Merge branch 'experimental' of git://github.com/malife/qgroundcontrol into experimental

2dfdafca · tecnosapiens · f8b4caf4 · 3ff7452d · 2dfdafca · 2dfdafca
Commit 2dfdafca authored Nov 19, 2010 by tecnosapiens
14 changed files
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -139,7 +139,6 @@ FORMS += src/ui/MainWindow.ui \
    src/ui/WaypointGlobalView.ui \
    src/ui/SlugsDataSensorView.ui \
    src/ui/SlugsHilSim.ui \
-    src/ui/SlugsDataSensorView.ui \
    src/ui/SlugsPIDControl.ui \
    src/ui/SlugsVideoCamControl.ui
 INCLUDEPATH += src \

--- a/src/comm/SerialLink.cc
+++ b/src/comm/SerialLink.cc
@@ -89,7 +89,8 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
    }
 #else
    // *nix (Linux, MacOS tested) serial port support
-    port = new QextSerialPort(porthandle, QextSerialPort::Polling);
+    //port = new QextSerialPort(porthandle, QextSerialPort::Polling);
+    port = new QextSerialPort(porthandle, QextSerialPort::EventDriven);
    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);

--- a/src/configuration.h
+++ b/src/configuration.h
 #ifndef CONFIGURATION_H
 #define CONFIGURATION_H
+#include "mavlink.h"
 /** @brief Polling interval in ms */
-#ifdef MAVLINK_ENABLED_SLUGS_MESSAGES_QGC
+#ifdef MAVLINK_ENABLED_SLUGS
  #define SERIAL_POLL_INTERVAL 7
 #else
  #define SERIAL_POLL_INTERVAL 2

--- a/src/uas/SlugsMAV.cc
+++ b/src/uas/SlugsMAV.cc
--- a/src/uas/SlugsMAV.h
+++ b/src/uas/SlugsMAV.h
@@ -26,7 +26,9 @@ This file is part of the QGROUNDCONTROL project
 #include "UAS.h"
 #include "mavlink.h"
+#include <QTimer>
+#define SLUGS_UPDATE_RATE   100   // in ms
 class SlugsMAV : public UAS
 {
    Q_OBJECT
@@ -38,111 +40,81 @@ public slots:
    /** @brief Receive a MAVLink message from this MAV */
    void receiveMessage(LinkInterface* link, mavlink_message_t message);
+    void emitSignals (void);
 signals:
-    // ESPECIAL SLUGS MESSAGE
-    void slugsCPULoad(int systemId,
+    void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData);
-                      uint8_t sensLoad,
-                      uint8_t ctrlLoad,
+#ifdef MAVLINK_ENABLED_SLUGS
-                      uint8_t batVolt,
-                      quint64 time);
+    void slugsCPULoad(int systemId, const mavlink_cpu_load_t& cpuLoad);
+    void slugsAirData(int systemId, const mavlink_air_data_t& airData);
-    void slugsAirData(int systemId,
+    void slugsSensorBias(int systemId, const mavlink_sensor_bias_t& sensorBias);
-                      float dinamicPressure,
+    void slugsDiagnostic(int systemId, const mavlink_diagnostic_t& diagnostic);
-                      float staticPresure,
+    void slugsPilotConsolePWM(int systemId, const mavlink_pilot_console_t& pilotConsole);
-                      uint16_t temperature,
+    void slugsPWM(int systemId, const mavlink_pwm_commands_t& pwmCommands);
-                      quint64 time);
+    void slugsNavegation(int systemId, const mavlink_slugs_navigation_t& slugsNavigation);
+    void slugsDataLog(int systemId, const mavlink_data_log_t& dataLog);
-    void slugsSensorBias(int systemId,
+    void slugsFilteredData(int systemId, const mavlink_filtered_data_t& filteredData);
-                         double axBias,
+    void slugsGPSDateTime(int systemId, const mavlink_gps_date_time_t& gpsDateTime);
-                         double ayBias,
+    void slugsActionAck(int systemId, const mavlink_action_ack_t& actionAck);
-                         double azBias,
-                         double gxBias,
+    void slugsBootMsg(int uasId, mavlink_boot_t& boot);
-                         double gyBias,
+    void slugsAttitude(int uasId, mavlink_attitude_t& attitude);
-                         double gzBias,
-                         quint64 time);
+#endif
-    void slugsDiagnostic(int systemId,
+protected:
-                         double diagFl1,
-                         double diagFl2,
+   typedef struct _mavlink_pid_values_t {
-                         double diagFl3,
+         float P[11];
-                         int16_t diagSh1,
+         float I[11];
-                         int16_t diagSh2,
+         float D[11];
-                         int16_t diagSh3,
+     }mavlink_pid_values_t;
-                         quint64 time);
+   unsigned char updateRoundRobin;
-    void slugsPilotConsolePWM(int systemId,
+   QTimer* widgetTimer;
-                              uint16_t dt,
-                              uint16_t dla,
-                              uint16_t dra,
+   mavlink_raw_imu_t 			mlRawImuData;
-                              uint16_t dr,
-                              uint16_t de,
+#ifdef MAVLINK_ENABLED_SLUGS
-                              quint64 time);
+   mavlink_gps_raw_t			mlGpsData;
+   mavlink_attitude_t           mlAttitude;
-    void slugsPWM(int systemId,
+   mavlink_cpu_load_t 			mlCpuLoadData;
-                  uint16_t dt_c,
+   mavlink_air_data_t 			mlAirData;
-                  uint16_t dla_c,
+   mavlink_sensor_bias_t 		mlSensorBiasData;
-                  uint16_t dra_c,
+   mavlink_diagnostic_t 		mlDiagnosticData;
-                  uint16_t dr_c,
+   mavlink_pilot_console_t 		mlPilotConsoleData;
-                  uint16_t dle_c,
+   mavlink_filtered_data_t 		mlFilteredData;
-                  uint16_t dre_c,
+   mavlink_boot_t 				mlBoot;
-                  uint16_t dlf_c,
+   mavlink_gps_date_time_t 		mlGpsDateTime;
-                  uint16_t drf_c,
+   mavlink_mid_lvl_cmds_t 		mlMidLevelCommands;
-                  uint16_t da1_c,
+   mavlink_set_mode_t 			mlApMode;
-                  uint16_t da2_c,
+   mavlink_pwm_commands_t		mlPwmCommands;
-                  quint64 time);
+   mavlink_pid_values_t			mlPidValues;
+   mavlink_pid_t				mlSinglePid;
-    void slugsNavegation(int systemId,
-                          double u_m,
+   mavlink_slugs_navigation_t	mlNavigation;
-                          double phi_c,
+   mavlink_data_log_t			mlDataLog;
-                          double theta_c,
+   mavlink_ctrl_srfc_pt_t		mlPassthrough;
-                          double psiDot_c,
+   mavlink_action_ack_t			mlActionAck;
-                          double ay_body,
-                          double totalDist,
+   mavlink_slugs_action_t		mlAction;
-                          double dist2Go,
-                          uint8_t fromWP,
-                          uint8_t toWP,
-                          quint64 time);
-   void slugsDataLog(int systemId,
-                 double logfl_1,
-                 double logfl_2,
-                 double logfl_3,
-                 double logfl_4,
-                 double logfl_5,
-                 double logfl_6,
-                 quint64 time);
-   void slugsFilteredData(int systemId,
-                          double filaX,
-                          double filaY,
-                          double filaZ,
-                          double filgX,
-                          double filgY,
-                          double filgZ,
-                          double filmX,
-                          double filmY,
-                          double filmZ,
-                          quint64 time);
-   void slugsGPSDateTime(int systemId,
-                         uint8_t gpsyear,
-                         uint8_t gpsmonth,
-                         uint8_t gpsday,
-                         uint8_t gpshour,
-                         uint8_t gpsmin,
-                         uint8_t gpssec,
-                         uint8_t gpsvisSat,
-                         quint64 time);
   // Standart messages MAVLINK used by SLUGS
-   void slugsActionAck(int systemId,
+private:
-                       uint8_t action,
-                       uint8_t result);
+   void emitGpsSignals (void);
+   int uasId;
+#endif // if SLUGS
 };

--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -611,11 +611,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                    throttle << radioMsg.throttle[i];
                QPointer<RadioCalibrationData> radioData = new RadioCalibrationData(aileron,
-                                                                                    elevator,
-                                                                                    rudder,
-                                                                                    gyro,
-                                                                                    pitch,
-                                                                                    throttle);
                emit radioCalibrationReceived(radioData);
                delete radioData;
            }

--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -227,8 +227,14 @@ void MainWindow::connectWidgets()
        connect(waypointsDockWidget->widget(), SIGNAL(changePositionWPGlobalBySpinBox(int,float,float)), mapWidget, SLOT(changeGlobalWaypointPositionBySpinBox(int,float,float)));
    }
-    if (slugsHilSimWidget->widget()){
+    if (slugsHilSimWidget && slugsHilSimWidget->widget()){
-      connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), dynamic_cast<SlugsHilSim*>(slugsHilSimWidget->widget()), SLOT(activeUasSet(UASInterface*)) );
+      connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
+              slugsHilSimWidget->widget(), SLOT(activeUasSet(UASInterface*)));
+    }
+    if (slugsDataWidget && slugsDataWidget->widget()){
+      connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
+              slugsDataWidget->widget(), SLOT(setActiveUAS(UASInterface*)));
    }
@@ -558,16 +564,16 @@ void MainWindow::UASCreated(UASInterface* uas)
        PxQuadMAV* mav = dynamic_cast<PxQuadMAV*>(uas);
        if (mav) loadPixhawkView();
-        SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
+        if (slugsDataWidget) {
-        if (mav2)
+          SlugsDataSensorView* dataWidget = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
-        {
+          if (dataWidget) {
-          dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget())->addUAS(uas);
+            SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
-          loadSlugsView();
+            if (mav2) {
+              dataWidget->addUAS(uas);
+              loadSlugsView();
+            }
+          }
        }
    }
 }

--- a/src/ui/SlugsDataSensorView.cc
+++ b/src/ui/SlugsDataSensorView.cc
--- a/src/ui/SlugsDataSensorView.h
+++ b/src/ui/SlugsDataSensorView.h
@@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project
 #include "UASInterface.h"
 #include "SlugsMAV.h"
+#include "mavlink.h"
 namespace Ui {
    class SlugsDataSensorView;
@@ -67,17 +68,10 @@ public slots:
    */
    void setActiveUAS(UASInterface* uas);
-    /**
-         * @brief Adds the UAS for data display
-         *
-         * Adds the UAS and makes all the correct connections for data display on the Widgets
-    */
-    void refresh();
+    void slugRawDataChanged (int uasId, const mavlink_raw_imu_t& rawData);
+#ifdef MAVLINK_ENABLED_SLUGS
    /**
         * @brief Adds the UAS for data display
         *
@@ -120,240 +114,62 @@ public slots:
                                    double alt,
                                    quint64 time);
    /**
-         * @brief Adds the UAS for data display
+         * @brief Updates the sensor bias widget
-         *
-         * Adds the UAS and makes all the correct connections for data display on the Widgets
    */
    void slugsSensorBiasChanged(int systemId,
-                                double axb,
+                                const mavlink_sensor_bias_t& sensorBias);
-                                double ayb,
-                                double azb,
-                                double gxb,
-                                double gyb,
-                                double gzb,
-                                quint64 time);
    /**
-         * @brief Adds the UAS for data display
+         * @brief Updates the diagnostic widget
-         *
-         * Adds the UAS and makes all the correct connections for data display on the Widgets
    */
    void slugsDiagnosticMessageChanged(int systemId,
-                                       double diagfl1,
+                                       const mavlink_diagnostic_t& diagnostic);
-                                       double diagfl2,
-                                       double diagfl3,
-                                       int16_t diagsh1,
-                                       int16_t diagsh2,
-                                       int16_t diagsh3,
-                                       quint64 time);
    /**
-         * @brief Adds the UAS for data display
+         * @brief Updates the CPU load widget
-         *
-         * Adds the UAS and makes all the correct connections for data display on the Widgets
    */
    void slugsCpuLoadChanged(int systemId,
-                             uint8_t sensload,
+                             const mavlink_cpu_load_t& cpuLoad);
-                             uint8_t ctrlload,
-                             uint8_t batvolt,
-                             quint64 time);
    /**
-         * @brief Adds the UAS for data display
+         * @brief Updates the Navigation widget
-         *
-         * Adds the UAS and makes all the correct connections for data display on the Widgets
    */
    void slugsNavegationChanged(int systemId,
-                                double navu_m,
+                                const mavlink_slugs_navigation_t& slugsNavigation);
-                                double navphi_c,
-                                double navtheta_c,
-                                double navpsiDot_c,
-                                double navay_body,
-                                double navtotalDist,
-                                double navdist2Go,
-                                uint8_t navfromWP,
-                                uint8_t navtoWP,
-                                quint64 time);
    /**
-         * @brief Adds the UAS for data display
+         * @brief Updates the Data Log widget
-         *
-         * Adds the UAS and makes all the correct connections for data display on the Widgets
    */
   void  slugsDataLogChanged(int systemId,
-                            double logfl_1,
+                             const mavlink_data_log_t& dataLog);
-                            double logfl_2,
-                            double logfl_3,
-                            double logfl_4,
-                            double logfl_5,
-                            double logfl_6,
-                            quint64 time);
   /**
-        * @brief Adds the UAS for data display
+        * @brief Updates the PWM Commands widget
-        *
-        * Adds the UAS and makes all the correct connections for data display on the Widgets
   */
   void slugsPWMChanged(int systemId,
-                        uint16_t vdt_c,
+                        const mavlink_pwm_commands_t& pwmCommands);
-                        uint16_t vdla_c,
-                        uint16_t vdra_c,
-                        uint16_t vdr_c,
-                        uint16_t vdle_c,
-                        uint16_t vdre_c,
-                        uint16_t vdlf_c,
-                        uint16_t vdrf_c,
-                        uint16_t vda1_c,
-                        uint16_t vda2_c,
-                        quint64 time);
   /**
-        * @brief Adds the UAS for data display
+        * @brief Updates the filtered sensor measurements widget
-        *
-        * Adds the UAS and makes all the correct connections for data display on the Widgets
   */
   void slugsFilteredDataChanged(int systemId,
-                                 double filaX,
+                                 const mavlink_filtered_data_t& filteredData);
-                                 double filaY,
-                                 double filaZ,
-                                 double filgX,
-                                 double filgY,
-                                 double filgZ,
-                                 double filmX,
-                                 double filmY,
-                                 double filmZ,
-                                 quint64 time);
+   /**
+        * @brief Updates the gps Date Time widget
+   */
    void slugsGPSDateTimeChanged(int systemId,
-                                    uint8_t gpsyear,
+                                 const mavlink_gps_date_time_t& gpsDateTime);
-                                     uint8_t gpsmonth,
-                                     uint8_t gpsday,
-                                     uint8_t gpshour,
-                                     uint8_t gpsmin,
-                                     uint8_t gpssec,
-                                    uint8_t gpsvisSat,
-                                    quint64 time);
+#endif // MAVLINK_ENABLED_SLUGS
 protected:
-    QTimer* updateTimer;
     UASInterface* activeUAS;
-     //Global Position
-     double Latitude;
-     double Longitude;
-     double Height;
-     quint64 timeGlobalPosition;
-     // Position and Attitude
-     //Position
-     double Xpos;
-     double Ypos;
-     double Zpos;
-     quint64 TimeActualPosition;
-     //Speed
-     double VXpos;
-     double VYpos;
-     double VZpos;
-     quint64 TimeActualSpeed;
-     //Attitude
-     double roll;
-     double pitch;
-     double yaw;
-     quint64 TimeActualAttitude;
-     //Sensor Biases
-     //Acelerometer
-     double Axb;
-     double Ayb;
-     double Azb;
-     //Gyro
-     double Gxb;
-     double Gyb;
-     double Gzb;
-     quint64 TimeActualBias;
-     //Diagnostic
-     double diagFl1;
-     double diagFl2;
-     double diagFl3;
-     int16_t diagSh1;
-     int16_t diagSh2;
-     int16_t diagSh3;
-     quint64 timeDiagnostic;
-     //CPU Load
-     uint8_t sensLoad;
-     uint8_t ctrlLoad;
-     uint8_t batVolt;
-     quint64 timeCpuLoad;
-     //navigation data
-     double u_m;
-     double phi_c;
-     double theta_c;
-     double psiDot_c;
-     double ay_body;
-     double totalDist;
-     double dist2Go;
-     uint8_t fromWP;
-     uint8_t toWP;
-     quint64 timeNavigation;
-     // Data Log
-     double Logfl_1;
-     double Logfl_2;
-     double Logfl_3;
-     double Logfl_4;
-     double Logfl_5;
-     double Logfl_6;
-     quint64 timeDataLog;
-     //pwm commands
-     uint16_t dt_c; ///< AutoPilot's throttle command
-     uint16_t dla_c; ///< AutoPilot's left aileron command
-     uint16_t dra_c; ///< AutoPilot's right aileron command
-     uint16_t dr_c; ///< AutoPilot's rudder command
-     uint16_t dle_c; ///< AutoPilot's left elevator command
-     uint16_t dre_c; ///< AutoPilot's right elevator command
-     uint16_t dlf_c; ///< AutoPilot's left  flap command
-     uint16_t drf_c; ///< AutoPilot's right flap command
-     uint16_t aux1; ///< AutoPilot's aux1 command
-     uint16_t aux2; ///< AutoPilot's aux2 command
-     quint64 timePWMCommand;
-     //filtered data
-     double aX; ///< Accelerometer X value (m/s^2)
-     double aY; ///< Accelerometer Y value (m/s^2)
-     double aZ; ///< Accelerometer Z value (m/s^2)
-     double gX; ///< Gyro X value (rad/s)
-     double gY; ///< Gyro Y value (rad/s)
-     double gZ; ///< Gyro Z value (rad/s)
-     double mX; ///< Magnetometer X (normalized to 1)
-     double mY; ///< Magnetometer Y (normalized to 1)
-     double mZ; ///< Magnetometer Z (normalized to 1)
-     quint64 timeFiltered;
-     //gps date and time
-     uint8_t year; ///< Year reported by Gps
-     uint8_t month; ///< Month reported by Gps
-     uint8_t day; ///< Day reported by Gps
-     uint8_t hour; ///< Hour reported by Gps
-     uint8_t min; ///< Min reported by Gps
-     uint8_t sec; ///< Sec reported by Gps
-     uint8_t visSat; ///< Visible sattelites reported by Gps
-     quint64 timeGPSDateTime;
 private:
    Ui::SlugsDataSensorView *ui;
-    void loadParameters();
 };

--- a/src/ui/SlugsDataSensorView.ui
+++ b/src/ui/SlugsDataSensorView.ui
--- a/src/ui/SlugsPIDControl.cpp
+++ b/src/ui/SlugsPIDControl.cpp
@@ -44,11 +44,13 @@ void SlugsPIDControl::activeUasSet(UASInterface* uas)
 {
    SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(uas);
+#ifdef MAVLINK_ENABLED_SLUGS
    if (slugsMav != NULL)
    {
-        connect(slugsMav,SIGNAL(slugsActionAck(int,uint8_t,uint8_t)),this,SLOT(recibeMensaje(int,uint8_t,uint8_t)));
+        connect(slugsMav,SIGNAL(slugsActionAck(int,const mavlink_action_ack_t&)),this,SLOT(recibeMensaje(int,mavlink_action_ack_t)));
    }
+#endif // MAVLINK_ENABLED_SLUG
    // Set this UAS as active if it is the first one
        if(activeUAS == 0)
        {
@@ -154,6 +156,12 @@ void SlugsPIDControl::changeColor_RED_AirSpeed_groupBox(QString text)
 void SlugsPIDControl::changeColor_GREEN_AirSpeed_groupBox()
 {
+  SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(activeUAS);
+  if (slugsMav != NULL)
+  {
    //create the packet
    pidMessage.target = activeUAS->getUASID();
    pidMessage.idx = 0;
@@ -161,16 +169,13 @@ void SlugsPIDControl::changeColor_GREEN_AirSpeed_groupBox()
    pidMessage.iVal = ui->dT_I_set->text().toFloat();
    pidMessage.dVal = ui->dT_D_set->text().toFloat();
-    UAS *uas = dynamic_cast<UAS*>(UASManager::instance()->getActiveUAS());
    mavlink_message_t msg;
    mavlink_msg_pid_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &pidMessage);
-    uas->sendMessage(msg);
+    slugsMav->sendMessage(msg);
    ui->AirSpeedHold_groupBox->setStyleSheet(GREENcolorStyle);
+  }
 }
@@ -335,7 +340,11 @@ void SlugsPIDControl::connect_Pitch2dT_LineEdit()
    connect(ui->P2dT_FF_set,SIGNAL(textChanged(QString)),this,SLOT(changeColor_RED_Pitch2dT_groupBox(QString)));
 }
-void SlugsPIDControl::recibeMensaje(int systemId, uint8_t action, uint8_t result)
+#ifdef MAVLINK_ENABLED_SLUGS
+void SlugsPIDControl::recibeMensaje(int systemId, const mavlink_action_ack_t& action)
 {
-    ui->recepcion_label->setText("Mensaje Recibido: " + QString::number(action));
+    ui->recepcion_label->setText(QString::number(action.action));
 }
+#endif // MAVLINK_ENABLED_SLUGS
--- a/src/ui/SlugsPIDControl.h
+++ b/src/ui/SlugsPIDControl.h
@@ -6,7 +6,7 @@
 #include "UASInterface.h"
 #include "QGCMAVLink.h"
 #include "SlugsMAV.h"
+#include "mavlink.h"
 namespace Ui {
    class SlugsPIDControl;
@@ -184,9 +184,11 @@ public slots:
     //Create, send and get Messages PID
    // void createMessagePID();
+#ifdef MAVLINK_ENABLED_SLUGS
-     void recibeMensaje(int systemId, uint8_t action, uint8_t result);
+     void recibeMensaje(int systemId, const mavlink_action_ack_t& action);
+#endif // MAVLINK_ENABLED_SLUG
 private:
    Ui::SlugsPIDControl *ui;

--- a/src/ui/slugshilsim.cc
+++ b/src/ui/slugshilsim.cc
@@ -41,7 +41,10 @@ SlugsHilSim::SlugsHilSim(QWidget *parent) :
    rxSocket = new QUdpSocket(this);
    txSocket = new QUdpSocket(this);
+    hilLink = NULL;
    connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addToCombo(LinkInterface*)));
+    connect(ui->cb_mavlinkLinks, SIGNAL(currentIndexChanged(int)), this, SLOT(linkSelected(int)));
    connect(ui->bt_startHil, SIGNAL(clicked()), this, SLOT(putInHilMode()));
    connect(rxSocket, SIGNAL(readyRead()), this, SLOT(readDatagram()));
@@ -54,23 +57,15 @@ SlugsHilSim::~SlugsHilSim()
    delete ui;
 }
-void SlugsHilSim::linkAdded(void){
-//  ui->cb_mavlinkLinks->clear();
-//  QList<LinkInterface *> linkList;
-//  linkList.append(LinkManager::instance()->getLinks()) ;
-//  for (int i = 0; i< linkList.size(); i++){
-//    ui->cb_mavlinkLinks->addItem((linkList.takeFirst())->getName());
-//  }
-}
 void SlugsHilSim::addToCombo(LinkInterface* theLink){
  ui->cb_mavlinkLinks->addItem(theLink->getName());
  linksAvailable.insert(ui->cb_mavlinkLinks->count(),theLink);
+  if (hilLink == NULL){
+    hilLink = theLink;
+  }
 }
 void SlugsHilSim::putInHilMode(void){
@@ -86,8 +81,7 @@ void SlugsHilSim::putInHilMode(void){
    msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
    msgBox.setDefaultButton(QMessageBox::No);
-    if(msgBox.exec() == QMessageBox::Yes)
+    if(msgBox.exec() == QMessageBox::Yes) {
-    {
      rxSocket->disconnectFromHost();
      rxSocket->bind(QHostAddress::Any, ui->ed_rxPort->text().toInt());
      //txSocket->bind(QHostAddress::Broadcast, ui->ed_txPort->text().toInt());
@@ -99,7 +93,6 @@ void SlugsHilSim::putInHilMode(void){
      ui->bt_startHil->setText(buttonCaption);
    } else {
      ui->bt_startHil->setChecked(false);
    }
@@ -170,9 +163,13 @@ void SlugsHilSim::processHilDatagram(const QByteArray* datagram){
  tmpGpsRaw.fix_type = datagram->at(i++);
  tmpGpsTime.visSat  = datagram->at(i++);
-  //mavlink_msg_gps_date_time_pack();
+  mavlink_msg_gps_date_time_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &tmpGpsTime);
+  activeUas->sendMessage(hilLink, msg);
+  memset(&msg, 0, sizeof(mavlink_message_t));
-  //activeUas->sendMessage();
+  mavlink_msg_gps_raw_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &tmpGpsRaw);
+  activeUas->sendMessage(hilLink,msg);
  // TODO: this is legacy of old HIL datagram. Need to remove from Simulink model
  i++;
@@ -190,11 +187,6 @@ float SlugsHilSim::getFloatFromDatagram (const QByteArray* datagram, unsigned ch
  tmpF2C.chData[2] = datagram->at((*i)++);
  tmpF2C.chData[3] = datagram->at((*i)++);
-//  if (uas != NULL) {
-//    //activeUas = uas;
-//  }
  return tmpF2C.flData;
 }
@@ -207,3 +199,7 @@ uint16_t SlugsHilSim::getUint16FromDatagram (const QByteArray* datagram, unsigne
  return tmpU2C.uiData;
 }
+void SlugsHilSim::linkSelected(int cbIndex){
+  //hilLink = linksAvailable
+}
--- a/src/ui/slugshilsim.h
+++ b/src/ui/slugshilsim.h
@@ -60,7 +60,6 @@ protected:
    UAS* activeUas;
 public slots:
-    void linkAdded (void);
    /**
     * @brief Adds a link to the combo box listing so the user can select a link
@@ -98,6 +97,12 @@ public slots:
     */
    void activeUasSet(UASInterface* uas);
+    /**
+     * @brief Called when the Link combobox selects a new link.
+     *
+     * @param uas The new index of the selected link
+     */
+    void linkSelected (int cbIndex);
 public slots: