msg->msgid];
+        const mavlink_field_info_t *f = m->fields;
+        unsigned i;
+        qDebug("%s { ", m->name);
+        for (i=0; i<m->num_fields; i++) {
+                print_field(msg, &f[i]);
+        }
+        qDebug("}\n");
+}
+
 void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
 {
-    //qDebug() << "MAV:" << systemid << "RECEIVED MESSAGE FROM" << msg.sysid << "COMP" << msg.compid;
+    if (msg.sysid != systemid)
+    {
+        print_message(&msg);
+        qDebug() << "MAV:" << systemid << "RECEIVED MESSAGE FROM" << msg.sysid << "COMP" << msg.compid;
+    }
 
     switch(msg.msgid) {
     case MAVLINK_MSG_ID_ATTITUDE:

src/ui/MainWindow.ui

@@ -95,7 +95,7 @@
      <bool>true</bool>
     </property>
     <property name="title">
-     <string>Unmanned System</string>
+     <string>System</string>
     </property>
     <property name="separatorsCollapsible">
      <bool>false</bool>
@@ -152,7 +152,7 @@
   <widget class="QStatusBar" name="statusBar"/>
   <action name="actionExit">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/actions/system-log-out.svg</normaloff>:/images/actions/system-log-out.svg</iconset>
    </property>
    <property name="text">
@@ -167,7 +167,7 @@
     <bool>true</bool>
    </property>
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/control/launch.svg</normaloff>
      <normalon>:/images/control/launch.svg</normalon>:/images/control/launch.svg</iconset>
    </property>
@@ -177,7 +177,7 @@
   </action>
   <action name="actionLand">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/control/land.svg</normaloff>:/images/control/land.svg</iconset>
    </property>
    <property name="text">
@@ -186,7 +186,7 @@
   </action>
   <action name="actionEmergency_Land">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/actions/process-stop.svg</normaloff>:/images/actions/process-stop.svg</iconset>
    </property>
    <property name="text">
@@ -198,7 +198,7 @@
   </action>
   <action name="actionEmergency_Kill">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/actions/process-stop.svg</normaloff>:/images/actions/process-stop.svg</iconset>
    </property>
    <property name="text">
@@ -210,7 +210,7 @@
   </action>
   <action name="actionAdd_Link">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/actions/list-add.svg</normaloff>:/images/actions/list-add.svg</iconset>
    </property>
    <property name="text">
@@ -219,7 +219,7 @@
   </action>
   <action name="actionConfiguration">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/categories/applications-system.svg</normaloff>:/images/categories/applications-system.svg</iconset>
    </property>
    <property name="text">
@@ -231,7 +231,7 @@
   </action>
   <action name="actionJoystickSettings">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/devices/input-gaming.svg</normaloff>:/images/devices/input-gaming.svg</iconset>
    </property>
    <property name="text">
@@ -246,7 +246,7 @@
     <bool>true</bool>
    </property>
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/control/launch.svg</normaloff>:/images/control/launch.svg</iconset>
    </property>
    <property name="text">
@@ -258,7 +258,7 @@
   </action>
   <action name="actionShow_Slugs_View">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/contrib/slugs.png</normaloff>:/images/contrib/slugs.png</iconset>
    </property>
    <property name="text">
@@ -267,7 +267,7 @@
   </action>
   <action name="actionJoystick_Settings">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/devices/input-gaming.svg</normaloff>:/images/devices/input-gaming.svg</iconset>
    </property>
    <property name="text">
@@ -279,7 +279,7 @@
   </action>
   <action name="actionOnline_Documentation">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/apps/utilities-system-monitor.svg</normaloff>:/images/apps/utilities-system-monitor.svg</iconset>
    </property>
    <property name="text">
@@ -288,7 +288,7 @@
   </action>
   <action name="actionProject_Roadmap_2">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/status/software-update-available.svg</normaloff>:/images/status/software-update-available.svg</iconset>
    </property>
    <property name="text">
@@ -297,7 +297,7 @@
   </action>
   <action name="actionDeveloper_Credits">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/categories/preferences-system.svg</normaloff>:/images/categories/preferences-system.svg</iconset>
    </property>
    <property name="text">
@@ -309,7 +309,7 @@
     <bool>true</bool>
    </property>
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/status/weather-overcast.svg</normaloff>:/images/status/weather-overcast.svg</iconset>
    </property>
    <property name="text">
@@ -324,7 +324,7 @@
     <bool>true</bool>
    </property>
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/apps/utilities-system-monitor.svg</normaloff>:/images/apps/utilities-system-monitor.svg</iconset>
    </property>
    <property name="text">
@@ -339,7 +339,7 @@
     <bool>true</bool>
    </property>
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/devices/network-wired.svg</normaloff>:/images/devices/network-wired.svg</iconset>
    </property>
    <property name="text">
@@ -351,7 +351,7 @@
   </action>
   <action name="actionSelectStylesheet">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
    </property>
    <property name="text">
@@ -363,7 +363,7 @@
     <bool>true</bool>
    </property>
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/status/network-wireless-encrypted.svg</normaloff>:/images/status/network-wireless-encrypted.svg</iconset>
    </property>
    <property name="text">
@@ -375,7 +375,7 @@
   </action>
   <action name="actionNewCustomWidget">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/apps/utilities-system-monitor.svg</normaloff>:/images/apps/utilities-system-monitor.svg</iconset>
    </property>
    <property name="text">
@@ -387,7 +387,7 @@
     <bool>true</bool>
    </property>
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/status/audio-volume-high.svg</normaloff>
      <normalon>:/images/status/audio-volume-muted.svg</normalon>
      <activeon>:/images/status/audio-volume-muted.svg</activeon>
@@ -403,7 +403,7 @@
     <bool>true</bool>
    </property>
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/devices/network-wireless.svg</normaloff>:/images/devices/network-wireless.svg</iconset>
    </property>
    <property name="text">
@@ -415,7 +415,7 @@
   </action>
   <action name="actionShutdownMAV">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/actions/system-log-out.svg</normaloff>:/images/actions/system-log-out.svg</iconset>
    </property>
    <property name="text">
@@ -459,7 +459,7 @@
   </action>
   <action name="actionLoadCustomWidgetFile">
    <property name="icon">
-    <iconset resource="../../mavground.qrc">
+    <iconset resource="../../qgroundcontrol.qrc">
      <normaloff>:/images/status/folder-drag-accept.svg</normaloff>:/images/status/folder-drag-accept.svg</iconset>
    </property>
    <property name="text">
@@ -469,7 +469,7 @@
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>
-  <include location="../../mavground.qrc"/>
+  <include location="../../qgroundcontrol.qrc"/>
  </resources>
  <connections>
   <connection>

src/ui/map/QGCMapTool.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>571</width>
-    <height>564</height>
+    <width>400</width>
+    <height>300</height>
    </rect>
   </property>
   <property name="windowTitle">