merged in latest pixhawk code

.gitignore

@@ -24,3 +24,4 @@ doc/doxy.log
 deploy/mac
 deploy/linux
 controller_log*
+user_config.pri

lib/QMapControl/src/googlesatmapadapter.cpp

@@ -29,7 +29,7 @@
 namespace qmapcontrol
 {
     GoogleSatMapAdapter::GoogleSatMapAdapter()
-        : TileMapAdapter("khm.google.com", "/kh?v=51&x=%2&s=&y=%3&z=%1", 256, 0, 17)
+        : TileMapAdapter("khm.google.com", "/kh?v=51&x=%2&s=&y=%3&z=%1", 256, 0, 18)
     {
 //        // name = "googlesat";
 //

lib/QMapControl/src/layer.cpp

@@ -97,6 +97,36 @@ namespace qmapcontrol
         geometries.clear();
     }
 
+    Geometry* Layer::get_Geometry(int index)
+    {
+        if(geometrySelected)
+        {
+            return geometrySelected;
+        }
+        else
+        {
+            for(int i = 0; i <= geometries.size(); i++)
+            {
+                Geometry *geometry = geometries[i];
+                if(geometry->name() == QString::number(index))
+                {
+                  return geometry;
+                }
+            }
+
+//           foreach(Geometry *geometry, geometries)
+//           {
+
+//               if(geometry->name() == QString::number(index))
+//               {
+//                   return geometry;
+//               }
+
+//           }
+        }
+
+    }
+
     bool Layer::isVisible() const
     {
         return visible;
@@ -323,3 +353,5 @@ namespace qmapcontrol
         mapAdapter = mapadapter;
     }
 }
+
+

lib/QMapControl/src/layer.h

@@ -200,6 +200,12 @@ namespace qmapcontrol
          */
         void setVisible(bool visible);
 
+        //! get geometry selected by index
+        /*!
+         * @param  index of geometry selected
+         */
+         Geometry* get_Geometry(int index);
+
     };
 }
 #endif

lib/QMapControl/src/mapcontrol.cpp

@@ -309,6 +309,7 @@ namespace qmapcontrol
                                       click.y()-screen_middle.y()+layermanager->getMapmiddle_px().y());
         // image coordinate to world coordinate
         return layermanager->layer()->mapadapter()->displayToCoordinate(displayToImage);
+
     }
 
     void MapControl::updateRequest(QRect rect)

qgroundcontrol.pri

 #-------------------------------------------------
 #
-# MAVGround - Micro Air Vehicle Groundstation
-# 
+# QGroundControl - Micro Air Vehicle Groundstation
+#
 # Please see our website at <http://qgroundcontrol.org>
 #
-# Original Author:
+# Author:
 # Lorenz Meier <mavteam@student.ethz.ch>
 #
-# Contributing Authors (in alphabetical order):
-# 
-# (c) 2009 PIXHAWK Team
+# (c) 2009-2010 PIXHAWK Team
 #
 # This file is part of the mav groundstation project
-# MAVGround is free software: you can redistribute it and/or modify
+# 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.
-# MAVGround is distributed in the hope that it will be useful,
+# 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 MAVGround. If not, see <http://www.gnu.org/licenses/>.
+# along with QGroundControl. If not, see <http://www.gnu.org/licenses/>.
 #
 #-------------------------------------------------
 
@@ -108,7 +106,7 @@ linux-g++ {
     LIBS += \
         -L/usr/lib \
         -lm \
-        -lflite_cmu_us_kal16 \
+        -lflite_cmu_us_kal \
         -lflite_usenglish \
         -lflite_cmulex \
         -lflite \
@@ -150,7 +148,7 @@ linux-g++-64 {
     LIBS += \
         -L/usr/lib \
         -lm \
-        -lflite_cmu_us_kal16 \
+        -lflite_cmu_us_kal \
         -lflite_usenglish \
         -lflite_cmulex \
         -lflite \

qgroundcontrol.pro

+#-------------------------------------------------
+#
+# QGroundControl - Micro Air Vehicle Groundstation
+#
+# Please see our website at <http://qgroundcontrol.org>
+#
+# Author:
+# Lorenz Meier <mavteam@student.ethz.ch>
+#
+# (c) 2009-2010 PIXHAWK Team
+#
+# This file is part of the mav groundstation 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/>.
+#
+#-------------------------------------------------
+
+
 # Include QMapControl map library
 # prefer version from external directory /
 # from http://github.com/pixhawk/qmapcontrol/
@@ -5,6 +31,7 @@
 # Version from GIT repository is preferred
 # include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
 # Include bundled version if necessary
+
 include(lib/QMapControl/QMapControl.pri)
 
 # message("Including bundled QMapControl version as FALLBACK. This is fine on Linux and MacOS, but not the best choice in Windows")
@@ -24,6 +51,12 @@ OBJECTS_DIR = $$BUILDDIR/obj
 MOC_DIR = $$BUILDDIR/moc
 UI_HEADERS_DIR = src/ui/generated
 
+exists(user_config.pri) {
+    message("----- USING USER QGROUNDCONTROL CONFIG FROM user_config.pri -----")
+    include(user_config.pri)
+}
+
+
 # }
 # Include general settings for MAVGround
 # necessary as last include to override any non-acceptable settings
@@ -42,8 +75,8 @@ DEPENDPATH += . \
     plugins
 INCLUDEPATH += . \
     lib/QMapControl \
-    $$BASEDIR/../mavlink/contrib/slugs/include \
-    $$BASEDIR/../mavlink/include
+    $$BASEDIR/../mavlink/include \
+    $$BASEDIR/../mavlink/include/common
 
 # ../mavlink/include \
 # MAVLink/include \
@@ -159,7 +192,6 @@ HEADERS += src/MG.h \
     src/ui/map/Waypoint2DIcon.h \
     src/ui/map/MAV2DIcon.h \
     src/ui/QGCRemoteControlView.h \
-    src/WaypointGlobal.h \
     src/ui/WaypointGlobalView.h \
     src/ui/RadioCalibration/RadioCalibrationData.h \
     src/ui/RadioCalibration/RadioCalibrationWindow.h \
@@ -170,7 +202,13 @@ HEADERS += src/MG.h \
     src/ui/map3D/Q3DWidget.h \
     src/ui/map3D/CheetahModel.h \
     src/ui/map3D/CheetahGL.h \
-    src/ui/map3D/QMap3DWidget.h
+    src/ui/map3D/QMap3DWidget.h \
+    src/ui/map3D/Texture.h \
+    src/ui/map3D/TextureCache.h \
+    src/ui/map3D/WebImage.h \
+    src/ui/map3D/WebImageCache.h \
+    src/ui/map3D/Imagery.h \
+    src/comm/QGCMAVLink.h
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -242,10 +280,16 @@ SOURCES += src/main.cc \
     src/ui/RadioCalibration/CurveCalibrator.cc \
     src/ui/RadioCalibration/AbstractCalibrator.cc \
     src/ui/RadioCalibration/RadioCalibrationData.cc \
+    src/ui/WaypointGlobalView.cc \
     src/ui/map3D/Q3DWidget.cc \
     src/ui/map3D/CheetahModel.cc \
     src/ui/map3D/CheetahGL.cc \
-    src/ui/map3D/QMap3DWidget.cc
+    src/ui/map3D/QMap3DWidget.cc \
+    src/ui/map3D/Texture.cc \
+    src/ui/map3D/TextureCache.cc \
+    src/ui/map3D/WebImageCache.cc \
+    src/ui/map3D/WebImage.cc \
+    src/ui/map3D/Imagery.cc
 RESOURCES = mavground.qrc
 
 # Include RT-LAB Library

src/Waypoint.h

@@ -81,6 +81,7 @@ public slots:
     void setOrbit(float orbit);
     void setHoldTime(int holdTime);
 
+
     //for QDoubleSpin
     void setX(double x);
     void setY(double y);

src/WaypointGlobal.cpp

-#include "WaypointGlobal.h"
-
-#include <QPointF>
-
-WaypointGlobal::WaypointGlobal(const QPointF coordinate):
-         Waypoint(id, x, y, z, yaw, autocontinue, current, orbit, holdTime)
-{
-    coordinateWP = coordinate;
-
-}

src/WaypointGlobal.h

-#ifndef WAYPOINTGLOBAL_H
-#define WAYPOINTGLOBAL_H
-
-#include "Waypoint.h"
-#include <QPointF>
-
-class WaypointGlobal: public Waypoint {
-    Q_OBJECT
-
-public:
-    WaypointGlobal(const QPointF coordinate);
-
-    public slots:
-
-//    void set_latitud(double latitud);
-//    void set_longitud(double longitud);
-//    double get_latitud();
-//    double get_longitud();
-
-private:
-    QPointF coordinateWP;
-
-
-
-
-
-};
-
-#endif // WAYPOINTGLOBAL_H

src/comm/MAVLinkLightProtocol.h

@@ -2,7 +2,7 @@
 
 QGroundControl Open Source Ground Control Station
 
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
 This file is part of the QGROUNDCONTROL project
 

src/comm/MAVLinkProtocol.cc

@@ -45,7 +45,7 @@ This file is part of the QGROUNDCONTROL project
 #include "ArduPilotMAV.h"
 #include "configuration.h"
 #include "LinkManager.h"
-#include <mavlink.h>
+#include <QGCMAVLink.h>
 #include "QGC.h"
 
 /**

src/comm/MAVLinkProtocol.h

@@ -39,8 +39,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QByteArray>
 #include "ProtocolInterface.h"
 #include "LinkInterface.h"
-#include "protocol.h"
-#include "mavlink.h"
+#include "QGCMAVLink.h"
 
 /**
  * @brief MAVLink micro air vehicle protocol reference implementation.

src/comm/MAVLinkSimulationLink.cc

@@ -41,7 +41,7 @@ This file is part of the QGROUNDCONTROL project
 #include "MAVLinkProtocol.h"
 #include "MAVLinkSimulationLink.h"
 // MAVLINK includes
-#include <mavlink.h>
+#include <QGCMAVLink.h>
 #include "QGC.h"
 
 /**
@@ -100,9 +100,10 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile
     mavlinkLogFile = new QFile(MAVLinkProtocol::getLogfileName());
     mavlinkLogFile->open(QIODevice::ReadOnly);
 
-    x = 0;
-    y = 0;
-    z = 0;
+    // position at Pixhawk lab @ ETHZ
+    x = 5247273.0f;
+    y = 465955.0f;
+    z = -0.2f;
     yaw = 0;
 }
 
@@ -376,18 +377,20 @@ void MAVLinkSimulationLink::mainloop()
     {
         rate10hzCounter = 1;
 
-        // Move X Position
-        x += sin(QGC::groundTimeUsecs()*1000) * 0.05f;
-        y += sin(QGC::groundTimeUsecs()) * 0.05f;
-        z += sin(QGC::groundTimeUsecs()) * 0.009f;
 
-        x = (x > 5.0f) ? 5.0f : x;
-        y = (y > 5.0f) ? 5.0f : y;
-        z = (z > 3.0f) ? 3.0f : z;
 
-        x = (x < -5.0f) ? -5.0f : x;
-        y = (y < -5.0f) ? -5.0f : y;
-        z = (z < -3.0f) ? -3.0f : z;
+        // Move X Position
+        x = x*0.93f + 0.07f*(x+sin(QGC::groundTimeUsecs()) * 0.08f);
+        y = y*0.93f + 0.07f*(y+sin(QGC::groundTimeUsecs()) * 0.5f);
+        z = z*0.93f + 0.07f*(z+sin(QGC::groundTimeUsecs()*100000) * 0.1f);
+
+//        x = (x > 5.0f) ? 5.0f : x;
+//        y = (y > 5.0f) ? 5.0f : y;
+//        z = (z > 3.0f) ? 3.0f : z;
+//
+//        x = (x < -5.0f) ? -5.0f : x;
+//        y = (y < -5.0f) ? -5.0f : y;
+//        z = (z < -3.0f) ? -3.0f : z;
 
         // Send back new setpoint
         mavlink_message_t ret;
@@ -398,7 +401,7 @@ void MAVLinkSimulationLink::mainloop()
         streampointer += bufferlength;
 
         // Send back new position
-        mavlink_msg_local_position_pack(systemId, componentId, &ret, 0, x, y, z, 0, 0, 0);
+        mavlink_msg_local_position_pack(systemId, componentId, &ret, 0, y+z, y, -fabs(z), 0, 0, 0);
         bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);

src/comm/MAVLinkSimulationLink.h

@@ -39,7 +39,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QMutex>
 #include <QMap>
 #include <inttypes.h>
-#include <mavlink.h>
+#include "QGCMAVLink.h"
 
 #include "LinkInterface.h"
 

src/comm/MAVLinkXMLParser.cc

@@ -71,7 +71,13 @@ bool MAVLinkXMLParser::generate()
     bool success = true;
 
     // Only generate if output dir is correctly set
-    if (outputDirName == "") return false;
+    if (outputDirName == "")
+    {
+        emit parseState(tr("<font color=\"red\">ERROR: No output directory given.\nAbort.</font>"));
+        return false;
+    }
+
+    QString topLevelOutputDirName = outputDirName;
 
     // print out the element names of all elements that are direct children
     // of the outermost element.
@@ -87,6 +93,31 @@ bool MAVLinkXMLParser::generate()
     QString lcmStructDefs = "";
 
     QString pureFileName;
+    QString pureIncludeFileName;
+
+    QFileInfo fInfo(this->fileName);
+    pureFileName = fInfo.baseName().split(".", QString::SkipEmptyParts).first();
+
+    // XML parsed and converted to C code. Now generating the files
+    outputDirName += QDir::separator() + pureFileName;
+    QDateTime now = QDateTime::currentDateTime().toUTC();
+    QLocale loc(QLocale::English);
+    QString dateFormat = "dddd, MMMM d yyyy, hh:mm UTC";
+    QString date = loc.toString(now, dateFormat);
+    QString includeLine = "#include \"%1\"\n";
+    QString mainHeaderName = pureFileName + ".h";
+    QString messagesDirName = ".";//"generated";
+    QDir dir(outputDirName + "/" + messagesDirName);
+
+
+
+    // Start main header
+    QString mainHeader = QString("/** @file\n *\t@brief MAVLink comm protocol.\n *\t@see http://pixhawk.ethz.ch/software/mavlink\n *\t Generated on %1\n */\n#ifndef " + pureFileName.toUpper() + "_H\n#define " + pureFileName.toUpper() + "_H\n\n").arg(date); // The main header includes all messages
+    // Mark all code as C code
+    mainHeader += "#ifdef __cplusplus\nextern \"C\" {\n#endif\n\n";
+    mainHeader += "\n#include \"../protocol.h\"\n";
+    mainHeader += "\n#define MAVLINK_ENABLED_" + pureFileName.toUpper() + "\n\n";
+
 
     // Run through root children
     while(!n.isNull())
@@ -107,47 +138,55 @@ bool MAVLinkXMLParser::generate()
                         // Handle all include tags
                         if (e.tagName() == "include")
                         {
-                            QString fileName = e.text();
+                            QString incFileName = e.text();
                             // Load file
-                            QDomDocument includeDoc = QDomDocument();
+                            //QDomDocument includeDoc = QDomDocument();
 
                             // Prepend file path if it is a relative path and
                             // make it relative to opened file
-                            QFileInfo fInfo(fileName);
+                            QFileInfo fInfo(incFileName);
+
+                            QString incFilePath;
                             if (fInfo.isRelative())
                             {
                                 QFileInfo rInfo(this->fileName);
-                                fileName = rInfo.absoluteDir().canonicalPath() + "/" + fileName;
-                                pureFileName = rInfo.baseName().split(".").first();
+                                incFilePath = rInfo.absoluteDir().canonicalPath() + "/" + incFileName;
+                                pureIncludeFileName = fInfo.baseName().split(".", QString::SkipEmptyParts).first();
                             }
 
-                            QFile file(fileName);
+                            QFile file(incFilePath);
                             if (file.open(QIODevice::ReadOnly | QIODevice::Text))
                             {
-                                const QString instanceText(QString::fromUtf8(file.readAll()));
-                                includeDoc.setContent(instanceText);
-
-                                // Get all messages
-                                QDomNode in = includeDoc.documentElement().firstChild();
-                                //while (!in.isNull())
-                                //{
-                                    QDomElement ie = in.toElement();
-                                    if (!ie.isNull())
-                                    {
-                                        if (ie.tagName() == "messages" || ie.tagName() == "include")
-                                        {
-                                            QDomNode ref = n.parentNode().insertAfter(in, n);
-                                            if (ref.isNull())
-                                            {
-                                                emit parseState(QString("<font color=\"red\">ERROR: Inclusion failed: XML syntax error in file %1. Wrong/misspelled XML?\nAbort.</font>").arg(fileName));
-                                                return false;
-                                            }
-                                        }
-                                    }
-                                    //in = in.nextSibling();
-                                //}
-
-                                emit parseState(QString("<font color=\"green\">Included messages from file: %1</font>").arg(fileName));
+                                emit parseState(QString("<font color=\"green\">Included messages from file: %1</font>").arg(incFileName));
+                                // NEW MODE: CREATE INDIVIDUAL FOLDERS
+                                // Create new output directory, parse included XML and generate C-code
+                                MAVLinkXMLParser includeParser(incFilePath, topLevelOutputDirName, this);
+                                connect(&includeParser, SIGNAL(parseState(QString)), this, SIGNAL(parseState(QString)));
+                                // Generate and write
+                                includeParser.generate();
+                                mainHeader += "\n#include \"../" + pureIncludeFileName + "/" + pureIncludeFileName + ".h\"\n";
+
+
+                                // OLD MODE: MERGE BOTH FILES
+//                                        const QString instanceText(QString::fromUtf8(file.readAll()));
+//                                        includeDoc.setContent(instanceText);
+//                                // Get all messages
+//                                QDomNode in = includeDoc.documentElement().firstChild();
+//                                QDomElement ie = in.toElement();
+//                                if (!ie.isNull())
+//                                {
+//                                    if (ie.tagName() == "messages" || ie.tagName() == "include")
+//                                    {
+//                                        QDomNode ref = n.parentNode().insertAfter(in, n);
+//                                        if (ref.isNull())
+//                                        {
+//                                            emit parseState(QString("<font color=\"red\">ERROR: Inclusion failed: XML syntax error in file %1. Wrong/misspelled XML?\nAbort.</font>").arg(fileName));
+//                                            return false;
+//                                        }
+//                                    }
+//                                }
+
+                                emit parseState(QString("<font color=\"green\">End of inclusion from file: %1</font>").arg(incFileName));
                             }
                             else
                             {
@@ -406,20 +445,7 @@ bool MAVLinkXMLParser::generate()
         n = n.nextSibling();
     } // While through root children
 
-    // XML parsed and converted to C code. Now generating the files
-    QDateTime now = QDateTime::currentDateTime().toUTC();
-    QLocale loc(QLocale::English);
-    QString dateFormat = "dddd, MMMM d yyyy, hh:mm UTC";
-    QString date = loc.toString(now, dateFormat);
-    QString mainHeader = QString("/** @file\n *\t@brief MAVLink comm protocol.\n *\t@see http://pixhawk.ethz.ch/software/mavlink\n *\t Generated on %1\n */\n#ifndef MAVLINK_H\n#define MAVLINK_H\n\n").arg(date); // The main header includes all messages
-    // Mark all code as C code
-    mainHeader += "#ifdef __cplusplus\nextern \"C\" {\n#endif\n\n";
-    mainHeader += "\n#include \"protocol.h\"\n";
-    mainHeader += "\n#define MAVLINK_ENABLED_" + pureFileName.toUpper() + "\n\n";
-    QString includeLine = "#include \"%1\"\n";
-    QString mainHeaderName = "mavlink.h";
-    QString messagesDirName = "generated";
-    QDir dir(outputDirName + "/" + messagesDirName);
+
     // Create directory if it doesn't exist, report result in success
     if (!dir.exists()) success = success && dir.mkpath(outputDirName + "/" + messagesDirName);
     for (int i = 0; i < cFiles.size(); i++)
@@ -428,6 +454,7 @@ bool MAVLinkXMLParser::generate()
         bool ok = rawFile.open(QIODevice::WriteOnly | QIODevice::Text);
         success = success && ok;
         rawFile.write(cFiles.at(i).second.toLatin1());
+        rawFile.close();
         mainHeader += includeLine.arg(messagesDirName + "/" + cFiles.at(i).first);
     }
 
@@ -441,6 +468,18 @@ bool MAVLinkXMLParser::generate()
     bool ok = rawHeader.open(QIODevice::WriteOnly | QIODevice::Text);
     success = success && ok;
     rawHeader.write(mainHeader.toLatin1());
+    rawHeader.close();
+
+    // Write alias mavlink header
+    QFile mavlinkHeader(outputDirName + "/mavlink.h");
+    ok = mavlinkHeader.open(QIODevice::WriteOnly | QIODevice::Text);
+    success = success && ok;
+    QString mHeader = QString("/** @file\n *\t@brief MAVLink comm protocol.\n *\t@see http://pixhawk.ethz.ch/software/mavlink\n *\t Generated on %1\n */\n#ifndef MAVLINK_H\n#define MAVLINK_H\n\n").arg(date); // The main header includes all messages
+    // Mark all code as C code
+    mHeader += "#include \"" + mainHeaderName + "\"\n\n";
+    mHeader += "#endif\n";
+    mavlinkHeader.write(mHeader.toLatin1());
+    mavlinkHeader.close();
 
     // Write C structs / lcm definitions
 //    QFile lcmStructs(outputDirName + "/mavlink.lcm");

src/comm/OpalLink.h

@@ -43,8 +43,7 @@ This file is part of the QGROUNDCONTROL project
 #include "LinkInterface.h"
 #include "LinkManager.h"
 #include "MG.h"
-#include "mavlink.h"
-#include "mavlink_types.h"
+#include "QGCMAVLink.h"
 #include "configuration.h"
 #include "OpalRT.h"
 #include "ParameterList.h"

src/comm/QGCMAVLink.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009 - 2011 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
+ *   @brief MAVLink header file for QGroundControl
+ *   @author Lorenz Meier <pixhawk@switched.com>
+ */
+
+#ifndef QGCMAVLINK_H
+#define QGCMAVLINK_H
+
+#include <mavlink_types.h>
+#include <mavlink.h>
+
+#ifdef QGC_USE_PIXHAWK_MESSAGES
+#include <pixhawk.h>
+#endif
+
+#ifdef QGC_USE_SLUGS_MESSAGES
+#include <slugs.h>
+#endif
+
+#ifdef QGC_USE_UALBERTA_MESSAGES
+#include <ualberta.h>
+#endif
+
+#ifdef QGC_USE_ARDUPILOT_MESSAGES
+#include <ardupilot.h>
+#endif
+
+#endif // QGCMAVLINK_H

src/comm/QGCParamID.h

@@ -2,7 +2,7 @@
 
 QGroundControl Open Source Ground Control Station
 
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
 This file is part of the QGROUNDCONTROL project
 

src/comm/SerialLink.h

 /*=====================================================================
- 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
- 
-(c) 2009 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
- 
-This file is part of the PIXHAWK project
- 
-    PIXHAWK is free software: you can redistribute it and/or modify
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009 - 2011 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.
- 
-    PIXHAWK is distributed in the hope that it will be useful,
+
+    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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
- 
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
 ======================================================================*/
  
 /**

src/comm/SerialLinkInterface.h

 /*=====================================================================
- 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
- 
-(c) 2009 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
- 
-This file is part of the PIXHAWK project
- 
-    PIXHAWK is free software: you can redistribute it and/or modify
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009 - 2011 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.
- 
-    PIXHAWK is distributed in the hope that it will be useful,
+
+    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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
- 
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
 ======================================================================*/
  
 /**

src/comm/SerialSimulationLink.h

 /*=====================================================================
- 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
- 
-(c) 2009 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
- 
-This file is part of the PIXHAWK project
- 
-    PIXHAWK is free software: you can redistribute it and/or modify
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009 - 2011 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.
- 
-    PIXHAWK is distributed in the hope that it will be useful,
+
+    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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
- 
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
 ======================================================================*/
  
 /**

src/comm/UDPLink.h

 /*=====================================================================
 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+QGroundControl Open Source Ground Control Station
 
-(c) 2009 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+(c) 2009 - 2011 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
-This file is part of the PIXHAWK project
+This file is part of the QGROUNDCONTROL project
 
-    PIXHAWK is free software: you can redistribute it and/or modify
+    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.
 
-    PIXHAWK is distributed in the hope that it will be useful,
+    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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
 

src/uas/SlugsMAV.cc

@@ -53,7 +53,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             break;
         }
 
-#ifdef MAVLINK_ENABLED_SLUGS_MESSAGES
+#ifdef MAVLINK_ENABLED_SLUGS_MESSAGES_QGC
 
     case MAVLINK_MSG_ID_CPU_LOAD:
         {

src/uas/UAS.cc

@@ -42,7 +42,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGC.h"
 #include "GAudioOutput.h"
 #include "MAVLinkProtocol.h"
-#include <mavlink.h>
+#include "QGCMAVLink.h"
 
 UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
         uasId(id),
@@ -646,6 +646,27 @@ void UAS::startRadioControlCalibration()
   sendMessage(msg);
 }
 
+void UAS::startDataRecording()
+{
+  mavlink_message_t msg;
+  mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_REC_START);
+  sendMessage(msg);
+}
+
+void UAS::pauseDataRecording()
+{
+  mavlink_message_t msg;
+  mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_REC_PAUSE);
+  sendMessage(msg);
+}
+
+void UAS::stopDataRecording()
+{
+  mavlink_message_t msg;
+  mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_REC_STOP);
+  sendMessage(msg);
+}
+
 void UAS::startMagnetometerCalibration()
 {
     mavlink_message_t msg;

src/uas/UAS.h

@@ -35,7 +35,7 @@ This file is part of the QGROUNDCONTROL project
 #include "UASInterface.h"
 #include "MG.h"
 #include <MAVLinkProtocol.h>
-#include <mavlink.h>
+#include "QGCMAVLink.h"
 
 /**
  * @brief A generic MAVLINK-connected MAV/UAV
@@ -247,6 +247,10 @@ public slots:
     void startGyroscopeCalibration();
     void startPressureCalibration();
 
+    void startDataRecording();
+    void pauseDataRecording();
+    void stopDataRecording();
+
 signals:
 
     /** @brief The main/battery voltage has changed/was updated */

src/uas/UASWaypointManager.h

@@ -36,7 +36,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QVector>
 #include <QTimer>
 #include "Waypoint.h"
-#include <mavlink.h>
+#include "QGCMAVLink.h"
 class UAS;
 
 /**

src/ui/HUD.cc

@@ -405,7 +405,7 @@ void HUD::paintCenterBackground(float roll, float pitch, float yaw)
     // Translate in the direction of the rotation based
     // on the pitch. On the 777, a pitch of 1 degree = 2 mm
     //glTranslatef(0, ((-pitch/M_PI)*180.0f * vPitchPerDeg), 0);
-    glTranslatef(0.0f, (pitch * vPitchPerDeg * 16.5f), 0.0f);
+    glTranslatef(0.0f, (-pitch * vPitchPerDeg * 16.5f), 0.0f);
 
     // Ground
     glColor3ub(179,102,0);
@@ -574,6 +574,9 @@ void HUD::paintHUD()
 
     if ((yawTrans < 5.0) && (yawTrans > -5.0)) yawTrans = 0;
 
+    // Negate to correct direction
+    yawTrans = -yawTrans;
+
     //qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw;
 
     // Update scaling factor
@@ -718,7 +721,7 @@ void HUD::paintHUD()
     // Rotate view and draw all roll-dependent indicators
     painter.rotate((roll/M_PI)* -180.0f);
 
-    painter.translate(0, (pitch/M_PI)* -180.0f * refToScreenY(1.8));
+    painter.translate(0, (-pitch/M_PI)* -180.0f * refToScreenY(1.8));
 
     //qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);
 

src/ui/MainWindow.cc

@@ -171,6 +171,9 @@ void MainWindow::buildWidgets()
     rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
     rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
 
+    headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
+    headUpDockWidget->setWidget( new HUD(320, 240, this));
+
     // Dialogue widgets
     //FIXME: free memory in destructor
     joystick    = new JoystickInput();
@@ -203,8 +206,13 @@ void MainWindow::connectWidgets()
         // add Waypoint widget in the WaypointList widget when mouse clicked
         connect(mapWidget, SIGNAL(captureMapCoordinateClick(QPointF)), waypointsDockWidget->widget(), SLOT(addWaypointMouse(QPointF)));
         // it notifies that a waypoint global goes to do create
-        connect(mapWidget, SIGNAL(createGlobalWP(bool)), waypointsDockWidget->widget(), SLOT(setIsWPGlobal(bool)));
+        connect(mapWidget, SIGNAL(createGlobalWP(bool, QPointF)), waypointsDockWidget->widget(), SLOT(setIsWPGlobal(bool, QPointF)));
         connect(mapWidget, SIGNAL(sendGeometryEndDrag(QPointF,int)), waypointsDockWidget->widget(), SLOT(waypointGlobalChanged(QPointF,int)) );
+
+        // 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)));
+        // it notifies that a waypoint global change its position by spinBox on Widget WaypointView
+        connect(waypointsDockWidget->widget(), SIGNAL(changePositionWPGlobalBySpinBox(int,float,float)), mapWidget, SLOT(changeGlobalWaypointPositionBySpinBox(int,float,float)));
     }
 }
 
@@ -213,7 +221,6 @@ void MainWindow::arrangeCenterStack()
 
     QStackedWidget *centerStack = new QStackedWidget(this);
     if (!centerStack) return;
-
     if (linechartWidget) centerStack->addWidget(linechartWidget);
     if (protocolWidget) centerStack->addWidget(protocolWidget);
     if (mapWidget) centerStack->addWidget(mapWidget);
@@ -362,7 +369,7 @@ void MainWindow::connectActions()
     connect(ui.actionShow_MAVLink_view, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
     connect(ui.actionShow_data_analysis_view, SIGNAL(triggered()), this, SLOT(loadDataView()));
     connect(ui.actionStyleConfig, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));
-
+    connect(ui.actionGlobalOperatorView, SIGNAL(triggered()), this, SLOT(loadGlobalOperatorView()));
     connect(ui.actionOnline_documentation, SIGNAL(triggered()), this, SLOT(showHelp()));
     connect(ui.actionCredits_Developers, SIGNAL(triggered()), this, SLOT(showCredits()));
     connect(ui.actionProject_Roadmap, SIGNAL(triggered()), this, SLOT(showRoadMap()));
@@ -808,6 +815,7 @@ void MainWindow::loadOperatorView()
             centerStack->setCurrentWidget(mapWidget);
         }
     }
+
     // UAS CONTROL
     if (controlDockWidget)
     {
@@ -865,6 +873,83 @@ void MainWindow::loadOperatorView()
     this->show();
 }
 
+void MainWindow::loadGlobalOperatorView()
+{
+    clearView();
+
+    // MAP
+    if (mapWidget)
+    {
+        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
+        if (centerStack)
+        {
+            centerStack->setCurrentWidget(mapWidget);
+        }
+    }
+
+    // UAS CONTROL
+    if (controlDockWidget)
+    {
+        addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
+        controlDockWidget->show();
+    }
+
+    // UAS LIST
+    if (listDockWidget)
+    {
+        addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
+        listDockWidget->show();
+    }
+
+    // UAS STATUS
+    if (infoDockWidget)
+    {
+        addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
+        infoDockWidget->show();
+    }
+
+    // WAYPOINT LIST
+    if (waypointsDockWidget)
+    {
+        addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
+        waypointsDockWidget->show();
+    }
+
+//    // HORIZONTAL SITUATION INDICATOR
+//    if (hsiDockWidget)
+//    {
+//        HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
+//        if (hsi)
+//        {
+//            addDockWidget(Qt::BottomDockWidgetArea, hsiDockWidget);
+//            hsiDockWidget->show();
+//            hsi->start();
+//        }
+//    }
+
+    // PROCESS CONTROL
+    if (watchdogControlDockWidget)
+    {
+        addDockWidget(Qt::RightDockWidgetArea, watchdogControlDockWidget);
+        watchdogControlDockWidget->show();
+    }
+
+    // HEAD UP DISPLAY
+    if (headUpDockWidget)
+    {
+        addDockWidget(Qt::RightDockWidgetArea, headUpDockWidget);
+        // FIXME Replace with default ->show() call
+        HUD* hud = dynamic_cast<HUD*>(headUpDockWidget->widget());
+
+        if (hud)
+        {
+            headUpDockWidget->show();
+            hud->start();
+        }
+    }
+
+}
+
 void MainWindow::load3DView()
 {
             clearView();

src/ui/MainWindow.h

@@ -122,6 +122,8 @@ public slots:
     void loadDataView();
     /** @brief Load data view, allowing to plot flight data */
     void loadDataView(QString fileName);
+    /** @brief Load view for global operator, allowing to flight on earth */
+    void loadGlobalOperatorView();
 
     /** @brief Show the online help for users */
     void showHelp();
@@ -174,6 +176,7 @@ protected:
     QPointer<QDockWidget> headDown1DockWidget;
     QPointer<QDockWidget> headDown2DockWidget;
     QPointer<QDockWidget> watchdogControlDockWidget;
+    QPointer<QDockWidget> headUpDockWidget;
     QPointer<QDockWidget> hsiDockWidget;
     QPointer<QDockWidget> rcViewDockWidget;
 

src/ui/MainWindow.ui

@@ -76,6 +76,7 @@
     <addaction name="actionPilotView"/>
     <addaction name="actionOperatorView"/>
     <addaction name="action3DView"/>
+    <addaction name="actionGlobalOperatorView"/>
     <addaction name="separator"/>
     <addaction name="actionShow_MAVLink_view"/>
     <addaction name="actionShow_data_analysis_view"/>
@@ -308,6 +309,15 @@
     <string>Credits / Developers</string>
    </property>
   </action>
+  <action name="actionGlobalOperatorView">
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Show Global operator view</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>

src/ui/MapWidget.cc

@@ -47,10 +47,13 @@ MapWidget::MapWidget(QWidget *parent) :
         zoomLevel(0),
         uasIcons(),
         uasTrails(),
+        mav(NULL),
         m_ui(new Ui::MapWidget)
 {
     m_ui->setupUi(this);
 
+    waypointIsDrag = false;
+
     // Accept focus by clicking or keyboard
     this->setFocusPolicy(Qt::StrongFocus);
 
@@ -314,8 +317,9 @@ void MapWidget::createPathButtonClicked(bool checked)
         this->setCursor(Qt::PointingHandCursor);
         mc->setMouseMode(qmapcontrol::MapControl::None);
 
+
         // emit signal start to create a Waypoint global
-        emit createGlobalWP(true);
+        emit createGlobalWP(true, mc->currentCoordinate());
 
 //        // Clear the previous WP track
 //        // TODO: Move this to an actual clear track button and add a warning dialog
@@ -337,9 +341,11 @@ void MapWidget::createPathButtonClicked(bool checked)
 }
 
 
-void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordinate){
+void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordinate)
+{
 
-  if (QEvent::MouseButtonRelease == event->type() && createPath->isChecked()){
+  if (QEvent::MouseButtonRelease == event->type() && createPath->isChecked())
+    {
     // Create waypoint name
     QString str;
 
@@ -373,18 +379,45 @@ void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordina
   }
 }
 
-void MapWidget::captureGeometryClick(Geometry* geom, QPoint point){
+void MapWidget::createWaypointGraphAtMap(const QPointF coordinate)
+{
+    // Create waypoint name
+    QString str;
+
+    str = QString("%1").arg(path->numberOfPoints());
+
+    // create the WP and set everything in the LineString to display the path
+    CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
+    mc->layer("Waypoints")->addGeometry(tempCirclePoint);
+
+    Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str);
+    wps.append(tempPoint);
+    path->addPoint(tempPoint);
+
+    wpIndex.insert(str,tempPoint);
+
+    // Refresh the screen
+    mc->updateRequestNew();
+
+////    // emit signal mouse was clicked
+//    emit captureMapCoordinateClick(coordinate);
+}
+
+void MapWidget::captureGeometryClick(Geometry* geom, QPoint point)
+{
   Q_UNUSED(geom);
   Q_UNUSED(point);
 
   mc->setMouseMode(qmapcontrol::MapControl::None);
 
-
 }
 
-void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate){
+void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate)
+{
   Q_UNUSED(coordinate);
 
+  waypointIsDrag = true;
+
   // Refresh the screen
   mc->updateRequestNew();
 
@@ -412,6 +445,7 @@ void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate){
 
 void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate)
 {
+    waypointIsDrag = false;
 
     mc->setMouseMode(qmapcontrol::MapControl::Panning);
 
@@ -603,10 +637,35 @@ void MapWidget::clearPath()
     wpIndex.clear();
     mc->updateRequestNew();
 
-    // si el boton de crear wp globales esta activo desactivarlo llamando a su evento clicket
+
     if(createPath->isChecked())
     {
         createPath->click();
     }
 
 }
+
+void MapWidget::changeGlobalWaypointPositionBySpinBox(int index, float lat, float lon)
+{
+    if(!waypointIsDrag)
+    {
+        qDebug() <<"indice WP= "<<index <<"\n";
+
+        QPointF coordinate;
+        coordinate.setX(lon);
+        coordinate.setY(lat);
+
+        Point* point2Find;
+        point2Find = wpIndex[QString::number(index)];
+        point2Find->setCoordinate(coordinate);
+
+        point2Find = dynamic_cast <Point*> (mc->layer("Waypoints")->get_Geometry(index));
+        point2Find->setCoordinate(coordinate);
+
+        // Refresh the screen
+        mc->updateRequestNew();
+   }
+
+
+}
+

src/ui/MapWidget.h

@@ -66,6 +66,7 @@ public slots:
 
     //ROCA
     void clearPath();
+    void changeGlobalWaypointPositionBySpinBox(int index, float lat, float lon);
 
 protected:
     void changeEvent(QEvent* e);
@@ -106,6 +107,7 @@ protected:
 
   protected slots:
     void captureMapClick (const QMouseEvent* event, const QPointF coordinate);
+    void createWaypointGraphAtMap (const QPointF coordinate);
     void createPathButtonClicked(bool checked);
     void captureGeometryClick(Geometry*, QPoint);
     void mapproviderSelected(QAction* action);
@@ -114,10 +116,11 @@ protected:
 
 
 
+
   signals:
     //void movePoint(QPointF newCoord);
     void captureMapCoordinateClick(const QPointF coordinate); //ROCA
-    void createGlobalWP(bool value);
+    void createGlobalWP(bool value, QPointF centerCoordinate);
     void sendGeometryEndDrag(const QPointF coordinate, const int index);
 
 
@@ -127,6 +130,7 @@ private:
     QHash <QString, qmapcontrol::Point*> wpIndex;
     qmapcontrol::LineString* path;
     QPen* pointPen;
+    bool waypointIsDrag;
 };
 
 #endif // MAPWIDGET_H

src/ui/WaypointGlobalView.cpp → src/ui/WaypointGlobalView.cc

@@ -12,14 +12,30 @@ WaypointGlobalView::WaypointGlobalView(Waypoint* wp,QWidget *parent) :
 
     ui->m_orbitalSpinBox->hide();
 
+    // Read values and set user interface
+    updateValues();
+
     connect(ui->m_orbitalSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setOrbit(double)));
     connect(ui->m_heigthSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
 
-    connect(ui->m_orbitCheckBox, SIGNAL(stateChanged(int)), this, SLOT(changeOrbitalState(int)));
+    //for spinBox Latitude
+    connect(ui->m_latitudGrados_spinBox, SIGNAL(valueChanged(int)), this, SLOT(updateLatitudeWP(int)));
+    connect(ui->m_latitudMinutos_spinBox, SIGNAL(valueChanged(double)), this, SLOT(updateLatitudeMinuteWP(double)));
+    connect(ui->m_dirLatitudeN_radioButton, SIGNAL(clicked()), this, SLOT(changeDirectionLatitudeWP()));
+    connect(ui->m_dirLatitudeS_radioButton, SIGNAL(clicked()), this, SLOT(changeDirectionLatitudeWP()));
+
+    //for spinBox Longitude
+    connect(ui->m_longitudGrados_spinBox, SIGNAL(valueChanged(int)), this, SLOT(updateLongitudeWP(int)));
+    connect(ui->m_longitudMinutos_spinBox, SIGNAL(valueChanged(double)), this, SLOT(updateLongitudeMinuteWP(double)));
+    connect(ui->m_dirLongitudeW_radioButton, SIGNAL(clicked()), this, SLOT(changeDirectionLongitudeWP()));
+    connect(ui->m_dirLongitudeE_radioButton, SIGNAL(clicked()), this, SLOT(changeDirectionLongitudeWP()));
+
+
+
+   connect(ui->m_orbitCheckBox, SIGNAL(stateChanged(int)), this, SLOT(changeOrbitalState(int)));
+
 
 
-    // Read values and set user interface
-    updateValues();
 
 
 //    connect(m_ui->xSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
@@ -48,9 +64,46 @@ WaypointGlobalView::~WaypointGlobalView()
 
 void WaypointGlobalView::updateValues()
 {
-    ui->m_latitudtextEdit->setText(getLatitudString(wp->getY()));
-    ui->m_longitudtextEdit->setText(getLongitudString(wp->getX()));
-    ui->idWP_label->setText(QString("%1").arg(wp->getId()));\
+
+            int gradoLat, gradoLon;
+            float minLat, minLon;
+            QString dirLat, dirLon;
+
+            getLatitudeGradoMin(wp->getY(), &gradoLat, &minLat, &dirLat);
+            getLongitudGradoMin(wp->getX(), &gradoLon, &minLon, &dirLon);
+
+            //latitude on spinBox
+            ui->m_latitudGrados_spinBox->setValue(gradoLat);
+            ui->m_latitudMinutos_spinBox->setValue(minLat);
+            if(dirLat == "N")
+            {
+                ui->m_dirLatitudeN_radioButton->setChecked(true);
+                ui->m_dirLatitudeS_radioButton->setChecked(false);
+            }
+            else
+            {
+                ui->m_dirLatitudeS_radioButton->setChecked(true);
+                ui->m_dirLatitudeN_radioButton->setChecked(false);
+
+            }
+
+             //longitude on spinBox
+            ui->m_longitudGrados_spinBox->setValue(gradoLon);
+            ui->m_longitudMinutos_spinBox->setValue(minLon);
+            if(dirLon == "W")
+            {
+                ui->m_dirLongitudeW_radioButton->setChecked(true);
+                ui->m_dirLongitudeE_radioButton->setChecked(false);
+            }
+            else
+            {
+               ui->m_dirLongitudeE_radioButton->setChecked(true);
+               ui->m_dirLongitudeW_radioButton->setChecked(false);
+
+            }
+
+            ui->idWP_label->setText(QString("WP-%1").arg(wp->getId()));
+
 
 }
 
@@ -152,4 +205,258 @@ void WaypointGlobalView::changeOrbitalState(int state)
     }
 }
 
+void WaypointGlobalView::getLatitudeGradoMin(float latitud, int *gradoLat, float *minLat, QString *dirLat)
+{
+
+   float minutos = 0;
+   float grados = 0;
+   float entero = 0;
+   float dec = 0;
+
+   if (latitud<0){*dirLat="S"; latitud = latitud * -1;}
+   else {*dirLat="N";}
+
+   if(latitud< 90 || latitud > -90)
+   {
+       dec = latitud - (entero = ::floor(latitud));;
+        minutos = dec * 60;
+        grados = entero;
+        if(grados < 0) grados = grados * (-1);
+        if(minutos < 0) minutos = minutos * (-1);
+
+        *gradoLat = grados;
+        *minLat = minutos;
+
+
+   }
+   else
+   {
+       *gradoLat = -1;
+       *minLat = -1;
+       *dirLat="N/A";
+
+   }
+
+}
+
+void WaypointGlobalView::getLongitudGradoMin(float longitud, int *gradoLon, float *minLon, QString *dirLon)
+{
+
+    float minutos = 0;
+    float grados = 0;
+    float entero = 0;
+    float dec = 0;
+
+    if (longitud<0){*dirLon="W"; longitud = longitud * -1;}
+    else {*dirLon="E";}
+
+    if(longitud<180 || longitud > -180)
+    {
+        dec = longitud - (entero = ::floor(longitud));;
+         minutos = dec * 60;
+         grados = entero;
+         if(grados < 0) grados = grados * (-1);
+         if(minutos < 0) minutos = minutos * (-1);
+
+         *gradoLon = grados;
+         *minLon = minutos;
+
+    }
+    else
+    {
+        *gradoLon = -1;
+        *minLon = -1;
+        *dirLon="N/A";
+    }
+}
+
+void WaypointGlobalView::updateCoordValues(float lat, float lon)
+{
+
+}
+
+void WaypointGlobalView::updateLatitudeWP(int value)
+{
+    Q_UNUSED(value);
+
+
+    int gradoLat;
+    float minLat;
+    float Latitud;
+    QString dirLat;
+
+    gradoLat = ui->m_latitudGrados_spinBox->value();
+    minLat = ui->m_latitudMinutos_spinBox->value();
+    if(ui->m_dirLatitudeN_radioButton->isChecked())
+    {
+        dirLat = "N";
+    }
+    else
+    {
+        dirLat = "S";
+    }
+    //dirLat = ui->m_dirLatitud_label->text();
+
+    Latitud = gradoLat + (minLat/60);
+    if(dirLat == "S"){Latitud = Latitud * -1;}
+
+    wp->setY(Latitud);
+
+    //emit signal waypoint position was changed
+
+    emit changePositionWP(wp);
+
+}
+
+void WaypointGlobalView::updateLatitudeMinuteWP(double value)
+{
+    Q_UNUSED(value);
+
+    int gradoLat;
+    float minLat;
+    float Latitud;
+    QString dirLat;
+
+    gradoLat = ui->m_latitudGrados_spinBox->value();
+    minLat = ui->m_latitudMinutos_spinBox->value();
+    //dirLat = ui->m_dirLatitud_label->text();
+    if(ui->m_dirLatitudeN_radioButton->isChecked())
+    {
+        dirLat = "N";
+    }
+    else
+    {
+        dirLat = "S";
+    }
+
+    Latitud = gradoLat + (minLat/60);
+    if(dirLat == "S"){Latitud = Latitud * -1;}
+
+    wp->setY(Latitud);
+
+    //emit signal waypoint position was changed
+    emit changePositionWP(wp);
+
+
+}
+
+void WaypointGlobalView::updateLongitudeWP(int value)
+{
+    Q_UNUSED(value);
+
+    int gradoLon;
+    float minLon;
+    float Longitud;
+    QString dirLon;
+
+    gradoLon = ui->m_longitudGrados_spinBox->value();
+    minLon = ui->m_longitudMinutos_spinBox->value();
+   // dirLon = ui->m_dirLongitud_label->text();
+    if(ui->m_dirLongitudeW_radioButton->isChecked())
+    {
+        dirLon = "W";
+    }
+    else
+    {
+        dirLon = "E";
+    }
+
+    Longitud = gradoLon + (minLon/60);
+    if(dirLon == "W"){Longitud = Longitud * -1;}
+
+    wp->setX(Longitud);
+
+    //emit signal waypoint position was changed
+    emit changePositionWP(wp);
+
+
+}
+
+
+
+void WaypointGlobalView::updateLongitudeMinuteWP(double value)
+{
+    Q_UNUSED(value);
+
+    int gradoLon;
+    float minLon;
+    float Longitud;
+    QString dirLon;
+
+    gradoLon = ui->m_longitudGrados_spinBox->value();
+    minLon = ui->m_longitudMinutos_spinBox->value();
+   // dirLon = ui->m_dirLongitud_label->text();
+    if(ui->m_dirLongitudeW_radioButton->isChecked())
+    {
+        dirLon = "W";
+    }
+    else
+    {
+        dirLon = "E";
+    }
+
+    Longitud = gradoLon + (minLon/60);
+    if(dirLon == "W"){Longitud = Longitud * -1;}
+
+    wp->setX(Longitud);
+
+    //emit signal waypoint position was changed
+    emit changePositionWP(wp);
+
+}
+
+void WaypointGlobalView::changeDirectionLatitudeWP()
+{
+    if(ui->m_dirLatitudeN_radioButton->isChecked())
+    {
+        if(wp->getY() < 0)
+        {
+            wp->setY(wp->getY()* -1);
+            //emit signal waypoint position was changed
+            emit changePositionWP(wp);
+        }
+
+    }
+    if(ui->m_dirLatitudeS_radioButton->isChecked())
+    {
+        if(wp->getY() > 0)
+        {
+            wp->setY(wp->getY()*-1);
+            //emit signal waypoint position was changed
+            emit changePositionWP(wp);
+
+        }
+
+    }
+
+}
+
+void WaypointGlobalView::changeDirectionLongitudeWP()
+{
+    if(ui->m_dirLongitudeW_radioButton->isChecked())
+    {
+        if(wp->getX() > 0)
+        {
+           wp->setX(wp->getX()*-1);
+           //emit signal waypoint position was changed
+           emit changePositionWP(wp);
+        }
+
+    }
+
+    if(ui->m_dirLongitudeE_radioButton->isChecked())
+    {
+        if(wp->getX() < 0)
+        {
+            wp->setX(wp->getX()*-1);
+            //emit signal waypoint position was changed
+            emit changePositionWP(wp);
+        }
+
+    }
+
+
+
+}
+
 

src/ui/WaypointGlobalView.h

@@ -22,12 +22,30 @@ public slots:
     void remove();
     QString getLatitudString(float lat);
     QString getLongitudString(float lon);
+    void getLatitudeGradoMin(float lat, int *gradoLat, float *minLat, QString *dirLat);
+    void getLongitudGradoMin(float lon, int *gradoLon, float *minLon, QString *dirLon);
      void changeOrbitalState(int state);
+     void updateCoordValues(float lat, float lon);
+
+
+
+    //update latitude
+     void updateLatitudeWP(int value);
+     void updateLatitudeMinuteWP(double value);
+     void changeDirectionLatitudeWP();
+
+     //update longitude
+     void updateLongitudeWP(int value);
+     void updateLongitudeMinuteWP(double value);
+     void changeDirectionLongitudeWP();
+
 
 
 signals:
 
     void removeWaypoint(Waypoint*);
+    void changePositionWP(Waypoint*);
+
 
 protected:
     virtual void changeEvent(QEvent *e);

src/ui/WaypointList.cc

@@ -39,6 +39,7 @@ This file is part of the PIXHAWK project
 #include <QFileDialog>
 #include "WaypointGlobalView.h"
 #include <QMessageBox>
+#include <QMouseEvent>
 
 WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
         QWidget(parent),
@@ -90,6 +91,9 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
     this->setVisible(false);
     isGlobalWP = false;
     isLocalWP = false;
+    centerMapCoordinate.setX(0.0);
+    centerMapCoordinate.setY(0.0);
+
 }
 
 WaypointList::~WaypointList()
@@ -168,24 +172,44 @@ void WaypointList::add()
 {
     if (uas)
     {
-
+        if(isGlobalWP)
+        {
             const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
             if (waypoints.size() > 0)
             {
                 Waypoint *last = waypoints.at(waypoints.size()-1);
-                Waypoint *wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
+                Waypoint *wp = new Waypoint(0, centerMapCoordinate.x(), centerMapCoordinate.y(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
                 uas->getWaypointManager().localAddWaypoint(wp);
             }
             else
             {
-                Waypoint *wp = new Waypoint(0, 1.1, 1.1, -0.8, 0.0, true, true, 0.15, 2000);
+                Waypoint *wp = new Waypoint(0, centerMapCoordinate.x(), centerMapCoordinate.y(), -0.8, 0.0, true, true, 0.15, 2000);
                 uas->getWaypointManager().localAddWaypoint(wp);
             }
 
-            isLocalWP = true;
+             emit createWaypointAtMap(centerMapCoordinate);
+        }
+        else
+        {
+
+            const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+            if (waypoints.size() > 0)
+            {
+                Waypoint *last = waypoints.at(waypoints.size()-1);
+                Waypoint *wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
+                uas->getWaypointManager().localAddWaypoint(wp);
+            }
+            else
+            {
+
 
+                    isLocalWP = true;
+                    Waypoint *wp = new Waypoint(0, 1.1, 1.1, -0.8, 0.0, true, true, 0.15, 2000);
+                    uas->getWaypointManager().localAddWaypoint(wp);
 
 
+            }
+        }
     }
 }
 
@@ -301,9 +325,11 @@ void WaypointList::waypointListChanged()
                     {
                         WaypointGlobalView* wpview = new WaypointGlobalView(wp, this);
                         wpGlobalViews.insert(wp, wpview);
+                        connect(wpview, SIGNAL(removeWaypoint(Waypoint*)),      this, SLOT(removeWaypoint(Waypoint*)));
+                        connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(changeWPPositionBySpinBox(Waypoint*)));
 //                        connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)),    this, SLOT(moveDown(Waypoint*)));
 //                        connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)),      this, SLOT(moveUp(Waypoint*)));
-                        connect(wpview, SIGNAL(removeWaypoint(Waypoint*)),      this, SLOT(removeWaypoint(Waypoint*)));
+                       // connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(waypointGlobalPositionChanged(Waypoint*)));
 //                        connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
 //                        connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
                     }
@@ -498,13 +524,16 @@ void WaypointList::addWaypointMouse(QPointF coordinate)
             Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), -0.8, 0.0, true, true, 0.15, 2000);
             uas->getWaypointManager().localAddWaypoint(wp);
         }
+
+
     }
 
 }
 
- /** @brief it notifies that a global waypoint goes to do created */
-void WaypointList::setIsWPGlobal(bool value)
+ /** @brief Notifies the user that a global waypoint will be created */
+void WaypointList::setIsWPGlobal(bool value, QPointF centerCoordinate)
 {
+    centerMapCoordinate = centerCoordinate;
 
 
     if(isLocalWP)
@@ -512,18 +541,21 @@ void WaypointList::setIsWPGlobal(bool value)
         if(wpViews.size()!= 0)
         {
 
-            int ret = QMessageBox::warning(this, tr("My Application"),
-                                    tr("There are Waypoints local created.\n"
+            int ret = QMessageBox::warning(this, tr("QGroundControl"),
+                                    tr("There are Local Waypoints created.\n"
                                        "Do you want to clear them?"),
                                     QMessageBox::Ok | QMessageBox::Cancel);
 
             if(ret)
             {
                 clearLocalWPWidget();
-                isGlobalWP = value;
-                isLocalWP = !(value);
+
+
             }
+
         }
+        isLocalWP = !value;
+        isGlobalWP = value;
 
 
     }
@@ -556,6 +588,19 @@ void WaypointList::waypointGlobalChanged(QPointF coordinate, int indexWP)
 
 }
 
+///** @brief The MapWidget informs that a waypoint global was changed on the map */
+
+//void WaypointList::waypointGlobalPositionChanged(Waypoint* wp)
+//{
+//    QPointF coordinate;
+//    coordinate.setX(wp->getX());
+//    coordinate.setY(wp->getY());
+
+//   emit ChangeWaypointGlobalPosition(wp->getId(), coordinate);
+
+
+//}
+
 void WaypointList::clearLocalWPWidget()
 {
   if (uas)
@@ -571,3 +616,9 @@ void WaypointList::clearLocalWPWidget()
       }
   }
 }
+
+void WaypointList::changeWPPositionBySpinBox(Waypoint *wp)
+{
+
+    emit changePositionWPGlobalBySpinBox(wp->getId(), wp->getY(), wp->getX());
+}

src/ui/WaypointList.h

@@ -77,7 +77,7 @@ public slots:
     /** @brief Add a waypoint by mouse click over the map */
     void addWaypointMouse(QPointF coordinate);
     /** @brief it notifies that a global waypoint goes to do created */
-    void setIsWPGlobal(bool value);
+    void setIsWPGlobal(bool value, QPointF centerCoordinate);
 
 
     //Update events
@@ -95,6 +95,8 @@ public slots:
 
     void clearLocalWPWidget();
 
+    void changeWPPositionBySpinBox(Waypoint* wp);
+
     // Waypoint operations
     void moveUp(Waypoint* wp);
     void moveDown(Waypoint* wp);
@@ -105,6 +107,9 @@ public slots:
 
 signals:
   void clearPathclicked();
+  void createWaypointAtMap(const QPointF coordinate);
+ // void ChangeWaypointGlobalPosition(int index, QPointF coord);
+  void changePositionWPGlobalBySpinBox(int indexWP, float lat, float lon);
 
 
 
@@ -122,6 +127,7 @@ protected:
     double mavYaw;
     bool isGlobalWP;
     bool isLocalWP;
+    QPointF centerMapCoordinate;
 
 private:
     Ui::WaypointList *m_ui;

src/ui/WaypointView.ui

@@ -254,7 +254,7 @@ QProgressBar::chunk#thrustBar {
       <item>
        <widget class="QDoubleSpinBox" name="zSpinBox">
         <property name="toolTip">
-         <string>Position Z coordinate</string>
+         <string>Position Z coordinate (negative)</string>
         </property>
         <property name="suffix">
          <string> m</string>
@@ -313,9 +313,12 @@ QProgressBar::chunk#thrustBar {
       </item>
       <item>
        <widget class="QSpinBox" name="holdTimeSpinBox">
-        <property name="statusTip">
+        <property name="toolTip">
          <string>Time in milliseconds that the MAV has to stay inside the orbit before advancing</string>
         </property>
+        <property name="statusTip">
+         <string/>
+        </property>
         <property name="suffix">
          <string> ms</string>
         </property>

src/ui/map3D/Imagery.h

+/*=====================================================================
+
+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
+ *   @brief Definition of the class Imagery.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
+#ifndef IMAGERY_H
+#define IMAGERY_H
+
+#include <inttypes.h>
+
+#include "TextureCache.h"
+
+class Imagery
+{
+public:
+    Imagery();
+
+    enum ImageryType
+    {
+        MAP = 0,
+        SATELLITE = 1
+    };
+
+    void setImageryType(ImageryType type);
+    void setOffset(double xOffset, double yOffset);
+
+    void prefetch2D(double windowWidth, double windowHeight,
+                    double zoom, double xOrigin, double yOrigin,
+                    double viewXOffset, double viewYOffset,
+                    const QString& utmZone);
+    void draw2D(double windowWidth, double windowHeight,
+                double zoom, double xOrigin, double yOrigin,
+                double viewXOffset, double viewYOffset,
+                const QString& utmZone);
+
+    void prefetch3D(double radius, double tileResolution,
+                    double xOrigin, double yOrigin,
+                    double viewXOffset, double viewYOffset,
+                    const QString& utmZone);
+    void draw3D(double radius, double tileResolution,
+                double xOrigin, double yOrigin,
+                double viewXOffset, double viewYOffset,
+                const QString& utmZone);
+
+    bool update(void);
+
+private:
+    void imageBounds(int32_t tileX, int32_t tileY, double tileResolution,
+                     double& x1, double& y1, double& x2, double& y2,
+                     double& x3, double& y3, double& x4, double& y4) const;
+
+    void tileBounds(double tileResolution,
+                    double minUtmX, double minUtmY,
+                    double maxUtmX, double maxUtmY, const QString& utmZone,
+                    int32_t& minTileX, int32_t& minTileY,
+                    int32_t& maxTileX, int32_t& maxTileY,
+                    int32_t& zoomLevel) const;
+
+    double tileXToLongitude(int32_t tileX, int32_t numTiles) const;
+    double tileYToLatitude(int32_t tileY, int32_t numTiles) const;
+    int32_t longitudeToTileX(double longitude, int32_t numTiles) const;
+    int32_t latitudeToTileY(double latitude, int32_t numTiles) const;
+
+    void UTMtoTile(double northing, double easting, const QString& utmZone,
+                   double tileResolution, int32_t& tileX, int32_t& tileY,
+                   int32_t& zoomLevel) const;
+
+    QChar UTMLetterDesignator(double latitude) const;
+
+    void LLtoUTM(double latitude, double longitude,
+                 double& utmNorthing, double& utmEasting,
+                 QString& utmZone) const;
+
+    void UTMtoLL(double utmNorthing, double utmEasting, const QString& utmZone,
+                 double& latitude, double& longitude) const;
+
+    QString getTileURL(int32_t tileX, int32_t tileY, int32_t zoomLevel) const;
+
+    ImageryType currentImageryType;
+
+    QScopedPointer<TextureCache> textureCache;
+
+    double xOffset, yOffset;
+};
+
+#endif // IMAGERY_H

src/ui/map3D/Q3DWidget.h

@@ -162,23 +162,24 @@ protected:
     void switchTo3DMode(void);
     void setDisplayMode3D(void);
 
-    float r2d(float angle);
-    float d2r(float angle);
-
-    void wireSphere(double radius, int slices, int stacks);
-    void solidSphere(double radius, int slices, int stacks);
-    void wireCone(double base, double height, int slices, int stacks);
-    void solidCone(double base, double height, int slices, int stacks);
-    void drawBox(float size, GLenum type);
-    void wireCube(double size);
-    void solidCube(double size);
-    void doughnut(float r, float R, int nsides, int rings);
-    void wireTorus(double innerRadius, double outerRadius, int nsides, int rings);
-    void solidTorus(double innerRadius, double outerRadius, int nsides, int rings);
+    float r2d(float angle) const;
+    float d2r(float angle) const;
+
+    void wireSphere(double radius, int slices, int stacks) const;
+    void solidSphere(double radius, int slices, int stacks) const;
+    void wireCone(double base, double height, int slices, int stacks) const;
+    void solidCone(double base, double height, int slices, int stacks) const;
+    void drawBox(float size, GLenum type) const;
+    void wireCube(double size) const;
+    void solidCube(double size) const;
+    void doughnut(float r, float R, int nsides, int rings) const;
+    void wireTorus(double innerRadius, double outerRadius,
+                   int nsides, int rings) const;
+    void solidTorus(double innerRadius, double outerRadius,
+                    int nsides, int rings) const;
 
     GLUquadricObj* quadObj;
 
-private:
     // QGLWidget events
     void initializeGL(void);
     void paintGL(void);

src/ui/map3D/QMap3DWidget.h

@@ -34,6 +34,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QLabel>
 
+#include "Imagery.h"
 #include "Q3DWidget.h"
 
 class CheetahModel;
@@ -54,6 +55,7 @@ public:
 
     static void display(void* clientData);
     void displayHandler(void);
+//    void paintEvent(QPaintEvent *event);
 
     static void mouse(Qt::MouseButton button, MouseState state,
                       int32_t x, int32_t y, void* clientData);
@@ -72,22 +74,30 @@ public slots:
 private slots:
     void showGrid(int state);
     void showTrail(int state);
+    void showImagery(const QString& text);
     void recenterCamera(void);
     void toggleLockCamera(int state);
 
 protected:
     UASInterface* uas;
-    void paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter);
+    void paintText(QString text, QColor color, float fontSize,
+                   float refX, float refY, QPainter* painter) const;
+    void drawWaypoints(void) const;
 
 private:
-    void drawPlatform(float roll, float pitch, float yaw);
-    void drawGrid(void);
+    void drawPlatform(float roll, float pitch, float yaw) const;
+    void drawGrid(float x, float y, float z) const;
+    void drawImagery(double originX, double originY, double originZ,
+                     const QString& zone, bool prefetch) const;
     void drawTrail(float x, float y, float z);
-    void drawTarget(float x, float y, float z);
+    void drawTarget(float x, float y, float z) const;
+
+    void drawLegend(void);
 
     double lastRedrawTime;
 
     bool displayGrid;
+    bool displayImagery;
     bool displayTrail;
 
     typedef struct
@@ -105,9 +115,13 @@ private:
     QVarLengthArray<Pose3D, 10000> trail;
 
     bool displayTarget;
+    bool displayWaypoints;
     Pose3D targetPosition;
 
     QScopedPointer<CheetahModel> cheetahModel;
+    QScopedPointer<Imagery> imagery;
+
+    QComboBox* imageryComboBox;
 };
 
 #endif // QMAP3DWIDGET_H

src/ui/map3D/Texture.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
+ *   @brief Definition of the class Texture.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
+#include "Texture.h"
+
+Texture::Texture()
+{
+
+}
+
+const QString&
+Texture::getSourceURL(void) const
+{
+    return sourceURL;
+}
+
+void
+Texture::setID(GLuint id)
+{
+    this->id = id;
+}
+
+void
+Texture::sync(const WebImagePtr& image)
+{
+    state = static_cast<State>(image->getState());
+
+    if (image->getState() != WebImage::UNINITIALIZED &&
+        sourceURL != image->getSourceURL())
+    {
+        sourceURL = image->getSourceURL();
+    }
+
+    if (image->getState() == WebImage::READY && image->getSyncFlag())
+    {
+        image->setSyncFlag(false);
+
+        if (image->getWidth() != imageWidth ||
+            image->getHeight() != imageHeight)
+        {
+            imageWidth = image->getWidth();
+            textureWidth = 32;
+            while (textureWidth < imageWidth)
+            {
+                textureWidth *= 2;
+            }
+            imageHeight = image->getHeight();
+            textureHeight = 32;
+            while (textureHeight < imageHeight)
+            {
+                textureHeight *= 2;
+            }
+
+            maxU = static_cast<double>(imageWidth)
+                   / static_cast<double>(textureWidth);
+            maxV = static_cast<double>(imageHeight)
+                   / static_cast<double>(textureHeight);
+
+            glBindTexture(GL_TEXTURE_2D, id);
+            glTexImage2D(GL_TEXTURE_2D, 0, 3, textureWidth, textureHeight,
+                         0, GL_RGBA, GL_UNSIGNED_BYTE, NULL);
+        }
+
+        glBindTexture(GL_TEXTURE_2D, id);
+        glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, imageWidth, imageHeight,
+                        GL_RGBA, GL_UNSIGNED_BYTE, image->getData());
+    }
+}
+
+void
+Texture::draw(float x1, float y1, float x2, float y2,
+              bool smoothInterpolation) const
+{
+    draw(x1, y1, x2, y1, x2, y2, x1, y2, smoothInterpolation);
+}
+
+void
+Texture::draw(float x1, float y1, float x2, float y2,
+              float x3, float y3, float x4, float y4,
+              bool smoothInterpolation) const
+{
+    if (state == REQUESTED)
+    {
+        glBegin(GL_LINE_LOOP);
+        glColor3f(0.0f, 0.0f, 1.0f);
+        glVertex2f(x1, y1);
+        glVertex2f(x2, y2);
+        glVertex2f(x3, y3);
+        glVertex2f(x4, y4);
+        glEnd();
+
+        return;
+    }
+
+    glEnable(GL_TEXTURE_2D);
+    glBindTexture(GL_TEXTURE_2D, id);
+
+    float dx, dy;
+    if (smoothInterpolation)
+    {
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+        dx = 1.0f / (2.0f * textureWidth);
+        dy = 1.0f / (2.0f * textureHeight);
+    }
+    else
+    {
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+        dx = 0.0f;
+        dy = 0.0f;
+    }
+
+    glColor3f(1.0f, 1.0f, 1.0f);
+    glBegin(GL_QUADS);
+
+    glTexCoord2f(dx, maxV - dy);
+    glVertex2f(x1, y1);
+    glTexCoord2f(maxU - dx, maxV - dy);
+    glVertex2f(x2, y2);
+    glTexCoord2f(maxU - dx, dy);
+    glVertex2f(x3, y3);
+    glTexCoord2f(dx, dy);
+    glVertex2f(x4, y4);
+
+    glEnd();
+
+    glDisable(GL_TEXTURE_2D);
+}