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

src/uas/UASWaypointManager.cc

@@ -94,7 +94,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
         if(wp->seq == current_wp_id)
         {
             //update the UI FIXME
-            emit waypointUpdated(uas.getUASID(), wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->orbit, wp->hold_time);
+            emit waypointUpdated(wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->orbit, wp->hold_time);
 
             //get next waypoint
             current_wp_id++;
@@ -206,15 +206,15 @@ void UASWaypointManager::requestWaypoints()
     }
 }
 
-void UASWaypointManager::sendWaypoints(const QVector<Waypoint*> &list)
+void UASWaypointManager::sendWaypoints()
 {
     if (current_state == WP_IDLE)
     {
-        if (list.count() > 0)
+        if (waypoints.count() > 0)
         {
             protocol_timer.start(PROTOCOL_TIMEOUT_MS);
 
-            current_count = list.count();
+            current_count = waypoints.count();
             current_state = WP_SENDLIST;
             current_wp_id = 0;
             current_partner_systemid = uas.getUASID();
@@ -233,7 +233,7 @@ void UASWaypointManager::sendWaypoints(const QVector<Waypoint*> &list)
                 waypoint_buffer.push_back(new mavlink_waypoint_t);
                 mavlink_waypoint_t *cur_d = waypoint_buffer.back();
                 memset(cur_d, 0, sizeof(mavlink_waypoint_t));   //initialize with zeros
-                const Waypoint *cur_s = list.at(i);
+                const Waypoint *cur_s = waypoints.at(i);
 
                 cur_d->autocontinue = cur_s->getAutoContinue();
                 cur_d->current = cur_s->getCurrent();

src/uas/UASWaypointManager.h

@@ -60,6 +60,8 @@ public:
     void handleWaypointReached(quint8 systemId, quint8 compId, mavlink_waypoint_reached_t *wpr);
     void handleWaypointSetCurrent(quint8 systemId, quint8 compId, mavlink_waypoint_set_current_t *wpr);
 
+    QVector<Waypoint *> &getWaypointList(void) { return waypoints; }
+
 private:
     void sendWaypointRequest(quint16 seq);
     void sendWaypoint(quint16 seq);
@@ -68,12 +70,12 @@ public slots:
     void timeout();
     void clearWaypointList();
     void requestWaypoints();
-    void sendWaypoints(const QVector<Waypoint *> &list);
+    void sendWaypoints();
 
 signals:
-    void waypointUpdated(int,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 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
 
 private:
     UAS &uas;                                       ///< Reference to the corresponding UAS
@@ -83,6 +85,7 @@ private:
     quint8 current_partner_systemid;                ///< The current protocol communication target system
     quint8 current_partner_compid;                  ///< The current protocol communication target component
 
+    QVector<Waypoint *> waypoints;                  ///< local waypoint list
     QVector<mavlink_waypoint_t *> waypoint_buffer;  ///< communication buffer for waypoints
     QTimer protocol_timer;                          ///< Timer to catch timeouts
 };

src/ui/WaypointList.h

@@ -73,24 +73,21 @@ public slots:
     void updateStatusLabel(const QString &string);
 
     void currentWaypointChanged(quint16 seq);
-
-    //To be moved to UASWaypointManager (?)
-    void setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current, double orbit, int holdTime);
+    void setWaypoint(quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current, double orbit, int holdTime);
     void addWaypoint(Waypoint* wp);
     void removeWaypoint(Waypoint* wp);
-    void waypointReached(UASInterface* uas, quint16 waypointId);
+    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(const QVector<Waypoint*> &);
+    void sendWaypoints();
     void requestWaypoints();
     void clearWaypointList();
 
 protected:
     virtual void changeEvent(QEvent *e);
 
-    QVector<Waypoint*> waypoints;
     QMap<Waypoint*, WaypointView*> wpViews;
     QVBoxLayout* listLayout;
     UASInterface* uas;