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

data/kinect.cal

@@ -27,7 +27,7 @@ R13=0.005927
 R21=-0.000563
 R22=0.999999
 R23=0.001235
-R33=-0.005926
+R31=-0.005926
 R32=-0.001239
 R33=0.999982
 Tx=-0.024287

deploy/mac_create_dmg.sh

@@ -12,6 +12,7 @@ cp -r ../bin/mac/qgroundcontrol.app mac/.
 
 cp -r ../audio mac/qgroundcontrol.app/Contents/MacOs/.
 mkdir -p mac/qgroundcontrol.app/Contents/Frameworks/
+# SDL is not copied by Qt - for whatever reason
 cp -r SDL.framework mac/qgroundcontrol.app/Contents/Frameworks/.
 echo -e '\n\nStarting to create disk image. This may take a while..\n'
 macdeployqt mac/qgroundcontrol.app -dmg

deploy/qgroundcontrol_installer.nsi

@@ -16,20 +16,20 @@ LicenseData ..\license.txt
 Section ""
 
   SetOutPath $INSTDIR
-  File qgroundcontrol\*.*
-  WriteUninstaller $INSTDIR\QGroundcontrol_uninstall.exe
+  File ..\release\*.*
+  WriteUninstaller $INSTDIR\QGroundControl_uninstall.exe
 SectionEnd 
 
 Section "Uninstall"
-  Delete $INSTDIR\QGroundcontrol_uninstall.exe
+  Delete $INSTDIR\QGroundControl_uninstall.exe
   Delete $INSTDIR\*.*
   RMDir $INSTDIR
-  Delete "$SMPROGRAMS\QGroundcontrol\*.*"
-  RMDir "$SMPROGRAMS\QGroundcontrol\"
+  Delete "$SMPROGRAMS\QGroundControl\*.*"
+  RMDir "$SMPROGRAMS\QGroundControl\"
 SectionEnd
 
 Section "create Start Menu Shortcuts"
-  CreateDirectory "$SMPROGRAMS\QGroundcontrol"
-  CreateShortCut "$SMPROGRAMS\QGroundcontrol\uninstall.lnk" "$INSTDIR\QGroundcontrol_uninstall.exe" "" "$INSTDIR\QGroundcontrol_uninstall.exe" 0
-  CreateShortCut "$SMPROGRAMS\QGroundcontrol\QGroundcontrol.lnk" "$INSTDIR\qgroundcontrol.exe" "" "$INSTDIR\qgroundcontrol.exe" 0
+  CreateDirectory "$SMPROGRAMS\QGroundControl"
+  CreateShortCut "$SMPROGRAMS\QGroundControl\uninstall.lnk" "$INSTDIR\QGroundControl_uninstall.exe" "" "$INSTDIR\QGroundControl_uninstall.exe" 0
+  CreateShortCut "$SMPROGRAMS\QGroundControl\QGroundControl.lnk" "$INSTDIR\qgroundcontrol.exe" "" "$INSTDIR\qgroundcontrol.exe" 0
 SectionEnd
\ No newline at end of file

images/earth.html

@@ -7,6 +7,7 @@
 <!-- QGroundControl -->
     <title>QGroundControl Google Earth View</title>
     <!-- *** Replace the key below below with your own API key, available at http://code.google.com/apis/maps/signup.html *** -->
+    <script type="text/javascript" src="https://getfirebug.com/firebug-lite-beta.js"></script>
     <script type="text/javascript" src="http://www.google.com/jsapi?key=ABQIAAAAwbkbZLyhsmTCWXbTcjbgbRSzHs7K5SvaUdm8ua-Xxy_-2dYwMxQMhnagaawTo7L1FE1-amhuQxIlXw"></script>
     <script type="text/javascript">
 google.load("earth", "1", { 'language': 'en'});
@@ -47,8 +48,10 @@ var aircraft = [];
 var attitudes = [];
 var locations = [];
 var trails = [];
-var trail;
-var lineStringPlacemark;
+var trailPlacemarks = [];
+var trailsVisible = [];
+var trailColors = [];
+//var trailPlacemarks[id];
 var lineStyle;
 
 // Aircraft class
@@ -134,54 +137,72 @@ function createAircraft(id, type, color)
           locations[id] = planeLoc;
           //planeColor = color;
           
-          //createTrail(id, color);
+          createTrail(id, color);
+          console.log(color);
 }
 
 function createTrail(id, color)
 {
-          lineStringPlacemark = ge.createPlacemark('');
+          trailPlacemarks[id] = ge.createPlacemark('');
           // Create the placemark
 // Create the LineString; set it to extend down to the ground
 // and set the altitude mode
-trail = ge.createLineString('');
-lineStringPlacemark.setGeometry(trail);
-trail.setExtrude(false);
-trail.setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
+trails[id] = ge.createLineString('');
+trailPlacemarks[id].setGeometry(trails[id]);
+trails[id].setExtrude(false);
+trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
 
 // Add LineString points
 //lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700);
 
 // Create a style and set width and color of line
-lineStringPlacemark.setStyleSelector(ge.createStyle(''));
-lineStyle = lineStringPlacemark.getStyleSelector().getLineStyle();
+trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
+lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
 lineStyle.setWidth(5);
-lineStyle.getColor().set(planeColor);  // aabbggrr format
-//lineStyle.getColor().set(color);
-//lineStyle.getColor().set(color);  // aabbggrr format
+trailColors[id] = color;
+lineStyle.getColor().set('00000000');  // aabbggrr format
+
+trailsVisible[id] = false;
 
 // Add the feature to Earth
-ge.getFeatures().appendChild(lineStringPlacemark);
+//ge.getFeatures().appendChild(trailPlacemarks[id]);
 
 }
 
+function hideTrail(id)
+{
+	trailsVisible[id] = false;
+	ge.getFeatures().removeChild(trailPlacemarks[id]);
+}
+
+function showTrail(id)
+{
+	ge.getFeatures().appendChild(trailPlacemarks[id]);
+	trailsVisible[id] = true;
+}
+
+function setViewRange(dist)
+{
+	currViewRange = dist;
+}
+
 function addTrailPosition(id, lat, lon, alt)
 {
-	trail.setExtrude(false);
-trail.setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
+	trails[id].setExtrude(false);
+trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
 
 // Add LineString points
-//lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700);
-trail.getCoordinates().pushLatLngAlt(currLat, currLon, currAlt);
+trails[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
 
 // Create a style and set width and color of line
-lineStringPlacemark.setStyleSelector(ge.createStyle(''));
-lineStyle = lineStringPlacemark.getStyleSelector().getLineStyle();
+trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
+lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
 lineStyle.setWidth(5);
-lineStyle.getColor().set(planeColor);  // aabbggrr format
+lineStyle.getColor().set(trailColors[id]);  // aabbggrr format
 //lineStyle.getColor().set(color);  // aabbggrr format
 
 // Add the feature to Earth
-ge.getFeatures().replaceChild(lineStringPlacemark, lineStringPlacemark);
+if (trailsVisible[id] == true) ge.getFeatures().replaceChild(trailPlacemarks[id], trailPlacemarks[id]);
 }
 
 function initCallback(object)
@@ -199,9 +220,6 @@ function initCallback(object)
         ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true); 
         ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
 
-        createTrail(220, 'bb2222ff');
-        createAircraft(220);
-
         initialized = true;
         
         

lib/QMapControl/src/layer.cpp

@@ -99,9 +99,10 @@ namespace qmapcontrol
 
     Geometry* Layer::get_Geometry(int index)
     {
+        Geometry* geo = NULL;
         if(geometrySelected)
         {
-            return geometrySelected;
+            geo = geometrySelected;
         }
         else
         {
@@ -110,7 +111,7 @@ namespace qmapcontrol
                 Geometry *geometry = geometries[i];
                 if(geometry->name() == QString::number(index))
                 {
-                  return geometry;
+                  geo = geometry;
                 }
             }
 
@@ -124,7 +125,7 @@ namespace qmapcontrol
 
 //           }
         }
-
+        return geo;
     }
 
     bool Layer::isVisible() const

lib/QMapControl/src/layermanager.cpp

@@ -112,7 +112,14 @@ namespace qmapcontrol
 
     void LayerManager::setView(const QPointF& coordinate)
     {
+        QPoint oldMapPx = mapmiddle_px;
+
         mapmiddle_px = layer()->mapadapter()->coordinateToDisplay(coordinate);
+
+        scroll += mapmiddle_px - oldMapPx;
+        zoomImageScroll+= mapmiddle_px - oldMapPx;
+
+
         mapmiddle = coordinate;
 
         //TODO: muss wegen moveTo() raus
@@ -125,7 +132,8 @@ namespace qmapcontrol
             //TODO:
             // verschiebung ausrechnen
             // oder immer neues offscreenimage
-            newOffscreenImage();
+            //newOffscreenImage();
+            moveWidgets();
         }
     }
 

qgroundcontrol.pri

@@ -29,6 +29,7 @@
 #               $$BASEDIR/lib/openjaus/libopenJaus/include
 
 message(Qt version $$[QT_VERSION])
+message(Using Qt from $QTDIR)
 
 release {
 #    DEFINES += QT_NO_DEBUG_OUTPUT
@@ -50,6 +51,7 @@ macx {
     contains( HARDWARE_PLATFORM, 9.6.0 ) || contains( HARDWARE_PLATFORM, 9.7.0 ) || contains( HARDWARE_PLATFORM, 9.8.0 ) || contains( HARDWARE_PLATFORM, 9.9.0 ) {
         # x86 Mac OS X Leopard 10.5 and earlier
         CONFIG += x86 cocoa phonon
+        CONFIG -= x86_64
         message(Building for Mac OS X 32bit/Leopard 10.5 and earlier)
 
                 # Enable function-profiling with the OS X saturn tool

qgroundcontrol.pro

@@ -145,13 +145,15 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCWebView.ui \
     src/ui/map3D/QGCGoogleEarthView.ui \
     src/ui/map3D/QGCGoogleEarthViewWin.ui \
-    src/ui/map3D/QGCGoogleEarthControls.ui \
     src/ui/SlugsDataSensorView.ui \
     src/ui/SlugsHilSim.ui \
     src/ui/SlugsPIDControl.ui \
     src/ui/SlugsVideoCamControl.ui \
     src/ui/SlugsPadCameraControl.ui \
-    src/ui/uas/QGCUnconnectedInfoWidget.ui
+    src/ui/uas/QGCUnconnectedInfoWidget.ui \
+    src/ui/designer/QGCToolWidget.ui \
+    src/ui/designer/QGCParamSlider.ui \
+    src/ui/designer/QGCActionButton.ui
 
 INCLUDEPATH += src \
     src/ui \
@@ -166,7 +168,8 @@ INCLUDEPATH += src \
     src/ui/mavlink \
     src/ui/param \
     src/ui/watchdog \
-    src/ui/map3D
+    src/ui/map3D \
+    src/ui/designer
 
 HEADERS += src/MG.h \
     src/Core.h \
@@ -252,7 +255,11 @@ HEADERS += src/MG.h \
     src/ui/SlugsPadCameraControl.h \
     src/ui/QGCMainWindowAPConfigurator.h \
     src/comm/MAVLinkSwarmSimulationLink.h \
-    src/ui/uas/QGCUnconnectedInfoWidget.h
+    src/ui/uas/QGCUnconnectedInfoWidget.h \
+    src/ui/designer/QGCToolWidget.h \
+    src/ui/designer/QGCParamSlider.h \
+    src/ui/designer/QGCActionButton.h \
+    src/ui/designer/QGCToolWidgetItem.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|win32-msvc2008: {
@@ -369,7 +376,11 @@ SOURCES += src/main.cc \
     src/ui/SlugsPadCameraControl.cpp \
     src/ui/QGCMainWindowAPConfigurator.cc \
     src/comm/MAVLinkSwarmSimulationLink.cc \
-    src/ui/uas/QGCUnconnectedInfoWidget.cc
+    src/ui/uas/QGCUnconnectedInfoWidget.cc \
+    src/ui/designer/QGCToolWidget.cc \
+    src/ui/designer/QGCParamSlider.cc \
+    src/ui/designer/QGCActionButton.cc \
+    src/ui/designer/QGCToolWidgetItem.cc
 
 macx|win32-msvc2008: {
     SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/Core.cc

@@ -122,6 +122,7 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
 #endif
     // MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
     MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
+    simulationLink->disconnect();
     //mainWindow->addLink(simulationLink);
 
     mainWindow = MainWindow::instance();

src/GAudioOutput.cc

@@ -30,6 +30,7 @@ This file is part of the QGROUNDCONTROL project
  */
 
 #include <QApplication>
+#include <QSettings>
 #include <QTemporaryFile>
 #include "GAudioOutput.h"
 #include "MG.h"
@@ -85,10 +86,19 @@ GAudioOutput* GAudioOutput::instance()
     return _instance;
 }
 
+#define QGC_GAUDIOOUTPUT_KEY QString("QGC_AUDIOOUTPUT_")
+
 GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
 voiceIndex(0),
-emergency(false)
+emergency(false),
+muted(false)
 {
+    // Load settings
+    QSettings settings;
+    settings.sync();
+    muted = settings.value(QGC_GAUDIOOUTPUT_KEY+"muted", muted).toBool();
+
+
 #ifdef Q_OS_LINUX
     flite_init();
 #endif
@@ -134,13 +144,28 @@ emergency(false)
 
 GAudioOutput::~GAudioOutput()
 {
+    QSettings settings;
+    settings.setValue(QGC_GAUDIOOUTPUT_KEY+"muted", muted);
+    settings.sync();
 #ifdef _MSC_VER2
 	::CoUninitialize();
 #endif
 }
 
+void GAudioOutput::mute(bool mute)
+{
+    this->muted = mute;
+}
+
+bool GAudioOutput::isMuted()
+{
+    return this->muted;
+}
+
 bool GAudioOutput::say(QString text, int severity)
 {
+    if (!muted)
+    {
     // TODO Add severity filter
     Q_UNUSED(severity);
     bool res = false;
@@ -183,13 +208,18 @@ bool GAudioOutput::say(QString text, int severity)
     }
     return res;
 }
+    else
+    {
+        return false;
+    }
+}
 
 /**
  * @param text This message will be played after the alert beep
  */
 bool GAudioOutput::alert(QString text)
 {
-    if (!emergency)
+    if (!emergency || !muted)
     {
         // Play alert sound
         beep();
@@ -205,19 +235,25 @@ bool GAudioOutput::alert(QString text)
 
 void GAudioOutput::notifyPositive()
 {
+    if (!muted)
+    {
     // Use QFile to transform path for all OS
     QFile f(QCoreApplication::applicationDirPath()+QString("/audio/double_notify.wav"));
     m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
     m_media->play();
 }
+}
 
 void GAudioOutput::notifyNegative()
 {
+    if (!muted)
+    {
     // Use QFile to transform path for all OS
     QFile f(QCoreApplication::applicationDirPath()+QString("/audio/flat_notify.wav"));
     m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
     m_media->play();
 }
+}
 
 /**
  * The emergency sound will be played continously during the emergency.
@@ -232,7 +268,7 @@ bool GAudioOutput::startEmergency()
     {
         emergency = true;
         // Beep immediately and then start timer
-        beep();
+        if (!muted) beep();
         emergencyTimer->start(1500);
         QTimer::singleShot(5000, this, SLOT(stopEmergency()));
     }
@@ -257,11 +293,14 @@ bool GAudioOutput::stopEmergency()
 
 void GAudioOutput::beep()
 {
+    if (!muted)
+    {
     // Use QFile to transform path for all OS
     QFile f(QCoreApplication::applicationDirPath()+QString("/audio/alert.wav"));
     m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
     m_media->play();
 }
+}
 
 void GAudioOutput::selectFemaleVoice()
 {

src/GAudioOutput.h

@@ -99,6 +99,10 @@ public slots:
     void notifyPositive();
     /** @brief Notify about negative event */
     void notifyNegative();
+    /** @brief Mute/unmute sound */
+    void mute(bool mute);
+    /** @brief Get the mute state */
+    bool isMuted();
 
 protected:
 #ifdef Q_OS_MAC
@@ -112,6 +116,7 @@ protected:
     Phonon::AudioOutput* m_audioOutput;
     bool emergency;   ///< Emergency status flag
     QTimer* emergencyTimer;
+    bool muted;
 private:
     GAudioOutput(QObject* parent=NULL);
 	~GAudioOutput();

src/QGC.h

@@ -11,6 +11,7 @@ namespace QGC
     const QColor colorGreen(20, 200, 20);
     const QColor colorYellow(255, 255, 0);
     const QColor colorDarkYellow(180, 180, 0);
+    const QColor colorBackground("#050508");
 
     /** @brief Get the current ground time in microseconds */
     quint64 groundTimeUsecs();

src/comm/LinkInterface.h

@@ -42,6 +42,7 @@ along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
 class LinkInterface : public QThread {
     Q_OBJECT
 public:
+    LinkInterface(QObject* parent = 0) : QThread(parent) {}
     //virtual ~LinkInterface() = 0;
 
     /* Connection management */

src/comm/MAVLinkProtocol.cc

@@ -33,6 +33,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QDebug>
 #include <QTime>
 #include <QApplication>
+#include <QMessageBox>
 
 #include "MG.h"
 #include "MAVLinkProtocol.h"
@@ -45,6 +46,7 @@ This file is part of the QGROUNDCONTROL project
 #include "ArduPilotMegaMAV.h"
 #include "configuration.h"
 #include "LinkManager.h"
+#include "MainWindow.h"
 #include <QGCMAVLink.h>
 #include "QGC.h"
 
@@ -141,8 +143,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 // of its existence, as it only then can send and receive
                 // it's first messages.
 
-                // FIXME Current debugging
-                // check if the UAS has the same id like this system
+                // Check if the UAS has the same id like this system
                 if (message.sysid == getSystemId())
                 {
                     qDebug() << "WARNING\nWARNING\nWARNING\nWARNING\nWARNING\nWARNING\nWARNING\n\n RECEIVED MESSAGE FROM THIS SYSTEM WITH ID" << message.msgid << "FROM COMPONENT" << message.compid;
@@ -155,7 +156,26 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 // First create new UAS object
                 // Decode heartbeat message
                 mavlink_heartbeat_t heartbeat;
+                // Reset version field to 0
+                heartbeat.mavlink_version = 0;
                 mavlink_msg_heartbeat_decode(&message, &heartbeat);
+
+                // Check if the UAS has a different protocol version
+                if (heartbeat.mavlink_version != MAVLINK_VERSION)
+                {
+                    // Bring up dialog to inform user
+                    QMessageBox msgBox(MainWindow::instance());
+                    msgBox.setIcon(QMessageBox::Critical);
+                    msgBox.setText(tr("The MAVLink protocol version on the MAV and QGroundControl mismatch!"));
+                    msgBox.setInformativeText(tr("It is unsafe to use different MAVLink versions. QGroundControl therefore refuses to connect to system %1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(message.sysid).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
+                    msgBox.setStandardButtons(QMessageBox::Ok);
+                    msgBox.setDefaultButton(QMessageBox::Ok);
+                    msgBox.exec();
+
+                    // Ignore this message and continue gracefully
+                    continue;
+                }
+
                 switch (heartbeat.autopilot)
                 {
                 case MAV_AUTOPILOT_GENERIC:

src/comm/MAVLinkSimulationLink.cc

@@ -55,7 +55,7 @@ This file is part of the QGROUNDCONTROL project
  * @param writeFile The received messages are written to that file
  * @param rate The rate at which the messages are sent (in intervals of milliseconds)
  **/
-MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile, int rate) :
+MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile, int rate, QObject* parent) : LinkInterface(parent),
         readyBytes(0),
         timeOffset(0)
 {
@@ -289,16 +289,19 @@ void MAVLinkSimulationLink::mainloop()
                     if (keys.value(i, "") == "Gyro_Phi")
                     {
                         rawImuValues.xgyro = d;
+                        attitude.rollspeed = ((d-29.000)/15000.0)*2.7-2.7-2.65;
                     }
 
                     if (keys.value(i, "") == "Gyro_Theta")
                     {
                         rawImuValues.ygyro = d;
+                        attitude.pitchspeed = ((d-29.000)/15000.0)*2.7-2.7-2.65;
                     }
 
                     if (keys.value(i, "") == "Gyro_Psi")
                     {
                         rawImuValues.zgyro = d;
+                        attitude.yawspeed = ((d-29.000)/3000.0)*2.7-2.7-2.65;
                     }
 #ifdef MAVLINK_ENABLED_PIXHAWK
                     if (keys.value(i, "") == "Pressure")
@@ -419,6 +422,20 @@ void MAVLinkSimulationLink::mainloop()
         memcpy(stream+streampointer,buffer, bufferlength);
         streampointer += bufferlength;
 
+        // GLOBAL POSITION VEHICLE 2
+        mavlink_msg_global_position_int_pack(54, componentId, &ret, (473780.28137103+(x+0.002))*1E3, (85489.9892510421+((y/2)+0.3))*1E3, (z+570.0)*1000.0, 0*100.0, 0*100.0, 0*100.0);
+        bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
+        //add data into datastream
+        memcpy(stream+streampointer,buffer, bufferlength);
+        streampointer += bufferlength;
+
+//        // GLOBAL POSITION VEHICLE 3
+//        mavlink_msg_global_position_int_pack(60, componentId, &ret, (473780.28137103+(x/2+0.002))*1E3, (85489.9892510421+((y*2)+0.3))*1E3, (z+590.0)*1000.0, 0*100.0, 0*100.0, 0*100.0);
+//        bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
+//        //add data into datastream
+//        memcpy(stream+streampointer,buffer, bufferlength);
+//        streampointer += bufferlength;
+
         static int rcCounter = 0;
         if (rcCounter == 2)
         {
@@ -431,6 +448,7 @@ void MAVLinkSimulationLink::mainloop()
             chan.chan6_raw = (chan.chan3_raw + chan.chan2_raw) / 2.0f;
             chan.chan7_raw = (chan.chan4_raw + chan.chan2_raw) / 2.0f;
             chan.chan8_raw = (chan.chan6_raw + chan.chan2_raw) / 2.0f;
+            chan.rssi = 100;
             messageSize = mavlink_msg_rc_channels_raw_encode(systemId, componentId, &msg, &chan);
             // Allocate buffer with packet data
             bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
@@ -594,6 +612,16 @@ void MAVLinkSimulationLink::mainloop()
         memcpy(stream+streampointer,buffer, bufferlength);
         streampointer += bufferlength;
 
+//        // HEARTBEAT VEHICLE 3
+
+//        // Pack message and get size of encoded byte string
+//        messageSize = mavlink_msg_heartbeat_pack(60, componentId, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_PIXHAWK);
+//        // Allocate buffer with packet data
+//        bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
+//        //add data into datastream
+//        memcpy(stream+streampointer,buffer, bufferlength);
+//        streampointer += bufferlength;
+
         // STATUS VEHICLE 2
         mavlink_sys_status_t status2;
         status2.mode = MAV_MODE_LOCKED;

src/comm/MAVLinkSimulationLink.h

@@ -47,7 +47,7 @@ class MAVLinkSimulationLink : public LinkInterface
 {
     Q_OBJECT
 public:
-    MAVLinkSimulationLink(QString readFile="", QString writeFile="", int rate=5);
+    MAVLinkSimulationLink(QString readFile="", QString writeFile="", int rate=5, QObject* parent = 0);
     ~MAVLinkSimulationLink();
     bool isConnected();
     qint64 bytesAvailable();
@@ -128,7 +128,7 @@ protected:
     void enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg);
 
     static const uint8_t systemId = 220;
-    static const uint8_t componentId = 0;
+    static const uint8_t componentId = 200;
     static const uint16_t version = 1000;
 
 signals:

src/comm/MAVLinkSwarmSimulationLink.cc

 #include "MAVLinkSwarmSimulationLink.h"
 
-MAVLinkSwarmSimulationLink::MAVLinkSwarmSimulationLink(QObject *parent) :
-    MAVLinkSimulationLink()
+MAVLinkSwarmSimulationLink::MAVLinkSwarmSimulationLink(QString readFile, QString writeFile, int rate, QObject *parent) :
+    MAVLinkSimulationLink(readFile, writeFile, rate, parent)
 {
 }
 

src/comm/MAVLinkSwarmSimulationLink.h

@@ -7,7 +7,7 @@ class MAVLinkSwarmSimulationLink : public MAVLinkSimulationLink
 {
     Q_OBJECT
 public:
-    explicit MAVLinkSwarmSimulationLink(QObject *parent = 0);
+    MAVLinkSwarmSimulationLink(QString readFile="", QString writeFile="", int rate=5, QObject *parent = 0);
 
 signals:
 

src/comm/SerialLink.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
@@ -58,34 +38,16 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
     // Set unique ID and add link to the list of links
     this->id = getNextLinkId();
 
-    // Load defaults from settings
-    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
-    settings.sync();
-    if (settings.contains("SERIALLINK_COMM_PORT"))
-    {
-        this->porthandle = settings.value("SERIALLINK_COMM_PORT").toString();
-    }
-
     // *nix (Linux, MacOS tested) serial port support
     port = new QextSerialPort(porthandle, QextSerialPort::Polling);
     //port = new QextSerialPort(porthandle, QextSerialPort::EventDriven);
 
-    if (settings.contains("SERIALLINK_COMM_PORT"))
-    {
-        setBaudRate(settings.value("SERIALLINK_COMM_BAUD").toInt());
-        setParityType(settings.value("SERIALLINK_COMM_PARITY").toInt());
-        setStopBitsType(settings.value("SERIALLINK_COMM_STOPBITS").toInt());
-        setDataBitsType(settings.value("SERIALLINK_COMM_DATABITS").toInt());
-    }
-    else
-    {
-        this->baudrate = baudrate;
-        this->flow = flow;
-        this->parity = parity;
-        this->dataBits = dataBits;
-        this->stopBits = stopBits;
-        this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all.
-    }
+    this->baudrate = baudrate;
+    this->flow = flow;
+    this->parity = parity;
+    this->dataBits = dataBits;
+    this->stopBits = stopBits;
+    this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all.
     port->setTimeout(timeout); // Timeout of 0 ms, we don't want to wait for data, we just poll again next time
     port->setBaudRate(baudrate);
     port->setFlowControl(flow);
@@ -96,7 +58,7 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
     // Set the port name
     if (porthandle == "")
     {
-//        name = tr("serial link ") + QString::number(getId()) + tr(" (unconfigured)");
+        //        name = tr("serial link ") + QString::number(getId()) + tr(" (unconfigured)");
         name = tr("Serial Link ") + QString::number(getId());
     }
     else
@@ -134,6 +96,33 @@ SerialLink::~SerialLink()
     port = NULL;
 }
 
+void SerialLink::loadSettings()
+{
+    // Load defaults from settings
+    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
+    settings.sync();
+    if (settings.contains("SERIALLINK_COMM_PORT"))
+    {
+        setPortName(settings.value("SERIALLINK_COMM_PORT").toString());
+        setBaudRateType(settings.value("SERIALLINK_COMM_BAUD").toInt());
+        setParityType(settings.value("SERIALLINK_COMM_PARITY").toInt());
+        setStopBitsType(settings.value("SERIALLINK_COMM_STOPBITS").toInt());
+        setDataBitsType(settings.value("SERIALLINK_COMM_DATABITS").toInt());
+    }
+}
+
+void SerialLink::writeSettings()
+{
+    // Store settings
+    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
+    settings.setValue("SERIALLINK_COMM_PORT", this->porthandle);
+    settings.setValue("SERIALLINK_COMM_BAUD", getBaudRateType());
+    settings.setValue("SERIALLINK_COMM_PARITY", getParityType());
+    settings.setValue("SERIALLINK_COMM_STOPBITS", getStopBitsType());
+    settings.setValue("SERIALLINK_COMM_DATABITS", getDataBitsType());
+    settings.sync();
+}
+
 
 /**
  * @brief Runs the thread
@@ -189,13 +178,13 @@ void SerialLink::writeBytes(const char* data, qint64 size)
         // Increase write counter
         bitsSentTotal += size * 8;
 
-//        int i;
-//        for (i=0; i<size; i++)
-//        {
-//            unsigned char v=data[i];
+        //        int i;
+        //        for (i=0; i<size; i++)
+        //        {
+        //            unsigned char v=data[i];
 
-//            //fprintf(stderr,"%02x ", v);
-//        }
+        //            //fprintf(stderr,"%02x ", v);
+        //        }
     }
 }
 
@@ -321,18 +310,12 @@ bool SerialLink::hardwareConnect()
     statisticsMutex.unlock();
 
     bool connectionUp = isConnected();
-    if(connectionUp) {
+    if(connectionUp)
+    {
         emit connected();
         emit connected(true);
 
-        // Store settings
-        QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
-        settings.setValue("SERIALLINK_COMM_PORT", this->porthandle);
-        settings.setValue("SERIALLINK_COMM_BAUD", getBaudRate());
-        settings.setValue("SERIALLINK_COMM_PARITY", getParityType());
-        settings.setValue("SERIALLINK_COMM_STOPBITS", getStopBitsType());
-        settings.setValue("SERIALLINK_COMM_DATABITS", getDataBitsType());
-        settings.sync();
+        writeSettings();
     }
 
     return connectionUp;
@@ -376,7 +359,8 @@ void SerialLink::setName(QString name)
 qint64 SerialLink::getNominalDataRate()
 {
     qint64 dataRate = 0;
-    switch (baudrate) {
+    switch (baudrate)
+    {
     case BAUD50:
         dataRate = 50;
         break;
@@ -442,6 +426,13 @@ qint64 SerialLink::getNominalDataRate()
         break;
     case BAUD256000:
         dataRate = 256000;
+        // Windows-specific high-end baudrates
+    case BAUD230400:
+        dataRate = 230400;
+    case BAUD460800:
+        dataRate = 460800;
+    case BAUD921600:
+        dataRate = 921600;
         break;
     }
     return dataRate;
@@ -543,7 +534,8 @@ bool SerialLink::setPortName(QString portName)
     if(portName.trimmed().length() > 0)
     {
         bool reconnect = false;
-        if(isConnected()) {
+        if(isConnected())
+        {
             disconnect();
             reconnect = true;
         }
@@ -650,8 +642,17 @@ bool SerialLink::setBaudRateType(int rateIndex)
         baudrate = BAUD128000;
         break;
     case 21:
+        baudrate = BAUD230400;
+        break;
+    case 22:
         baudrate = BAUD256000;
         break;
+    case 23:
+        baudrate = BAUD460800;
+        break;
+    case 24:
+        baudrate = BAUD921600;
+        break;
     default:
         // If none of the above cases matches, there must be an error
         accepted = false;
@@ -671,12 +672,14 @@ bool SerialLink::setBaudRate(int rate)
 {
     bool reconnect = false;
     bool accepted = true; // This is changed if none of the data rates matches
-    if(isConnected()) {
+    if(isConnected())
+    {
         disconnect();
         reconnect = true;
     }
 
-    switch (rate) {
+    switch (rate)
+    {
     case 50:
         baudrate = BAUD50;
         break;
@@ -740,9 +743,18 @@ bool SerialLink::setBaudRate(int rate)
     case 128000:
         baudrate = BAUD128000;
         break;
+    case 230400:
+        baudrate = BAUD230400;
+        break;
     case 256000:
         baudrate = BAUD256000;
         break;
+    case 460800:
+        baudrate = BAUD460800;
+        break;
+    case 921600:
+        baudrate = BAUD921600;
+        break;
     default:
         // If none of the above cases matches, there must be an error
         accepted = false;
@@ -765,12 +777,14 @@ bool SerialLink::setFlowType(int flow)
 {
     bool reconnect = false;
     bool accepted = true;
-    if(isConnected()) {
+    if(isConnected())
+    {
         disconnect();
         reconnect = true;
     }
 
-    switch (flow) {
+    switch (flow)
+    {
     case FLOW_OFF:
         this->flow = FLOW_OFF;
         break;
@@ -794,12 +808,14 @@ bool SerialLink::setParityType(int parity)
 {
     bool reconnect = false;
     bool accepted = true;
-    if(isConnected()) {
+    if(isConnected())
+    {
         disconnect();
         reconnect = true;
     }
 
-    switch (parity) {
+    switch (parity)
+    {
     case PAR_NONE:
         this->parity = PAR_NONE;
         break;
@@ -826,11 +842,14 @@ bool SerialLink::setParityType(int parity)
     return accepted;
 }
 
+
+// FIXME Works not as anticipated by user!
 bool SerialLink::setDataBitsType(int dataBits)
 {
     bool accepted = true;
 
-    switch (dataBits) {
+    switch (dataBits)
+    {
     case 5:
         this->dataBits = DATA_5;
         break;
@@ -858,6 +877,7 @@ bool SerialLink::setDataBitsType(int dataBits)
     return accepted;
 }
 
+// FIXME WORKS NOT AS ANTICIPATED BY USER!
 bool SerialLink::setStopBitsType(int stopBits)
 {
     bool reconnect = false;
@@ -867,7 +887,8 @@ bool SerialLink::setStopBitsType(int stopBits)
         reconnect = true;
     }
 
-    switch (stopBits) {
+    switch (stopBits)
+    {
     case 1:
         this->stopBits = STOP_1;
         break;

src/comm/SerialLink.h

@@ -91,6 +91,9 @@ public:
     qint64 getBitsSent();
     qint64 getBitsReceived();
 
+    void loadSettings();
+    void writeSettings();
+
     void run();
 
     int getLinkQuality();

src/comm/SerialLinkInterface.h

@@ -57,6 +57,8 @@ public slots:
 	virtual bool setParityType(int parity) = 0;
 	virtual bool setDataBitsType(int dataBits) = 0;
 	virtual bool setStopBitsType(int stopBits) = 0;
+        virtual void loadSettings() = 0;
+        virtual void writeSettings() = 0;
 
 };
 

src/lib/qextserialport/qextserialbase.h

@@ -92,8 +92,11 @@ enum BaudRateType
     BAUD57600,
     BAUD76800,             //POSIX ONLY
     BAUD115200,
-    BAUD128000,            //WINDOWS ONLY
-    BAUD256000             //WINDOWS ONLY
+    BAUD128000,            // WINDOWS ONLY
+    BAUD230400,            // WINDOWS ONLY
+    BAUD256000,            // WINDOWS ONLY
+    BAUD460800,            // WINDOWS ONLY
+    BAUD921600             // WINDOWS ONLY
 };
 
 enum DataBitsType 

src/lib/qextserialport/win_qextserialport.h

@@ -5,6 +5,16 @@
 #include <windows.h>
 #include <QThread>
 
+/* These baudrates work on windows, but are not part of the windows headers */
+#ifndef CBR_230400
+#define CBR_230400 230400
+#endif
+#ifndef CBR_460800
+#define CBR_460800 460800
+#endif
+#ifndef CBR_921600
+#define CBR_921600 921600
+#endif
 
 /*if all warning messages are turned off, flag portability warnings to be turned off as well*/
 #ifdef _TTY_NOWARN_

src/uas/ArduPilotMegaMAV.cc

@@ -54,11 +54,11 @@ void ArduPilotMegaMAV::receiveMessage(LinkInterface* link, mavlink_message_t mes
         {
         case MAVLINK_MSG_ID_HEARTBEAT:
             {
-                qDebug() << "ARDUPILOT RECEIVED HEARTBEAT";
+                //qDebug() << "ARDUPILOT RECEIVED HEARTBEAT";
                 break;
             }
         default:
-            qDebug() << "\nARDUPILOT RECEIVED MESSAGE WITH ID" << message.msgid;
+            //qDebug() << "\nARDUPILOT RECEIVED MESSAGE WITH ID" << message.msgid;
             break;
         }
     }

src/uas/UAS.h

@@ -153,6 +153,8 @@ protected:
     double pitch;
     double yaw;
     QTimer* statusTimeout;      ///< Timer for various status timeouts
+    QMap<int, QMap<QString, float>* > parameters; ///< All parameters
+    bool paramsOnceRequested;   ///< If the parameter list has been read at least once
 
     /** @brief Set the current battery type */
     void setBattery(BatteryType type, int cells);
@@ -199,7 +201,7 @@ public slots:
 
     //void requestWaypoints();  FIXME tbd
     //void clearWaypointList();   FIXME tbd
-    void requestParameters();
+
     /** @brief Enable the motors */
     void enable_motors();
     /** @brief Disable the motors */
@@ -230,6 +232,9 @@ public slots:
     /** @brief Set current mode of operation, e.g. auto or manual */
     void setMode(int mode);
 
+    /** @brief Request all parameters */
+    void requestParameters();
+
     /** @brief Set a system parameter */
     void setParameter(int component, QString id, float value);
 
@@ -238,6 +243,12 @@ public slots:
     /** @brief Read parameters from permanent storage */
     void readParametersFromStorage();
 
+    /** @brief Get the names of all parameters */
+    QList<QString> getParameterNames(int component);
+
+    /** @brief Get the ids of all components */
+    QList<int> getComponentIds();
+
     void enableAllDataTransmission(int rate);
     void enableRawSensorDataTransmission(int rate);
     void enableExtendedSystemStatusTransmission(int rate);

src/uas/UASInterface.h

@@ -126,6 +126,7 @@ public:
             ///> Map will start from beginning when the first 20 colors are exceeded
 
             colors.append(QColor(231,72,28));
+            colors.append(QColor(104,64,240));
             colors.append(QColor(203,254,121));
             colors.append(QColor(161,252,116));
             colors.append(QColor(232,33,47));
@@ -140,11 +141,10 @@ public:
             colors.append(QColor(87,231,246));
             colors.append(QColor(151,59,239));
             colors.append(QColor(81,183,244));
-            colors.append(QColor(104,64,240));
             colors.append(QColor(75,133,243));
             colors.append(QColor(242,255,128));
             colors.append(QColor(230,126,23));
-            nextColor++;
+            nextColor = 0;
         }
         return colors[nextColor++];
     }

src/uas/UASManager.cc

@@ -104,12 +104,12 @@ QList<UASInterface*> UASManager::getUASList()
 
 UASInterface* UASManager::getActiveUAS()
 {
-    if(!activeUAS)
-    {
-        QMessageBox msgBox;
-        msgBox.setText(tr("No Micro Air Vehicle connected. Please connect one first."));
-        msgBox.exec();
-    }
+//    if(!activeUAS)
+//    {
+//        QMessageBox msgBox;
+//        msgBox.setText(tr("No Micro Air Vehicle connected. Please connect one first."));
+//        msgBox.exec();
+//    }
     return activeUAS; ///< Return zero pointer if no UAS has been loaded
 }
 

src/uas/UASWaypointManager.cc

@@ -394,11 +394,14 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile)
 
 void UASWaypointManager::globalAddWaypoint(Waypoint *wp)
 {
-
+    // FIXME Will be removed
+    Q_UNUSED(wp);
 }
 
 int UASWaypointManager::globalRemoveWaypoint(quint16 seq)
 {
+    // FIXME Will be removed
+    Q_UNUSED(seq);
     return 0;
 }
 

src/ui/HDDisplay.h

@@ -37,6 +37,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QTimer>
 #include <QFontDatabase>
 #include <QMap>
+#include <QContextMenuEvent>
 #include <QPair>
 #include <cmath>
 
@@ -58,14 +59,31 @@ class HDDisplay : public QGraphicsView
 {
     Q_OBJECT
 public:
-    HDDisplay(QStringList* plotList, QWidget *parent = 0);
+    HDDisplay(QStringList* plotList, QString title="", QWidget *parent = 0);
     ~HDDisplay();
 
 public slots:
     /** @brief Update a HDD value */
-    void updateValue(UASInterface* uas, QString name, double value, quint64 msec);
+    void updateValue(int uasId, QString name, double value, quint64 msec);
     void setActiveUAS(UASInterface* uas);
 
+    /** @brief Removes a plot item by the action data */
+    void removeItemByAction();
+    /** @brief Bring up the menu to add a gauge */
+    void addGauge();
+    /** @brief Add a gauge using this spec string */
+    void addGauge(const QString& gauge);
+    /** @brief Set the title of this widget and any existing parent dock widget */
+    void setTitle();
+    /** @brief Set the number of colums via popup */
+    void setColumns();
+    /** @brief Set the number of colums */
+    void setColumns(int cols);
+    /** @brief Save the current layout and state to disk */
+    void saveState();
+    /** @brief Restore the last layout and state from disk */
+    void restoreState();
+
 protected slots:
     void enableGLRendering(bool enable);
     //void render(QPainter* painter, const QRectF& target = QRectF(), const QRect& source = QRect(), Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
@@ -73,10 +91,13 @@ protected slots:
     void triggerUpdate();
 
 protected:
-    void changeEvent(QEvent *e);
-    void paintEvent(QPaintEvent * event);
+    void changeEvent(QEvent* e);
+    void paintEvent(QPaintEvent* event);
     void showEvent(QShowEvent* event);
     void hideEvent(QHideEvent* event);
+    void contextMenuEvent(QContextMenuEvent* event);
+    QList<QAction*> getItemRemoveActions();
+    void createActions();
     float refLineWidthToPen(float line);
     float refToScreenX(float x);
     float refToScreenY(float y);
@@ -155,6 +176,11 @@ protected:
     QStringList* acceptList;   ///< Variable names to plot
 
     quint64 lastPaintTime;     ///< Last time this widget was refreshed
+    int columns;               ///< Number of instrument columns
+
+    QAction* addGaugeAction;   ///< Action adding a gauge
+    QAction* setTitleAction;   ///< Action setting the title
+    QAction* setColumnsAction; ///< Action setting the number of columns
 
 private:
     Ui::HDDisplay *m_ui;

src/ui/HSIDisplay.cc

@@ -46,7 +46,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QDebug>
 
 HSIDisplay::HSIDisplay(QWidget *parent) :
-        HDDisplay(NULL, parent),
+        HDDisplay(NULL, "", parent),
         gpsSatellites(),
         satellitesUsed(0),
         attXSet(0),

src/ui/MainWindow.cc

@@ -26,6 +26,7 @@
 #include "MainWindow.h"
 #include "JoystickWidget.h"
 #include "GAudioOutput.h"
+#include "QGCToolWidget.h"
 
 #ifdef QGC_OSG_ENABLED
 #include "Q3DWidgetFactory.h"
@@ -107,6 +108,11 @@ MainWindow::MainWindow(QWidget *parent):
 
     // Create actions
     connectCommonActions();
+    // Add option for custom widgets
+    connect(ui.actionNewCustomWidget, SIGNAL(triggered()), this, SLOT(createCustomWidget()));
+    // Allow to mute audio
+    ui.actionMuteAudioOutput->setChecked(GAudioOutput::instance()->isMuted());
+    connect(ui.actionMuteAudioOutput, SIGNAL(triggered(bool)), GAudioOutput::instance(), SLOT(mute(bool)));
 
     // Set dock options
     setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks);
@@ -201,17 +207,19 @@ void MainWindow::buildPxWidgets()
 {
     //FIXME: memory of acceptList will never be freed again
     QStringList* acceptList = new QStringList();
-    acceptList->append("roll IMU");
-    acceptList->append("pitch IMU");
-    acceptList->append("yaw IMU");
-    acceptList->append("rollspeed IMU");
-    acceptList->append("pitchspeed IMU");
-    acceptList->append("yawspeed IMU");
+    acceptList->append("-180,roll (deg),+180");
+    acceptList->append("-180,pitch (deg),+180");
+    acceptList->append("-180,yaw (deg),+180");
+
+    acceptList->append("-500,roll V (deg/s),+500");
+    acceptList->append("-500,pitch V (deg/s),+500");
+    acceptList->append("-500,yaw V (deg/s),+500");
 
     //FIXME: memory of acceptList2 will never be freed again
     QStringList* acceptList2 = new QStringList();
-    acceptList2->append("Battery");
-    acceptList2->append("Pressure");
+    acceptList2->append("0,Abs pressure,65500");
+    acceptList2->append("-2000,Accel. X, 2000");
+    acceptList2->append("-2000,Accel. Y, 2000");
 
     if (!linechartWidget)
     {
@@ -290,15 +298,15 @@ void MainWindow::buildPxWidgets()
 
     if (!headDown1DockWidget)
     {
-        headDown1DockWidget = new QDockWidget(tr("System Stats"), this);
-        headDown1DockWidget->setWidget( new HDDisplay(acceptList, this) );
+        headDown1DockWidget = new QDockWidget(tr("Flight Display"), this);
+        headDown1DockWidget->setWidget( new HDDisplay(acceptList, "Flight Display", this) );
         addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget()), MENU_HDD_1, Qt::RightDockWidgetArea);
     }
 
     if (!headDown2DockWidget)
     {
         headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
-        headDown2DockWidget->setWidget( new HDDisplay(acceptList2, this) );
+        headDown2DockWidget->setWidget( new HDDisplay(acceptList2, "Payload Status", this) );
         addToToolsMenu (headDown2DockWidget, tr("Payload Status"), SLOT(showToolWidget()), MENU_HDD_2, Qt::RightDockWidgetArea);
     }
 
@@ -694,7 +702,16 @@ void MainWindow::connectCommonWidgets()
         // it notifies that a waypoint global goes to do create and a map graphic too
         connect(waypointsDockWidget->widget(), SIGNAL(createWaypointAtMap(QPointF)), mapWidget, SLOT(createWaypointGraphAtMap(QPointF)));
     }
+}
 
+void MainWindow::createCustomWidget()
+{
+    qDebug() << "ADDING CUSTOM WIDGET";
+    QGCToolWidget* tool = new QGCToolWidget(this);
+    QDockWidget* dock = new QDockWidget("Unnamed Tool", this);
+    dock->setWidget(tool);
+    this->addDockWidget(Qt::LeftDockWidgetArea, dock);
+    dock->setVisible(true);
 }
 
 void MainWindow::connectPxWidgets()

src/ui/MainWindow.h

@@ -140,6 +140,9 @@ public slots:
     /** @brief Reload the CSS style sheet */
     void reloadStylesheet();
 
+    /** @brief Add a custom tool widget */
+    void createCustomWidget();
+
     void closeEvent(QCloseEvent* event);
 
     /*

src/ui/MainWindow.ui

@@ -46,6 +46,8 @@
      <string>File</string>
     </property>
     <addaction name="actionJoystick_Settings"/>
+    <addaction name="actionNewCustomWidget"/>
+    <addaction name="actionMuteAudioOutput"/>
     <addaction name="actionSimulate"/>
     <addaction name="separator"/>
     <addaction name="actionExit"/>
@@ -108,7 +110,6 @@
    <addaction name="menuPerspectives"/>
    <addaction name="menuHelp"/>
   </widget>
-
   <widget class="QStatusBar" name="statusBar"/>
   <action name="actionExit">
    <property name="icon">
@@ -430,6 +431,27 @@
     <string>Pilot</string>
    </property>
   </action>
+  <action name="actionNewCustomWidget">
+   <property name="text">
+    <string>New Custom Widget</string>
+   </property>
+  </action>
+  <action name="actionMuteAudioOutput">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="icon">
+    <iconset resource="../../mavground.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>
+     <selectedoff>:/images/status/audio-volume-high.svg</selectedoff>
+     <selectedon>:/images/status/audio-volume-muted.svg</selectedon>:/images/status/audio-volume-high.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Mute Audio Output</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>
@@ -454,5 +476,3 @@
   </connection>
  </connections>
 </ui>
-
-

src/ui/MapWidget.h

@@ -81,6 +81,10 @@ protected:
     void wheelEvent(QWheelEvent *event);
     void keyPressEvent(QKeyEvent *event);
     void resizeEvent(QResizeEvent* event);
+    /** @brief Start widget updating */
+    void showEvent(QShowEvent* event);
+    /** @brief Stop widget updating */
+    void hideEvent(QHideEvent* event);
 
     QAction* osmAction;
     QAction* yahooActionMap;

src/ui/RadioCalibration/AirfoilServoCalibrator.cc

@@ -10,7 +10,7 @@ AirfoilServoCalibrator::AirfoilServoCalibrator(AirfoilType type, QWidget *parent
 
     /* Add title */
     QHBoxLayout *titleLayout = new QHBoxLayout();
-    QLabel *title;
+    QLabel* title;
     if (type == AILERON)
     {
         title = new QLabel(tr("Aileron"));
@@ -23,6 +23,10 @@ AirfoilServoCalibrator::AirfoilServoCalibrator(AirfoilType type, QWidget *parent
     {
         title = new QLabel(tr("Rudder"));
     }
+    else
+    {
+        title = new QLabel(tr("Unknown"));
+    }
 
     titleLayout->addWidget(title);
     grid->addLayout(titleLayout, 0, 0, 1, 3, Qt::AlignHCenter);

src/ui/RadioCalibration/RadioCalibrationData.cc

@@ -55,6 +55,9 @@ const QVector<float>& RadioCalibrationData::operator ()(int i) const
         return (*data)[i];
     }
 
+    // FIXME Bryan
+    // FIXME James
+
     // This is not good.  If it is ever used after being returned it will cause a crash
 //    return QVector<float>();
 }

src/ui/RadioCalibration/RadioCalibrationWindow.cc

@@ -84,6 +84,9 @@ void RadioCalibrationWindow::setChannelRaw(int ch, float raw)
 
 void RadioCalibrationWindow::setChannelScaled(int ch, float normalized)
 {
+    // FIXME James
+    // FIXME Bryan
+
 //    /** this expects a particular channel to function mapping
 //       \todo allow run-time channel mapping
 //       */

src/ui/SerialConfigurationWindow.cc

@@ -234,6 +234,7 @@ userConfigured(false)
 
     if(serialLink != 0)
     {
+        serialLink->loadSettings();
         this->link = serialLink;
 
         // Setup the user interface according to link type

src/ui/SerialSettings.ui

@@ -159,11 +159,26 @@
        <string>128000</string>
       </property>
      </item>
+     <item>
+      <property name="text">
+       <string>230400</string>
+      </property>
+     </item>
      <item>
       <property name="text">
        <string>256000</string>
       </property>
      </item>
+     <item>
+      <property name="text">
+       <string>460800</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>921600</string>
+      </property>
+     </item>
     </widget>
    </item>
    <item row="2" column="0">

src/ui/SlugsHilSim.cc

@@ -136,7 +136,9 @@ void SlugsHilSim::activeUasSet(UASInterface* uas){
 }
 
 
-void SlugsHilSim::processHilDatagram(const QByteArray* datagram){
+void SlugsHilSim::processHilDatagram(const QByteArray* datagram)
+{
+    #ifdef MAVLINK_ENABLED_SLUGS
   unsigned char i = 0;
 
   mavlink_message_t msg;
@@ -144,7 +146,6 @@ void SlugsHilSim::processHilDatagram(const QByteArray* datagram){
   // GPS
   mavlink_gps_raw_t tmpGpsRaw;
 
-#ifdef MAVLINK_ENABLED_SLUGS
   mavlink_gps_date_time_t tmpGpsTime;
 
   tmpGpsTime.year  = datagram->at(i++);
@@ -167,7 +168,6 @@ void SlugsHilSim::processHilDatagram(const QByteArray* datagram){
 
   mavlink_msg_gps_date_time_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &tmpGpsTime);
   activeUas->sendMessage(hilLink, msg);
-#endif
 
   memset(&msg, 0, sizeof(mavlink_message_t));
 
@@ -180,6 +180,9 @@ void SlugsHilSim::processHilDatagram(const QByteArray* datagram){
   ui->ed_1->setText(QString::number(tmpGpsRaw.hdg));
   ui->ed_2->setText(QString::number(tmpGpsRaw.v));
   ui->ed_3->setText(QString::number(tmpGpsRaw.eph));
+#else
+  Q_UNUSED(datagram);
+#endif
 }
 
 float SlugsHilSim::getFloatFromDatagram (const QByteArray* datagram, unsigned char * i){
@@ -205,4 +208,5 @@ uint16_t SlugsHilSim::getUint16FromDatagram (const QByteArray* datagram, unsigne
 
 void SlugsHilSim::linkSelected(int cbIndex){
   //hilLink = linksAvailable
+    // FIXME Mariano
 }

src/ui/SlugsPIDControl.cpp

@@ -640,6 +640,8 @@ void SlugsPIDControl::sendMessagePIDStatus(int PIDtype)
 
         }
     }
+#else
+    Q_UNUSED(PIDtype);
     #endif // MAVLINK_ENABLED_SLUG
 }
 

src/ui/SlugsPadCameraControl.cpp

@@ -221,7 +221,8 @@ double SlugsPadCameraControl::getDistPixel(int x1, int y1, int x2, int y2)
                 */
 QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2)
 {
-    double cateto_opuesto,cateto_adyacente, hipotenusa, distancia, marcacion;
+    double cateto_opuesto,cateto_adyacente, hipotenusa, distancia;
+    double marcacion = 0.0;
 
     //latitude and longitude first point
 
@@ -234,7 +235,7 @@ QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, doubl
     cateto_adyacente = abs((lon1-lon2));
 
     hipotenusa = sqrt(pow(cateto_opuesto,2) + pow(cateto_adyacente,2));
-    distancia = hipotenusa*60;
+    distancia = hipotenusa*60.0;
 
 
     if ((lat1 < lat2) && (lon1 > lon2)) //primer cuadrante

src/ui/WaypointList.cc

@@ -570,5 +570,7 @@ void WaypointList::setIsLoadFileWP()
 
 void WaypointList::setIsReadGlobalWP(bool value)
 {
-   // readGlobalWP = value;
+    // FIXME James Check this
+    Q_UNUSED(value);
+    // readGlobalWP = value;
 }

src/ui/designer/QGCActionButton.cc

+#include "QGCActionButton.h"
+#include "ui_QGCActionButton.h"
+
+QGCActionButton::QGCActionButton(QWidget *parent) :
+    QGCToolWidgetItem(parent),
+    ui(new Ui::QGCActionButton)
+{
+    ui->setupUi(this);
+    connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode()));
+    endEditMode();
+}
+
+QGCActionButton::~QGCActionButton()
+{
+    delete ui;
+}
+
+void QGCActionButton::startEditMode()
+{
+    ui->editActionComboBox->show();
+    ui->editActionsRefreshButton->show();
+    ui->editFinishButton->show();
+    isInEditMode = true;
+}
+
+void QGCActionButton::endEditMode()
+{
+    ui->editActionComboBox->hide();
+    ui->editActionsRefreshButton->hide();
+    ui->editFinishButton->hide();
+    isInEditMode = false;
+}

src/ui/designer/QGCActionButton.h

+#ifndef QGCACTIONBUTTON_H
+#define QGCACTIONBUTTON_H
+
+#include "QGCToolWidgetItem.h"
+
+namespace Ui {
+    class QGCActionButton;
+}
+
+class QGCActionButton : public QGCToolWidgetItem
+{
+    Q_OBJECT
+
+public:
+    explicit QGCActionButton(QWidget *parent = 0);
+    ~QGCActionButton();
+
+public slots:
+    void startEditMode();
+    void endEditMode();
+
+private:
+    Ui::QGCActionButton *ui;
+};
+
+#endif // QGCACTIONBUTTON_H

src/ui/designer/QGCActionButton.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCActionButton</class>
+ <widget class="QWidget" name="QGCActionButton">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>111</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="1" column="0" colspan="2">
+    <widget class="QLabel" name="nameLabel">
+     <property name="text">
+      <string>Description</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="2">
+    <widget class="QPushButton" name="actionButton">
+     <property name="text">
+      <string>Button name</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0">
+    <widget class="QComboBox" name="editActionComboBox"/>
+   </item>
+   <item row="2" column="1">
+    <widget class="QPushButton" name="editActionsRefreshButton">
+     <property name="text">
+      <string>Refresh Actions</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="2">
+    <widget class="QPushButton" name="editFinishButton">
+     <property name="text">
+      <string>Done</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="2">
+    <widget class="QLineEdit" name="editButtonName">
+     <property name="text">
+      <string>Button name</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="0" colspan="2">
+    <widget class="QLineEdit" name="editNameLabel">
+     <property name="text">
+      <string>Description</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>editButtonName</sender>
+   <signal>textChanged(QString)</signal>
+   <receiver>actionButton</receiver>
+   <slot>setWindowTitle(QString)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>310</x>
+     <y>22</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>310</x>
+     <y>55</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>editNameLabel</sender>
+   <signal>textChanged(QString)</signal>
+   <receiver>nameLabel</receiver>
+   <slot>setText(QString)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>116</x>
+     <y>22</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>116</x>
+     <y>55</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>

src/ui/designer/QGCParamSlider.cc

+#include <QMenu>
+#include <QContextMenuEvent>
+
 #include "QGCParamSlider.h"
 #include "ui_QGCParamSlider.h"
 
 QGCParamSlider::QGCParamSlider(QWidget *parent) :
-    QWidget(parent),
+    QGCToolWidgetItem(parent),
     ui(new Ui::QGCParamSlider)
 {
     ui->setupUi(this);
+    endEditMode();
+    connect(ui->doneButton, SIGNAL(clicked()), this, SLOT(endEditMode()));
 }
 
 QGCParamSlider::~QGCParamSlider()
@@ -13,6 +18,36 @@ QGCParamSlider::~QGCParamSlider()
     delete ui;
 }
 
+void QGCParamSlider::startEditMode()
+{
+    ui->doneButton->show();
+    ui->maxLabel->show();
+    ui->minLabel->show();
+    ui->nameLineEdit->show();
+    ui->instructionsLabel->show();
+    ui->refreshParamsButton->show();
+    ui->selectParamComboBox->show();
+    ui->minSpinBox->show();
+    ui->maxSpinBox->show();
+    ui->typeComboBox->show();
+    isInEditMode = true;
+}
+
+void QGCParamSlider::endEditMode()
+{
+    ui->doneButton->hide();
+    ui->maxLabel->hide();
+    ui->minLabel->hide();
+    ui->nameLineEdit->hide();
+    ui->instructionsLabel->hide();
+    ui->refreshParamsButton->hide();
+    ui->selectParamComboBox->hide();
+    ui->minSpinBox->hide();
+    ui->maxSpinBox->hide();
+    ui->typeComboBox->hide();
+    isInEditMode = false;
+}
+
 void QGCParamSlider::changeEvent(QEvent *e)
 {
     QWidget::changeEvent(e);

src/ui/linechart/LinechartWidget.h

@@ -72,7 +72,7 @@ public:
 public slots:
     void addCurve(QString curve);
     void removeCurve(QString curve);
-    void appendData(int sysId, QString curve, double data, quint64 usec);
+    void appendData(int uasId, QString curve, double data, quint64 usec);
     void takeButtonClick(bool checked);
     void setPlotWindowPosition(int scrollBarValue);
     void setPlotWindowPosition(quint64 position);

src/ui/map3D/Pixhawk3DWidget.cc

@@ -241,7 +241,7 @@ Pixhawk3DWidget::insertWaypoint(void)
 {
     if (uas)
     {
-        Waypoint* wp;
+        Waypoint* wp = NULL;
         if (frame == MAV_FRAME_GLOBAL)
         {
             double latitude = uas->getLatitude();