Merge branch 'mp_merge' of https://github.com/diydrones/qgroundcontrol into integration_merge

qgroundcontrol.pro

@@ -227,7 +227,11 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCHilXPlaneConfiguration.ui \
     src/ui/designer/QGCComboBox.ui \
     src/ui/designer/QGCTextLabel.ui \
-    src/ui/uas/UASQuickView.ui
+    src/ui/uas/UASQuickView.ui \
+    src/ui/uas/UASQuickViewItemSelect.ui \
+    src/ui/uas/UASActionsWidget.ui \
+    src/ui/QGCTabbedInfoView.ui \
+    src/ui/UASRawStatusView.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -377,6 +381,12 @@ HEADERS += src/MG.h \
     src/ui/dockwidgettitlebareventfilter.h \
     src/ui/uas/UASQuickView.h \
     src/ui/uas/UASQuickViewItem.h \
+    src/ui/uas/UASQuickViewItemSelect.h \
+    src/ui/uas/UASQuickViewTextItem.h \
+    src/ui/uas/UASActionsWidget.h \
+    src/ui/designer/QGCRadioChannelDisplay.h \
+    src/ui/QGCTabbedInfoView.h \
+    src/ui/UASRawStatusView.h \
     src/ui/PrimaryFlightDisplay.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
@@ -546,6 +556,12 @@ SOURCES += src/main.cc \
     src/ui/dockwidgettitlebareventfilter.cpp \
     src/ui/uas/UASQuickViewItem.cc \
     src/ui/uas/UASQuickView.cc \
+    src/ui/uas/UASQuickViewTextItem.cc \
+    src/ui/uas/UASQuickViewItemSelect.cc \
+    src/ui/uas/UASActionsWidget.cpp \
+    src/ui/designer/QGCRadioChannelDisplay.cpp \
+    src/ui/QGCTabbedInfoView.cpp \
+    src/ui/UASRawStatusView.cpp \
     src/ui/PrimaryFlightDisplay.cpp
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler

src/QGCCore.cc

@@ -203,7 +203,7 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
 QGCCore::~QGCCore()
 {
     //mainWindow->storeSettings();
-    mainWindow->close();
+    //mainWindow->close();
     //mainWindow->deleteLater();
     // Delete singletons
     // First systems
@@ -211,7 +211,8 @@ QGCCore::~QGCCore()
     // then links
     delete LinkManager::instance();
     // Finally the main window
-	delete MainWindow::instance();
+    //delete MainWindow::instance();
+    //The main window now autodeletes on close.
 }
 
 /**

src/comm/LinkInterface.h

@@ -232,6 +232,8 @@ signals:
     /** @brief Communication error occured */
     void communicationError(const QString& linkname, const QString& error);
 
+    void communicationUpdate(const QString& linkname, const QString& text);
+
 	/** @brief destroying element */
 	void deleteLink(LinkInterface* const link);
 

src/comm/SerialLink.cc

@@ -20,7 +20,6 @@
 #ifdef _WIN32
 #include "windows.h"
 #endif
-
 #ifdef _WIN32
 #include <qextserialenumerator.h>
 #endif
@@ -394,7 +393,13 @@ void SerialLink::writeSettings()
 void SerialLink::run()
 {
     // Initialize the connection
-    hardwareConnect();
+    if (!hardwareConnect())
+    {
+        //Need to error out here.
+        emit communicationError(getName(),"Error connecting: " + port->errorString());
+        return;
+
+    }
 
     // Qt way to make clear what a while(1) loop does
     quint64 msecs = QDateTime::currentMSecsSinceEpoch();
@@ -402,7 +407,7 @@ void SerialLink::run()
     quint64 bytes = 0;
     bool triedreset = false;
     bool triedDTR = false;
-    int timeout = 2500;
+    int timeout = 5000;
     forever
     {
         {
@@ -438,6 +443,7 @@ void SerialLink::run()
                 if (!triedDTR && triedreset)
                 {
                     triedDTR = true;
+                    communicationUpdate(getName(),"No data to receive on COM port. Attempting to reset via DTR signal");
                     qDebug() << "No data!!! Attempting reset via DTR.";
                     port->setDtr(true);
                     this->msleep(250);
@@ -446,11 +452,13 @@ void SerialLink::run()
                 else if (!triedreset)
                 {
                     qDebug() << "No data!!! Attempting reset via reboot command.";
+                    communicationUpdate(getName(),"No data to receive on COM port. Assuming possible terminal mode, attempting to reset via \"reboot\" command");
                     port->write("reboot\r\n",8);
                     triedreset = true;
                 }
                 else
                 {
+                    communicationUpdate(getName(),"No data to receive on COM port....");
                     qDebug() << "No data!!!";
                 }
             }
@@ -661,7 +669,14 @@ bool SerialLink::hardwareConnect()
     port->setCommTimeouts(QSerialPort::CtScheme_NonBlockingRead);
     connectionStartTime = MG::TIME::getGroundTimeNow();
 
-    port->open();
+    if (!port->open())
+    {
+        emit communicationUpdate(getName(),"Error opening port: " + port->errorString());
+    }
+    else
+    {
+        emit communicationUpdate(getName(),"Opened port!");
+    }
 
     bool connectionUp = isConnected();
     if(connectionUp) {

src/uas/UAS.cc

@@ -850,6 +850,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 if (!globalEstimatorActive) {
                     if ((vel < 1000000) && !isnan(vel) && !isinf(vel))
                     {
+                        //emit speedChanged(this, vel, 0.0, 0.0, time);
+                        setGroundSpeed(vel);
                         // TODO: Other sources also? Actually this condition does not quite belong here.
                         emit gpsSpeedChanged(this, vel, time);
                     }

src/uas/UAS.h

@@ -102,6 +102,18 @@ public:
     Q_PROPERTY(double pitch READ getPitch WRITE setPitch NOTIFY pitchChanged)
     Q_PROPERTY(double yaw READ getYaw WRITE setYaw NOTIFY yawChanged)
     Q_PROPERTY(double distToWaypoint READ getDistToWaypoint WRITE setDistToWaypoint NOTIFY distToWaypointChanged)
+    Q_PROPERTY(double groundSpeed READ getGroundSpeed WRITE setGroundSpeed NOTIFY groundSpeedChanged)
+
+    void setGroundSpeed(double val)
+    {
+        groundSpeed = val;
+        emit groundSpeedChanged(val,"groundSpeed");
+        emit valueChanged(this->uasId,"groundSpeed","m/s",QVariant(val),getUnixTime());
+    }
+    double getGroundSpeed() const
+    {
+        return groundSpeed;
+    }
     Q_PROPERTY(double bearingToWaypoint READ getBearingToWaypoint WRITE setBearingToWaypoint NOTIFY bearingToWaypointChanged)
 
     // dongfang: There is not only one altitude; there are at least (APM) GPS altitude, mix altitude and mix-altitude relative to home.
@@ -427,6 +439,7 @@ protected: //COMMENTS FOR TEST UNIT
 
     /// WAYPOINT NAVIGATION
     double distToWaypoint;       ///< Distance to next waypoint
+    double groundSpeed;         ///< GPS Groundspeed
     double bearingToWaypoint;    ///< Bearing to next waypoint
     UASWaypointManager waypointManager;
 
@@ -850,6 +863,7 @@ signals:
     void yawChanged(double val,QString name);
     void satelliteCountChanged(double val,QString name);
     void distToWaypointChanged(double val,QString name);
+    void groundSpeedChanged(double val, QString name);
     void bearingToWaypointChanged(double val,QString name);
 
     //void primaryAltitudeChanged(UASInterface*, double altitude, quint64 usec);

src/ui/DebugConsole.cc

@@ -215,6 +215,12 @@ void DebugConsole::removeLink(LinkInterface* const linkInterface)
     }
     if (linkInterface == currLink) currLink = NULL;
 }
+void DebugConsole::linkStatusUpdate(const QString& name,const QString& text)
+{
+    m_ui->receiveText->appendPlainText(text);
+    // Ensure text area scrolls correctly
+    m_ui->receiveText->ensureCursorVisible();
+}
 
 void DebugConsole::linkSelected(int linkId)
 {
@@ -222,6 +228,7 @@ void DebugConsole::linkSelected(int linkId)
     if (currLink) {
         disconnect(currLink, SIGNAL(bytesReceived(LinkInterface*,QByteArray)), this, SLOT(receiveBytes(LinkInterface*, QByteArray)));
         disconnect(currLink, SIGNAL(connected(bool)), this, SLOT(setConnectionState(bool)));
+        disconnect(currLink,SIGNAL(communicationUpdate(QString,QString)),this,SLOT(linkStatusUpdate(QString,QString)));
     }
     // Clear data
     m_ui->receiveText->clear();
@@ -230,6 +237,7 @@ void DebugConsole::linkSelected(int linkId)
     currLink = links[linkId];
     connect(currLink, SIGNAL(bytesReceived(LinkInterface*,QByteArray)), this, SLOT(receiveBytes(LinkInterface*, QByteArray)));
     connect(currLink, SIGNAL(connected(bool)), this, SLOT(setConnectionState(bool)));
+    connect(currLink,SIGNAL(communicationUpdate(QString,QString)),this,SLOT(linkStatusUpdate(QString,QString)));
     setConnectionState(currLink->isConnected());
 }
 

src/ui/DebugConsole.h

@@ -96,6 +96,8 @@ public slots:
     /** @brief A new special symbol is selected */
     void specialSymbolSelected(const QString& text);
 
+    void linkStatusUpdate(const QString& name,const QString& text);
+
 protected slots:
     /** @brief Draw information overlay */
     void paintEvent(QPaintEvent *event);

src/ui/DebugConsole.ui

@@ -110,6 +110,9 @@
        <height>50</height>
       </size>
      </property>
+     <property name="readOnly">
+      <bool>true</bool>
+     </property>
      <property name="tabStopWidth">
       <number>60</number>
      </property>
@@ -200,7 +203,7 @@
         <string/>
        </property>
        <property name="icon">
-        <iconset resource="../../mavground.qrc">
+        <iconset resource="../../qgroundcontrol.qrc">
          <normaloff>:/files/images/actions/list-add.svg</normaloff>:/files/images/actions/list-add.svg</iconset>
        </property>
       </widget>
@@ -224,7 +227,7 @@
         <string>Send</string>
        </property>
        <property name="icon">
-        <iconset resource="../../mavground.qrc">
+        <iconset resource="../../qgroundcontrol.qrc">
          <normaloff>:/files/images/devices/network-wireless.svg</normaloff>:/files/images/devices/network-wireless.svg</iconset>
        </property>
       </widget>
@@ -287,7 +290,7 @@
   </layout>
  </widget>
  <resources>
-  <include location="../../mavground.qrc"/>
+  <include location="../../qgroundcontrol.qrc"/>
  </resources>
  <connections>
   <connection>

src/ui/MAVLinkDecoder.cc

@@ -200,7 +200,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
 
     // Add field tree widget item
     uint8_t msgid = msg->msgid;
-    if (messageFilter.contains(msgid)) return;
+    //if (messageFilter.contains(msgid)) return;
     QString fieldName(messageInfo[msgid].fields[fieldid].name);
     QString fieldType;
     uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8;

src/ui/MAVLinkDecoder.h

@@ -21,6 +21,7 @@ signals:
     void valueChanged(const int uasId, const QString& name, const QString& unit, const quint64 value, const quint64 msec);
     void valueChanged(const int uasId, const QString& name, const QString& unit, const qint64 value, const quint64 msec);
     void valueChanged(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec);
+    //void valueChanged(const int uasId, const QString& name, const QString& unit, const QVariant value, const quint64 msec);
 	
 
 public slots:

src/ui/MainWindow.cc

@@ -59,6 +59,9 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCFirmwareUpdate.h"
 #include "QGCStatusBar.h"
 #include "UASQuickView.h"
+#include "UASActionsWidget.h"
+#include "QGCTabbedInfoView.h"
+#include "UASRawStatusView.h"
 #include "PrimaryFlightDisplay.h"
 
 #ifdef QGC_OSG_ENABLED
@@ -105,6 +108,7 @@ MainWindow::MainWindow(QWidget *parent):
     autoReconnect(false),
     lowPowerMode(false)
 {
+    this->setAttribute(Qt::WA_DeleteOnClose);
     hide();
     dockWidgetTitleBarEnabled = true;
     isAdvancedMode = false;
@@ -322,6 +326,16 @@ MainWindow::~MainWindow()
         }
     }
     // Delete all UAS objects
+
+
+    if (debugConsole)
+    {
+        delete debugConsole;
+    }
+    for (int i=0;i<commsWidgetList.size();i++)
+    {
+        commsWidgetList[i]->deleteLater();
+    }
 }
 
 void MainWindow::resizeEvent(QResizeEvent * event)
@@ -498,6 +512,7 @@ void MainWindow::buildCommonWidgets()
     createDockWidget(simView,new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",VIEW_SIMULATION,Qt::LeftDockWidgetArea);
 
     createDockWidget(plannerView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_MISSION,Qt::LeftDockWidgetArea);
+    createDockWidget(plannerView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_MISSION,Qt::BottomDockWidgetArea);
 
     {
         //createDockWidget(plannerView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_MISSION,Qt::BottomDockWidgetArea);
@@ -521,10 +536,17 @@ void MainWindow::buildCommonWidgets()
         connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
     }
     {
-        QAction* tempAction = ui.menuTools->addAction(tr("Communication Console"));
-        menuToDockNameMap[tempAction] = "COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET";
-        tempAction->setCheckable(true);
-        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
+        if (!debugConsole)
+        {
+            debugConsole = new DebugConsole();
+            debugConsole->setWindowTitle("Communications Console");
+            debugConsole->hide();
+            QAction* tempAction = ui.menuTools->addAction(tr("Communication Console"));
+            //menuToDockNameMap[tempAction] = "COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET";
+            tempAction->setCheckable(true);
+            connect(tempAction,SIGNAL(triggered(bool)),debugConsole,SLOT(setShown(bool)));
+
+        }
     }
     createDockWidget(simView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_SIMULATION,Qt::BottomDockWidgetArea);
 
@@ -572,16 +594,39 @@ void MainWindow::buildCommonWidgets()
     // createDockWidget(simView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
     createDockWidget(simView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
 
-    createDockWidget(pilotView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_FLIGHT,Qt::RightDockWidgetArea);
+    //createDockWidget(pilotView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_FLIGHT,Qt::RightDockWidgetArea);
+//    createDockWidget(pilotView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
+    //createDockWidget(pilotView,new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
 
-    //createDockWidget(pilotView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
+    //UASQuickView *quickview = new UASQuickView(this);
+    //quickview->addSource(mavlinkDecoder);
+
+
+    //createDockWidget(pilotView,quickview,tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
     createDockWidget(pilotView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
 
-    createDockWidget(pilotView,new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
-    createDockWidget(pilotView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
-    pilotView->setTabPosition(Qt::LeftDockWidgetArea,QTabWidget::North);
-    pilotView->tabifyDockWidget((QDockWidget*)centralWidgetToDockWidgetsMap[VIEW_FLIGHT]["HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET"],(QDockWidget*)centralWidgetToDockWidgetsMap[VIEW_FLIGHT]["UAS_INFO_QUICKVIEW_DOCKWIDGET"]);
+    QGCTabbedInfoView *infoview = new QGCTabbedInfoView(this);
+    infoview->addSource(mavlinkDecoder);
+    createDockWidget(pilotView,infoview,tr("Info View"),"UAS_INFO_INFOVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
+
+
+    //createDockWidget(pilotView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
+
+//    createDockWidget(pilotView,new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
+//    createDockWidget(pilotView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
+//    pilotView->setTabPosition(Qt::LeftDockWidgetArea,QTabWidget::North);
+//    pilotView->tabifyDockWidget((QDockWidget*)centralWidgetToDockWidgetsMap[VIEW_FLIGHT]["HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET"],(QDockWidget*)centralWidgetToDockWidgetsMap[VIEW_FLIGHT]["UAS_INFO_QUICKVIEW_DOCKWIDGET"]);
 
+    //UASRawStatusView *view = new UASRawStatusView();
+    //view->setDecoder(mavlinkDecoder);
+    //view->show();
+    //hddisplay->addSource(mavlinkDecoder);
+    //createDockWidget(pilotView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
+    //pilotView->setTabPosition(Qt::LeftDockWidgetArea,QTabWidget::North);
+    //pilotView->tabifyDockWidget((QDockWidget*)centralWidgetToDockWidgetsMap[VIEW_FLIGHT]["HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET"],(QDockWidget*)centralWidgetToDockWidgetsMap[VIEW_FLIGHT]["UAS_INFO_QUICKVIEW_DOCKWIDGET"]);
+
+
+    //createDockWidget(pilotView,new UASActionsWidget(this),tr("Actions"),"UNMANNED_SYSTEM_ACTION_DOCKWIDGET",VIEW_FLIGHT,Qt::RightDockWidgetArea);
 
     // Custom widgets, added last to all menus and layouts
     buildCustomWidget();
@@ -760,7 +805,9 @@ void MainWindow::loadDockWidget(QString name)
     }
     else if (name == "COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET")
     {
-        createDockWidget(centerStack->currentWidget(),new DebugConsole(this),tr("Communication Console"),"COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET",currentView,Qt::BottomDockWidgetArea);
+        //This is now a permanently detached window.
+        //centralWidgetToDockWidgetsMap[currentView][name] = console;
+        //createDockWidget(centerStack->currentWidget(),new DebugConsole(this),tr("Communication Console"),"COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET",currentView,Qt::BottomDockWidgetArea);
     }
     else if (name == "HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET")
     {
@@ -1606,6 +1653,8 @@ void MainWindow::addLink(LinkInterface *link)
     if (!found)
     {  //  || udp
         CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);
+        commsWidgetList.append(commWidget);
+        connect(commWidget,SIGNAL(destroyed(QObject*)),this,SLOT(commsWidgetDestroyed(QObject*)));
         QAction* action = commWidget->getAction();
         ui.menuNetwork->addAction(action);
 
@@ -1619,6 +1668,13 @@ void MainWindow::addLink(LinkInterface *link)
         }
     }
 }
+void MainWindow::commsWidgetDestroyed(QObject *obj)
+{
+    if (commsWidgetList.contains(obj))
+    {
+        commsWidgetList.removeOne(obj);
+    }
+}
 
 void MainWindow::setActiveUAS(UASInterface* uas)
 {

src/ui/MainWindow.h

@@ -250,6 +250,8 @@ public slots:
     /** @brief Update the window name */
     void configureWindowName();
 
+    void commsWidgetDestroyed(QObject *obj);
+
 signals:
     void initStatusChanged(const QString& message);
 #ifdef MOUSE_ENABLED_LINUX
@@ -397,6 +399,8 @@ protected:
     QPointer<QGCToolBar> toolBar;
     QPointer<QGCStatusBar> customStatusBar;
 
+    QPointer<DebugConsole> debugConsole;
+
     QPointer<QDockWidget> mavlinkInspectorWidget;
     QPointer<MAVLinkDecoder> mavlinkDecoder;
     QPointer<QDockWidget> mavlinkSenderWidget;
@@ -441,6 +445,7 @@ protected:
     QTimer windowNameUpdateTimer;
 
 private:
+    QList<QObject*> commsWidgetList;
     QMap<QString,QString> customWidgetNameToFilenameMap;
     QMap<QAction*,QString > menuToDockNameMap;
     QMap<QDockWidget*,QWidget*> dockToTitleBarMap;

src/ui/PrimaryFlightDisplay.cpp

@@ -150,7 +150,7 @@ PrimaryFlightDisplay::PrimaryFlightDisplay(int width, int height, QWidget *paren
     font("Bitstream Vera Sans"),
     refreshTimer(new QTimer(this)),
 
-    navigationCrosstrackError(INFINITY),
+    navigationCrosstrackError(0),
     navigationTargetBearing(UNKNOWN_ATTITUDE),
 
     layout(COMPASS_INTEGRATED),
@@ -673,7 +673,7 @@ void PrimaryFlightDisplay::drawPitchScale(
     QTransform savedTransform = painter.transform();
 
     // find the mark nearest center
-    int snap = round(pitch/PITCH_SCALE_RESOLUTION)*PITCH_SCALE_RESOLUTION;
+    int snap = qRound((double)(pitch/PITCH_SCALE_RESOLUTION))*PITCH_SCALE_RESOLUTION;
     int _min = snap-PITCH_SCALE_HALFRANGE;
     int _max = snap+PITCH_SCALE_HALFRANGE;
     for (int degrees=_min; degrees<=_max; degrees+=PITCH_SCALE_RESOLUTION) {
@@ -876,7 +876,7 @@ void PrimaryFlightDisplay::drawAICompassDisk(QPainter& painter, QRectF area, flo
     painter.drawRoundedRect(digitalCompassRect, instrumentEdgePen.widthF()*2/3, instrumentEdgePen.widthF()*2/3);
 
     /* final safeguard for really stupid systems */
-    int digitalCompassValue = static_cast<int>(round(heading)) % 360;
+    int digitalCompassValue = static_cast<int>(qRound((double)heading)) % 360;
 
     QString s_digitalCompass;
     s_digitalCompass.sprintf("%03d", digitalCompassValue);

src/ui/QGCTabbedInfoView.cpp

+#include "QGCTabbedInfoView.h"
+
+QGCTabbedInfoView::QGCTabbedInfoView(QWidget *parent) : QWidget(parent)
+{
+    ui.setupUi(this);
+    actionsWidget = new UASActionsWidget(this);
+    quickView = new UASQuickView(this);
+    rawView = new UASRawStatusView(this);
+    ui.tabWidget->addTab(quickView,"Quick");
+    ui.tabWidget->addTab(actionsWidget,"Actions");
+    ui.tabWidget->addTab(rawView,"Status");
+}
+void QGCTabbedInfoView::addSource(MAVLinkDecoder *decoder)
+{
+    m_decoder = decoder;
+    rawView->addSource(decoder);
+    quickView->addSource(decoder);
+}
+
+QGCTabbedInfoView::~QGCTabbedInfoView()
+{
+}

src/ui/QGCTabbedInfoView.h

+#ifndef QGCTABBEDINFOVIEW_H
+#define QGCTABBEDINFOVIEW_H
+
+#include <QWidget>
+#include "ui_QGCTabbedInfoView.h"
+#include "MAVLinkDecoder.h"
+#include "UASActionsWidget.h"
+#include "UASQuickView.h"
+#include "UASRawStatusView.h"
+class QGCTabbedInfoView : public QWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit QGCTabbedInfoView(QWidget *parent = 0);
+    ~QGCTabbedInfoView();
+    void addSource(MAVLinkDecoder *decoder);
+private:
+    MAVLinkDecoder *m_decoder;
+    Ui::QGCTabbedInfoView ui;
+    UASActionsWidget *actionsWidget;
+    UASQuickView *quickView;
+    UASRawStatusView *rawView;
+};
+
+#endif // QGCTABBEDINFOVIEW_H

src/ui/QGCTabbedInfoView.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCTabbedInfoView</class>
+ <widget class="QWidget" name="QGCTabbedInfoView">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>571</width>
+    <height>457</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>-1</number>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/QGCVehicleConfig.h

@@ -26,7 +26,8 @@ public:
         RC_MODE_1 = 1,
         RC_MODE_2 = 2,
         RC_MODE_3 = 3,
-        RC_MODE_4 = 4
+        RC_MODE_4 = 4,
+        RC_MODE_NONE = 5
     };
 
 public slots:
@@ -56,6 +57,8 @@ public slots:
     /** Render the data updated */
     void updateView();
 
+    void updateMinMax();
+
     /** Set the RC channel */
     void setRollChan(int channel) {
         rcMapping[0] = channel - 1;

src/ui/UASRawStatusView.cpp

+#include "UASRawStatusView.h"
+#include "MAVLinkDecoder.h"
+#include "UASInterface.h"
+#include "UAS.h"
+#include <QTimer>
+#include <QScrollBar>
+UASRawStatusView::UASRawStatusView(QWidget *parent) : QWidget(parent)
+{
+    ui.setupUi(this);
+    ui.tableWidget->setColumnCount(2);
+    ui.tableWidget->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
+    ui.tableWidget->setShowGrid(false);
+    ui.tableWidget->setEditTriggers(QAbstractItemView::NoEditTriggers);
+    QTimer *timer = new QTimer(this);
+    connect(timer,SIGNAL(timeout()),this,SLOT(updateTableTimerTick()));
+    timer->start(2000);
+}
+void UASRawStatusView::addSource(MAVLinkDecoder *decoder)
+{
+    connect(decoder,SIGNAL(valueChanged(int,QString,QString,double,quint64)),this,SLOT(valueChanged(int,QString,QString,double,quint64)));
+    connect(decoder,SIGNAL(valueChanged(int,QString,QString,qint8,quint64)),this,SLOT(valueChanged(int,QString,QString,qint8,quint64)));
+    connect(decoder,SIGNAL(valueChanged(int,QString,QString,qint16,quint64)),this,SLOT(valueChanged(int,QString,QString,qint16,quint64)));
+    connect(decoder,SIGNAL(valueChanged(int,QString,QString,qint32,quint64)),this,SLOT(valueChanged(int,QString,QString,qint32,quint64)));
+    connect(decoder,SIGNAL(valueChanged(int,QString,QString,qint64,quint64)),this,SLOT(valueChanged(int,QString,QString,qint64,quint64)));
+    connect(decoder,SIGNAL(valueChanged(int,QString,QString,quint8,quint64)),this,SLOT(valueChanged(int,QString,QString,quint8,quint64)));
+    connect(decoder,SIGNAL(valueChanged(int,QString,QString,qint16,quint64)),this,SLOT(valueChanged(int,QString,QString,qint16,quint64)));
+    connect(decoder,SIGNAL(valueChanged(int,QString,QString,quint32,quint64)),this,SLOT(valueChanged(int,QString,QString,quint32,quint64)));
+    connect(decoder,SIGNAL(valueChanged(int,QString,QString,quint64,quint64)),this,SLOT(valueChanged(int,QString,QString,quint64,quint64)));
+}
+void UASRawStatusView::valueChanged(const int uasId, const QString& name, const QString& unit, const quint8 value, const quint64 msec)
+{
+    valueChanged(uasId,name,unit,(double)value,msec);
+}
+void UASRawStatusView::valueChanged(const int uasId, const QString& name, const QString& unit, const qint8 value, const quint64 msec)
+{
+    valueChanged(uasId,name,unit,(double)value,msec);
+}
+void UASRawStatusView::valueChanged(const int uasId, const QString& name, const QString& unit, const quint16 value, const quint64 msec)
+{
+    valueChanged(uasId,name,unit,(double)value,msec);
+}
+void UASRawStatusView::valueChanged(const int uasId, const QString& name, const QString& unit, const qint16 value, const quint64 msec)
+{
+    valueChanged(uasId,name,unit,(double)value,msec);
+}
+void UASRawStatusView::valueChanged(const int uasId, const QString& name, const QString& unit, const quint32 value, const quint64 msec)
+{
+    valueChanged(uasId,name,unit,(double)value,msec);
+}
+void UASRawStatusView::valueChanged(const int uasId, const QString& name, const QString& unit, const qint32 value, const quint64 msec)
+{
+    valueChanged(uasId,name,unit,(double)value,msec);
+}
+void UASRawStatusView::valueChanged(const int uasId, const QString& name, const QString& unit, const quint64 value, const quint64 msec)
+{
+    valueChanged(uasId,name,unit,(double)value,msec);
+}
+void UASRawStatusView::valueChanged(const int uasId, const QString& name, const QString& unit, const qint64 value, const quint64 msec)
+{
+    valueChanged(uasId,name,unit,(double)value,msec);
+}
+
+void UASRawStatusView::valueChanged(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec)
+{
+    valueMap[name] = value;
+    if (nameToUpdateWidgetMap.contains(name))
+    {
+        nameToUpdateWidgetMap[name]->setText(QString::number(value));
+    }
+    else
+    {
+        m_tableDirty = true;
+    }
+    return;
+}
+void UASRawStatusView::resizeEvent(QResizeEvent *event)
+{
+    m_tableDirty = true;
+}
+
+void UASRawStatusView::updateTableTimerTick()
+{
+    if (m_tableDirty)
+    {
+        m_tableDirty = false;
+        int columncount = 2;
+        bool good = false;
+        while (!good)
+        {
+            ui.tableWidget->clear();
+            ui.tableWidget->setRowCount(0);
+            ui.tableWidget->setColumnCount(columncount);
+            ui.tableWidget->horizontalHeader()->hide();
+            ui.tableWidget->verticalHeader()->hide();
+            int currcolumn = 0;
+            int currrow = 0;
+            int totalheight = 2 + ui.tableWidget->horizontalScrollBar()->height();
+            bool broke = false;
+            for (QMap<QString,double>::const_iterator i=valueMap.constBegin();i!=valueMap.constEnd();i++)
+            {
+                if (ui.tableWidget->rowCount() < currrow+1)
+                {
+                    ui.tableWidget->setRowCount(currrow+1);
+                }
+                ui.tableWidget->setItem(currrow,currcolumn,new QTableWidgetItem(i.key().split(".")[1]));
+                QTableWidgetItem *item = new QTableWidgetItem(QString::number(i.value()));
+                nameToUpdateWidgetMap[i.key()] = item;
+                ui.tableWidget->setItem(currrow,currcolumn+1,item);
+                ui.tableWidget->resizeRowToContents(currrow);
+                totalheight += ui.tableWidget->rowHeight(currrow);
+                currrow++;
+                if ((totalheight + ui.tableWidget->rowHeight(currrow-1)) > ui.tableWidget->height())
+                {
+                    currcolumn+=2;
+                    totalheight = 2 + ui.tableWidget->horizontalScrollBar()->height();
+                    currrow = 0;
+                    if (currcolumn >= columncount)
+                    {
+                        //We're over what we can do. Add a column and continue.
+                        columncount+=2;
+                        broke = true;
+                        break;
+                    }
+                }
+            }
+            if (!broke)
+            {
+                good = true;
+            }
+        }
+        ui.tableWidget->resizeColumnsToContents();
+        //ui.tableWidget->columnCount()-2
+    }
+}
+
+UASRawStatusView::~UASRawStatusView()
+{
+}

src/ui/UASRawStatusView.h

+#ifndef UASRAWSTATUSVIEW_H
+#define UASRAWSTATUSVIEW_H
+
+#include <QWidget>
+#include "MAVLinkDecoder.h"
+#include "ui_UASRawStatusView.h"
+
+class UASRawStatusView : public QWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit UASRawStatusView(QWidget *parent = 0);
+    ~UASRawStatusView();
+    void addSource(MAVLinkDecoder *decoder);
+private slots:
+    void updateTableTimerTick();
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const quint8 value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const qint8 value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const quint16 value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const qint16 value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const quint32 value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const qint32 value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const quint64 value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const qint64 value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec);
+protected:
+    void resizeEvent(QResizeEvent *event);
+private:
+    QMap<QString,double> valueMap;
+    QMap<QString,QTableWidgetItem*> nameToUpdateWidgetMap;
+    Ui::UASRawStatusView ui;
+    bool m_tableDirty;
+};
+
+#endif // UASRAWSTATUSVIEW_H

src/ui/UASRawStatusView.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>UASRawStatusView</class>
+ <widget class="QWidget" name="UASRawStatusView">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QTableWidget" name="tableWidget"/>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/designer/QGCRadioChannelDisplay.cpp

+#include "QGCRadioChannelDisplay.h"
+#include <QPainter>
+QGCRadioChannelDisplay::QGCRadioChannelDisplay(QWidget *parent) : QWidget(parent)
+{
+    m_showMinMax = false;
+    m_min = 0;
+    m_max = 1;
+    m_value = 1500;
+    m_orientation = Qt::Vertical;
+    m_name = "Yaw";
+}
+void QGCRadioChannelDisplay::setName(QString name)
+{
+    m_name = name;
+    update();
+}
+
+void QGCRadioChannelDisplay::setOrientation(Qt::Orientation orient)
+{
+    m_orientation = orient;
+    update();
+}
+void QGCRadioChannelDisplay::paintEvent(QPaintEvent *event)
+{
+    //Values range from 0-3000.
+    //1500 is the middle, static servo value.
+    QPainter painter(this);
+
+    int currval = m_value;
+    if (currval > m_max)
+    {
+        currval = m_max;
+    }
+    if (currval < m_min)
+    {
+        currval = m_min;
+    }
+
+    if (m_orientation == Qt::Vertical)
+    {
+        painter.drawRect(0,0,width()-1,(height()-1) - (painter.fontMetrics().height() * 2));
+        painter.setBrush(Qt::SolidPattern);
+        painter.setPen(QColor::fromRgb(50,255,50));
+        //m_value - m_min / m_max - m_min
+
+        if (!m_showMinMax)
+        {
+            int newval = (height()-2-(painter.fontMetrics().height() * 2)) * ((float)(currval - m_min) / ((m_max-m_min)+1));
+            int newvaly = (height()-2-(painter.fontMetrics().height() * 2)) - newval;
+            painter.drawRect(1,newvaly,width()-3,((height()-2) - newvaly - (painter.fontMetrics().height() * 2)));
+        }
+        else
+        {
+            int newval = (height()-2-(painter.fontMetrics().height() * 2)) * ((float)(currval / 3001.0));
+            int newvaly = (height()-2-(painter.fontMetrics().height() * 2)) - newval;
+            painter.drawRect(1,newvaly,width()-3,((height()-2) - newvaly - (painter.fontMetrics().height() * 2)));
+        }
+
+        QString valstr = QString::number(m_value);
+        painter.setPen(QColor::fromRgb(255,255,255));
+        painter.drawText((width()/2.0) - (painter.fontMetrics().width(m_name)/2.0),((height()-3) - (painter.fontMetrics().height()*1)),m_name);
+        painter.drawText((width()/2.0) - (painter.fontMetrics().width(valstr)/2.0),((height()-3) - (painter.fontMetrics().height() * 0)),valstr);
+        if (m_showMinMax)
+        {
+            painter.setBrush(Qt::NoBrush);
+            painter.setPen(QColor::fromRgb(255,0,0));
+            int maxyval = (height()-3 - (painter.fontMetrics().height() * 2)) - (((height()-3-(painter.fontMetrics().height() * 2)) * ((float)m_max / 3000.0)));
+            int minyval = (height()-3 - (painter.fontMetrics().height() * 2)) - (((height()-3-(painter.fontMetrics().height() * 2)) * ((float)m_min / 3000.0)));
+            painter.drawRect(2,maxyval,width()-3,minyval - maxyval);
+            QString minstr = QString::number(m_min);
+            painter.drawText((width() / 2.0) - (painter.fontMetrics().width("min")/2.0),minyval,"min");
+            painter.drawText((width() / 2.0) - (painter.fontMetrics().width(minstr)/2.0),minyval + painter.fontMetrics().height(),minstr);
+
+            QString maxstr = QString::number(m_max);
+            painter.drawText((width() / 2.0) - (painter.fontMetrics().width("max")/2.0),maxyval,"max");
+            painter.drawText((width() / 2.0) - (painter.fontMetrics().width(maxstr)/2.0),maxyval + painter.fontMetrics().height(),maxstr);
+
+            //painter.drawRect(width() * ,2,((width()-1) * ((float)m_max / 3000.0)) - (width() * ((float)m_min / 3000.0)),(height()-5) - (painter.fontMetrics().height() * 2));
+        }
+    }
+    else
+    {
+        painter.drawRect(0,0,width()-1,(height()-1) - (painter.fontMetrics().height() * 2));
+        painter.setBrush(Qt::SolidPattern);
+        painter.setPen(QColor::fromRgb(50,255,50));
+        if (!m_showMinMax)
+        {
+            painter.drawRect(1,1,(width()-3) * ((float)(currval-m_min) / (m_max-m_min)),(height()-3) - (painter.fontMetrics().height() * 2));
+        }
+        else
+        {
+            painter.drawRect(1,1,(width()-3) * ((float)currval / 3000.0),(height()-3) - (painter.fontMetrics().height() * 2));
+        }
+        painter.setPen(QColor::fromRgb(255,255,255));
+        QString valstr = QString::number(m_value);
+        painter.drawText((width()/2.0) - (painter.fontMetrics().width(m_name)/2.0),((height()-3) - (painter.fontMetrics().height()*1)),m_name);
+        painter.drawText((width()/2.0) - (painter.fontMetrics().width(valstr)/2.0),((height()-3) - (painter.fontMetrics().height() * 0)),valstr);
+        if (m_showMinMax)
+        {
+            painter.setBrush(Qt::NoBrush);
+            painter.setPen(QColor::fromRgb(255,0,0));
+            painter.drawRect(width() * ((float)m_min / 3000.0),2,((width()-1) * ((float)m_max / 3000.0)) - (width() * ((float)m_min / 3000.0)),(height()-5) - (painter.fontMetrics().height() * 2));
+
+            QString minstr = QString::number(m_min);
+            painter.drawText((width() * ((float)m_min / 3000.0)) - (painter.fontMetrics().width("min")/2.0),((height()-3) - (painter.fontMetrics().height()*1)),"min");
+            painter.drawText((width() * ((float)m_min / 3000.0)) - (painter.fontMetrics().width(minstr)/2.0),((height()-3) - (painter.fontMetrics().height() * 0)),minstr);
+
+            QString maxstr = QString::number(m_max);
+            painter.drawText((width() * ((float)m_max / 3000.0)) - (painter.fontMetrics().width("max")/2.0),((height()-3) - (painter.fontMetrics().height()*1)),"max");
+            painter.drawText((width() * ((float)m_max / 3000.0)) - (painter.fontMetrics().width(maxstr)/2.0),((height()-3) - (painter.fontMetrics().height() * 0)),maxstr);
+        }
+    }
+}
+
+void QGCRadioChannelDisplay::setValue(int value)
+{
+    if (value < 0)
+    {
+        m_value = 0;
+    }
+    else if (value > 3000)
+    {
+        m_value = 3000;
+    }
+    else
+    {
+        m_value = value;
+    }
+    update();
+}
+
+void QGCRadioChannelDisplay::showMinMax()
+{
+    m_showMinMax = true;
+    update();
+}
+
+void QGCRadioChannelDisplay::hideMinMax()
+{
+    m_showMinMax = false;
+    update();
+}
+
+void QGCRadioChannelDisplay::setMin(int value)
+{
+    m_min = value;
+    if (m_min == m_max)
+    {
+        m_min--;
+    }
+    update();
+}
+
+void QGCRadioChannelDisplay::setMax(int value)
+{
+    m_max = value;
+    if (m_min == m_max)
+    {
+        m_max++;
+    }
+    update();
+}

src/ui/designer/QGCRadioChannelDisplay.h

+#ifndef QGCRADIOCHANNELDISPLAY_H
+#define QGCRADIOCHANNELDISPLAY_H
+
+#include <QWidget>
+
+class QGCRadioChannelDisplay : public QWidget
+{
+    Q_OBJECT
+public:
+    explicit QGCRadioChannelDisplay(QWidget *parent = 0);
+    void setOrientation(Qt::Orientation orient);
+    void setValue(int value);
+    void showMinMax();
+    void hideMinMax();
+    void setMin(int value);
+    void setMax(int value);
+    void setName(QString name);
+    int value() { return m_value; }
+    int min() { return m_min; }
+    int max() { return m_max; }
+protected:
+    void paintEvent(QPaintEvent *event);
+private:
+    Qt::Orientation m_orientation;
+    int m_value;
+    int m_min;
+    int m_max;
+    bool m_showMinMax;
+    QString m_name;
+signals:
+    
+public slots:
+    
+};
+
+#endif // QGCRADIOCHANNELDISPLAY_H

src/ui/uas/UASActionsWidget.cpp

+#include "UASActionsWidget.h"
+#include <QMessageBox>
+#include <UAS.h>
+UASActionsWidget::UASActionsWidget(QWidget *parent) : QWidget(parent)
+{
+    m_uas = 0;
+    ui.setupUi(this);
+    connect(ui.changeAltitudeButton,SIGNAL(clicked()),this,SLOT(changeAltitudeClicked()));
+    connect(ui.changeSpeedButton,SIGNAL(clicked()),this,SLOT(changeSpeedClicked()));
+    connect(ui.goToWaypointButton,SIGNAL(clicked()),this,SLOT(goToWaypointClicked()));
+    connect(ui.armDisarmButton,SIGNAL(clicked()),this,SLOT(armButtonClicked()));
+    connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
+    if (UASManager::instance()->getActiveUAS())
+    {
+        activeUASSet(UASManager::instance()->getActiveUAS());
+    }
+}
+
+void UASActionsWidget::activeUASSet(UASInterface *uas)
+{
+    m_uas = uas;
+    connect(m_uas->getWaypointManager(),SIGNAL(waypointEditableListChanged()),this,SLOT(updateWaypointList()));
+    connect(m_uas->getWaypointManager(),SIGNAL(currentWaypointChanged(quint16)),this,SLOT(currentWaypointChanged(quint16)));
+    connect(m_uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool)));
+    armingChanged(m_uas->isArmed());
+    updateWaypointList();
+}
+void UASActionsWidget::armButtonClicked()
+{
+    if (m_uas)
+    {
+        if (m_uas->isArmed())
+        {
+            ((UAS*)m_uas)->disarmSystem();
+        }
+        else
+        {
+            ((UAS*)m_uas)->armSystem();
+        }
+    }
+}
+
+void UASActionsWidget::armingChanged(bool state)
+{
+    //TODO:
+    //Figure out why arm/disarm is in UAS.h and not part of the interface, and fix.
+    if (state)
+    {
+        ui.armDisarmButton->setText("DISARM\nCurrently Armed");
+    }
+    else
+    {
+        ui.armDisarmButton->setText("ARM\nCurrently Disarmed");
+    }
+
+}
+
+void UASActionsWidget::currentWaypointChanged(quint16 wpid)
+{
+    ui.currentWaypointLabel->setText("Current: " + QString::number(wpid));
+}
+
+void UASActionsWidget::updateWaypointList()
+{
+    ui.waypointComboBox->clear();
+    for (int i=0;i<m_uas->getWaypointManager()->getWaypointEditableList().size();i++)
+    {
+        ui.waypointComboBox->addItem(QString::number(i));
+    }
+}
+
+UASActionsWidget::~UASActionsWidget()
+{
+}
+void UASActionsWidget::goToWaypointClicked()
+{
+    if (!m_uas)
+    {
+        return;
+    }
+    m_uas->getWaypointManager()->setCurrentWaypoint(ui.waypointComboBox->currentIndex());
+}
+
+void UASActionsWidget::changeAltitudeClicked()
+{
+    QMessageBox::information(0,"Error","No implemented yet.");
+}
+
+void UASActionsWidget::changeSpeedClicked()
+{
+    if (!m_uas)
+    {
+        return;
+    }
+    if (m_uas->getSystemType() == MAV_TYPE_QUADROTOR)
+    {
+        m_uas->setParameter(1,"WP_SPEED_MAX",QVariant(((float)ui.altitudeSpinBox->value() * 100)));
+        return;
+    }
+    else if (m_uas->getSystemType() == MAV_TYPE_FIXED_WING)
+    {
+        QVariant variant;
+        if (m_uas->getParamManager()->getParameterValue(1,"ARSPD_ENABLE",variant))
+        {
+            if (variant.toInt() == 1)
+            {
+                m_uas->setParameter(1,"TRIM_ARSPD_CN",QVariant(((float)ui.altitudeSpinBox->value() * 100)));
+                return;
+            }
+
+        }
+        m_uas->setParameter(1,"TRIM_ARSPD_CN",QVariant(((float)ui.altitudeSpinBox->value() * 100)));
+    }
+}

src/ui/uas/UASActionsWidget.h

+#ifndef UASACTIONSWIDGET_H
+#define UASACTIONSWIDGET_H
+
+#include <QWidget>
+#include "ui_UASActionsWidget.h"
+#include <UASManager.h>
+#include <UASInterface.h>
+class UASActionsWidget : public QWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit UASActionsWidget(QWidget *parent = 0);
+    ~UASActionsWidget();
+private:
+    Ui::UASActionsWidget ui;
+    UASInterface *m_uas;
+private slots:
+    void armButtonClicked();
+    void armingChanged(bool state);
+    void currentWaypointChanged(quint16 wpid);
+    void updateWaypointList();
+    void activeUASSet(UASInterface *uas);
+    void goToWaypointClicked();
+    void changeAltitudeClicked();
+    void changeSpeedClicked();
+};
+
+#endif // UASACTIONSWIDGET_H

src/ui/uas/UASActionsWidget.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>UASActionsWidget</class>
+ <widget class="QWidget" name="UASActionsWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>321</width>
+    <height>363</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="QGroupBox" name="groupBox">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>10</y>
+     <width>241</width>
+     <height>161</height>
+    </rect>
+   </property>
+   <property name="title">
+    <string>Mission Controls</string>
+   </property>
+   <widget class="QPushButton" name="goToWaypointButton">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>50</y>
+      <width>131</width>
+      <height>23</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Go To Waypoint</string>
+    </property>
+   </widget>
+   <widget class="QComboBox" name="waypointComboBox">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>20</y>
+      <width>131</width>
+      <height>22</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QWidget" name="horizontalLayoutWidget">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>120</y>
+      <width>221</width>
+      <height>31</height>
+     </rect>
+    </property>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <widget class="QSpinBox" name="speedSpinBox"/>
+     </item>
+     <item>
+      <widget class="QPushButton" name="changeSpeedButton">
+       <property name="text">
+        <string>Change Speed</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </widget>
+   <widget class="QWidget" name="horizontalLayoutWidget_2">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>81</y>
+      <width>221</width>
+      <height>31</height>
+     </rect>
+    </property>
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <item>
+      <widget class="QSpinBox" name="altitudeSpinBox"/>
+     </item>
+     <item>
+      <widget class="QPushButton" name="changeAltitudeButton">
+       <property name="text">
+        <string>Change Altitude</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </widget>
+   <widget class="QLabel" name="currentWaypointLabel">
+    <property name="geometry">
+     <rect>
+      <x>150</x>
+      <y>20</y>
+      <width>81</width>
+      <height>20</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Current:</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="pushButton_6">
+    <property name="geometry">
+     <rect>
+      <x>150</x>
+      <y>50</y>
+      <width>81</width>
+      <height>23</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Restart Mission</string>
+    </property>
+   </widget>
+  </widget>
+  <widget class="QGroupBox" name="groupBox_2">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>180</y>
+     <width>311</width>
+     <height>161</height>
+    </rect>
+   </property>
+   <property name="title">
+    <string>Auto Actions</string>
+   </property>
+   <widget class="QComboBox" name="comboBox">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>20</y>
+      <width>141</width>
+      <height>22</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="pushButton_8">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>50</y>
+      <width>141</width>
+      <height>23</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Execute Action</string>
+    </property>
+   </widget>
+   <widget class="QComboBox" name="comboBox_3">
+    <property name="geometry">
+     <rect>
+      <x>160</x>
+      <y>20</y>
+      <width>141</width>
+      <height>22</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="pushButton_5">
+    <property name="geometry">
+     <rect>
+      <x>160</x>
+      <y>50</y>
+      <width>141</width>
+      <height>23</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Set Mode</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="pushButton">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>80</y>
+      <width>91</width>
+      <height>23</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Auto</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="pushButton_2">
+    <property name="geometry">
+     <rect>
+      <x>110</x>
+      <y>80</y>
+      <width>91</width>
+      <height>23</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Manual</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="pushButton_4">
+    <property name="geometry">
+     <rect>
+      <x>210</x>
+      <y>80</y>
+      <width>91</width>
+      <height>23</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>RTL</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="armDisarmButton">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>110</y>
+      <width>291</width>
+      <height>41</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>ARM</string>
+    </property>
+   </widget>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/uas/UASQuickView.h

@@ -8,28 +8,62 @@
 #include "uas/UASInterface.h"
 #include "ui_UASQuickView.h"
 #include "UASQuickViewItem.h"
+#include "MAVLinkDecoder.h"
+#include "UASQuickViewItemSelect.h"
 class UASQuickView : public QWidget
 {
     Q_OBJECT
 public:
     UASQuickView(QWidget *parent = 0);
+    void addSource(MAVLinkDecoder *decoder);
 private:
     UASInterface *uas;
-    QList<QString> uasPropertyList;
+
+    /** List of enabled properties */
+    QList<QString> uasEnabledPropertyList;
+
+    /** Maps from the property name to the current value */
     QMap<QString,double> uasPropertyValueMap;
+
+    /** Maps from property name to the display item */
     QMap<QString,UASQuickViewItem*> uasPropertyToLabelMap;
+
+    /** Timer for updating the UI */
     QTimer *updateTimer;
+
+    /** Selection dialog for selectin/deselecting gauge items */
+    UASQuickViewItemSelect *quickViewSelectDialog;
+
+    /** Saves gauge layout to settings file */
+    void saveSettings();
+
+    /** Loads gauge layout from settings file */
+    void loadSettings();
 protected:
     Ui::Form ui;
 signals:
     
 public slots:
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const quint8 value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const qint8 value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const quint16 value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const qint16 value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const quint32 value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const qint32 value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const quint64 value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const qint64 value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec);
+
     void valueChanged(const int uasid, const QString& name, const QString& unit, const QVariant value,const quint64 msecs);
     void actionTriggered(bool checked);
+    void actionTriggered();
     void updateTimerTick();
     void addUAS(UASInterface* uas);
     void setActiveUAS(UASInterface* uas);
     void valChanged(double val,QString type);
+    void selectDialogClosed();
+    void valueEnabled(QString value);
+    void valueDisabled(QString value);
 };
 
 #endif // UASQUICKVIEW_H

src/ui/uas/UASQuickView.ui

@@ -21,7 +21,11 @@
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_2">
    <item>
-    <layout class="QVBoxLayout" name="verticalLayout"/>
+    <layout class="QVBoxLayout" name="verticalLayout">
+     <property name="spacing">
+      <number>0</number>
+     </property>
+    </layout>
    </item>
   </layout>
  </widget>

src/ui/uas/UASQuickViewItem.cc

@@ -3,24 +3,5 @@
 
 UASQuickViewItem::UASQuickViewItem(QWidget *parent) : QWidget(parent)
 {
-    QVBoxLayout *layout = new QVBoxLayout();
-    this->setLayout(layout);
-    titleLabel = new QLabel(this);
-    titleLabel->setAlignment(Qt::AlignHCenter);
-    this->layout()->addWidget(titleLabel);
-    valueLabel = new QLabel(this);
-    valueLabel->setAlignment(Qt::AlignHCenter);
-    valueLabel->setText("<h1>0.00</h1>");
-    this->layout()->addWidget(valueLabel);
-    layout->addSpacerItem(new QSpacerItem(20, 40, QSizePolicy::Minimum, QSizePolicy::Expanding));
-}
 
-void UASQuickViewItem::setValue(double value)
-{
-    valueLabel->setText("<h1>" + QString::number(value,'f',4) + "</h1>");
-}
-
-void UASQuickViewItem::setTitle(QString title)
-{
-    titleLabel->setText(title);
 }

src/ui/uas/UASQuickViewItem.h

@@ -8,15 +8,8 @@ class UASQuickViewItem : public QWidget
     Q_OBJECT
 public:
     explicit UASQuickViewItem(QWidget *parent = 0);
-    void setValue(double value);
-    void setTitle(QString title);
-private:
-    QLabel *titleLabel;
-    QLabel *valueLabel;
-signals:
-    
-public slots:
-    
+    virtual void setValue(double value)=0;
+    virtual void setTitle(QString title)=0;
 };
 
 #endif // UASQUICKVIEWITEM_H

src/ui/uas/UASQuickViewItemSelect.cc

+#include "UASQuickViewItemSelect.h"
+#include <QLabel>
+#include <QCheckBox>
+UASQuickViewItemSelect::UASQuickViewItemSelect(QWidget *parent) : QWidget(parent)
+{
+    ui.setupUi(this);
+    currcol = 0;
+    currrow = 0;
+}
+void UASQuickViewItemSelect::addItem(QString item,bool enabled)
+{
+    QCheckBox *label = new QCheckBox(this);
+    if (enabled)
+    {
+        label->setChecked(true);
+    }
+    connect(label,SIGNAL(clicked(bool)),this,SLOT(checkBoxClicked(bool)));
+    label->setText(item);
+    label->show();
+    ui.gridLayout->addWidget(label,currrow,currcol++);
+    if (currcol > 10)
+    {
+        currcol = 0;
+        currrow++;
+    }
+}
+void UASQuickViewItemSelect::checkBoxClicked(bool checked)
+{
+    QCheckBox *check = qobject_cast<QCheckBox*>(sender());
+    if (!check)
+    {
+        return;
+    }
+    if (checked)
+    {
+        emit valueEnabled(check->text());
+    }
+    else
+    {
+        emit valueDisabled(check->text());
+    }
+}
+
+UASQuickViewItemSelect::~UASQuickViewItemSelect()
+{
+}

src/ui/uas/UASQuickViewItemSelect.h

+#ifndef UASQUICKVIEWITEMSELECT_H
+#define UASQUICKVIEWITEMSELECT_H
+
+#include <QWidget>
+#include "ui_UASQuickViewItemSelect.h"
+
+class UASQuickViewItemSelect : public QWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit UASQuickViewItemSelect(QWidget *parent = 0);
+    ~UASQuickViewItemSelect();
+    void addItem(QString item,bool enabled = false);
+    int currrow;
+    int currcol;
+private:
+    Ui::UASQuickViewItemSelect ui;
+private slots:
+    void checkBoxClicked(bool checked);
+signals:
+    void valueEnabled(QString value);
+    void valueDisabled(QString value);
+};
+
+#endif // UASQUICKVIEWITEMSELECT_H

src/ui/uas/UASQuickViewItemSelect.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>UASQuickViewItemSelect</class>
+ <widget class="QWidget" name="UASQuickViewItemSelect">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>571</width>
+    <height>474</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QScrollArea" name="scrollArea">
+     <property name="widgetResizable">
+      <bool>true</bool>
+     </property>
+     <widget class="QWidget" name="scrollAreaWidgetContents">
+      <property name="geometry">
+       <rect>
+        <x>0</x>
+        <y>0</y>
+        <width>551</width>
+        <height>454</height>
+       </rect>
+      </property>
+      <layout class="QHBoxLayout" name="horizontalLayout">
+       <item>
+        <layout class="QGridLayout" name="gridLayout"/>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/uas/UASQuickViewTextItem.cc

+#include "UASQuickViewTextItem.h"
+#include <QVBoxLayout>
+UASQuickViewTextItem::UASQuickViewTextItem(QWidget *parent) : UASQuickViewItem(parent)
+{
+    QVBoxLayout *layout = new QVBoxLayout();
+    this->setLayout(layout);
+    layout->setSpacing(0);
+    layout->setMargin(0);
+    titleLabel = new QLabel(this);
+    titleLabel->setAlignment(Qt::AlignHCenter);
+    this->layout()->addWidget(titleLabel);
+    valueLabel = new QLabel(this);
+    valueLabel->setAlignment(Qt::AlignHCenter);
+    valueLabel->setText("0.00");
+    this->layout()->addWidget(valueLabel);
+    layout->addSpacerItem(new QSpacerItem(20, 40, QSizePolicy::Minimum, QSizePolicy::Expanding));
+    QFont valuefont = valueLabel->font();
+    QFont titlefont = titleLabel->font();
+    valuefont.setPixelSize(this->height() / 2.0);
+    titlefont.setPixelSize(this->height() / 4.0);
+    valueLabel->setFont(valuefont);
+    titleLabel->setFont(titlefont);
+}
+void UASQuickViewTextItem::setValue(double value)
+{
+    valueLabel->setText(QString::number(value,'f',4));
+}
+
+void UASQuickViewTextItem::setTitle(QString title)
+{
+    titleLabel->setText(title);
+}
+void UASQuickViewTextItem::resizeEvent(QResizeEvent *event)
+{
+    QFont valuefont = valueLabel->font();
+    QFont titlefont = titleLabel->font();
+    valuefont.setPixelSize(this->height() / 2.0);
+    titlefont.setPixelSize(this->height() / 4.0);
+    valueLabel->setFont(valuefont);
+    titleLabel->setFont(titlefont);
+    update();
+}

src/ui/uas/UASQuickViewTextItem.h

+#ifndef UASQUICKVIEWTEXTITEM_H
+#define UASQUICKVIEWTEXTITEM_H
+
+#include "UASQuickViewItem.h"
+#include <QLabel>
+class UASQuickViewTextItem : public UASQuickViewItem
+{
+public:
+    UASQuickViewTextItem(QWidget *parent=0);
+    void setValue(double value);
+    void setTitle(QString title);
+protected:
+    void resizeEvent(QResizeEvent *event);
+private:
+    QLabel *titleLabel;
+    QLabel *valueLabel;
+};
+
+#endif // UASQUICKVIEWTEXTITEM_H