Fixed QMapControl bug

lib/QMapControl/src/layermanager.cpp

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

src/comm/LinkInterface.h

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

src/comm/MAVLinkSimulationLink.cc

@@ -55,7 +55,7 @@ This file is part of the QGROUNDCONTROL project
  * @param writeFile The received messages are written to that file
  * @param rate The rate at which the messages are sent (in intervals of milliseconds)
  **/
-MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile, int rate) :
+MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile, int rate, QObject* parent) : LinkInterface(parent),
         readyBytes(0),
         timeOffset(0)
 {
@@ -445,6 +445,7 @@ void MAVLinkSimulationLink::mainloop()
             chan.chan6_raw = (chan.chan3_raw + chan.chan2_raw) / 2.0f;
             chan.chan7_raw = (chan.chan4_raw + chan.chan2_raw) / 2.0f;
             chan.chan8_raw = (chan.chan6_raw + chan.chan2_raw) / 2.0f;
+            chan.rssi = 100;
             messageSize = mavlink_msg_rc_channels_raw_encode(systemId, componentId, &msg, &chan);
             // Allocate buffer with packet data
             bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);

src/comm/MAVLinkSimulationLink.h

@@ -47,7 +47,7 @@ class MAVLinkSimulationLink : public LinkInterface
 {
     Q_OBJECT
 public:
-    MAVLinkSimulationLink(QString readFile="", QString writeFile="", int rate=5);
+    MAVLinkSimulationLink(QString readFile="", QString writeFile="", int rate=5, QObject* parent = 0);
     ~MAVLinkSimulationLink();
     bool isConnected();
     qint64 bytesAvailable();

src/comm/MAVLinkSwarmSimulationLink.cc

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

src/comm/MAVLinkSwarmSimulationLink.h

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

src/uas/UASManager.cc

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

src/ui/MapWidget.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/>.
-    
 ======================================================================*/
 
 /**
@@ -52,54 +33,54 @@ MapWidget::MapWidget(QWidget *parent) :
         m_ui(new Ui::MapWidget)
 {
     m_ui->setupUi(this);
-    
+
     waypointIsDrag = false;
-    
+
     // Accept focus by clicking or keyboard
     this->setFocusPolicy(Qt::StrongFocus);
-    
+
     // create MapControl
     mc = new qmapcontrol::MapControl(QSize(320, 240));
     mc->showScale(true);
     mc->showCoord(true);
-    mc->enablePersistentCache();
+    mc->enablePersistentCache(qApp->applicationDirPath());
     mc->setMouseTracking(true); // required to update the mouse position for diplay and capture
-    
+
     // create MapAdapter to get maps from
     //TileMapAdapter* osmAdapter = new TileMapAdapter("tile.openstreetmap.org", "/%1/%2/%3.png", 256, 0, 17);
-    
+
     qmapcontrol::MapAdapter* mapadapter_overlay = new qmapcontrol::YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=2.2&t=h&s=256&x=%2&y=%3&z=%1");
-    
+
     // MAP BACKGROUND
     mapadapter = new qmapcontrol::GoogleSatMapAdapter();
     l = new qmapcontrol::MapLayer("Google Satellite", mapadapter);
     mc->addLayer(l);
-    
+
     // STREET OVERLAY
     overlay = new qmapcontrol::MapLayer("Overlay", mapadapter_overlay);
     overlay->setVisible(false);
     mc->addLayer(overlay);
-    
+
     // WAYPOINT LAYER
     // create a layer with the mapadapter and type GeometryLayer (for waypoints)
     geomLayer = new qmapcontrol::GeometryLayer("Waypoints", mapadapter);
     mc->addLayer(geomLayer);
-    
-    
-    
+
+
+
     //
     //    Layer* gsatLayer = new Layer("Google Satellite", gsat, Layer::MapLayer);
     //    mc->addLayer(gsatLayer);
-    
+
     // SET INITIAL POSITION AND ZOOM
     // Set default zoom level
     mc->setZoom(16);
     // Zurich, ETH
     //mc->setView(QPointF(8.548056,47.376389));
-    
+
     // Veracruz Mexico, ETH
     mc->setView(QPointF(-96.105208,19.138955));
-    
+
     // Add controls to select map provider
     /////////////////////////////////////////////////
     QActionGroup* mapproviderGroup = new QActionGroup(this);
@@ -116,31 +97,31 @@ MapWidget::MapWidget(QWidget *parent) :
     googleSatAction->setChecked(true);
     connect(mapproviderGroup, SIGNAL(triggered(QAction*)),
             this, SLOT(mapproviderSelected(QAction*)));
-    
+
     // Overlay seems currently broken
     //    yahooActionOverlay = new QAction(tr("Yahoo: street overlay"), this);
     //    yahooActionOverlay->setCheckable(true);
     //    yahooActionOverlay->setChecked(overlay->isVisible());
     //    connect(yahooActionOverlay, SIGNAL(toggled(bool)),
     //            overlay, SLOT(setVisible(bool)));
-    
+
     //    mapproviderGroup->addAction(googleSatAction);
     //    mapproviderGroup->addAction(osmAction);
     //    mapproviderGroup->addAction(yahooActionOverlay);
     //    mapproviderGroup->addAction(googleActionMap);
     //    mapproviderGroup->addAction(yahooActionMap);
     //    mapproviderGroup->addAction(yahooActionSatellite);
-    
+
     // Create map provider selection menu
     mapMenu = new QMenu(this);
     mapMenu->addActions(mapproviderGroup->actions());
     mapMenu->addSeparator();
     //    mapMenu->addAction(yahooActionOverlay);
-    
+
     mapButton = new QPushButton(this);
     mapButton->setText("Map Source");
     mapButton->setMenu(mapMenu);
-    
+
     // display the MapControl in the application
     QGridLayout* layout = new QGridLayout(this);
     layout->setMargin(0);
@@ -153,24 +134,24 @@ MapWidget::MapWidget(QWidget *parent) :
     layout->setColumnStretch(0, 1);
     layout->setColumnStretch(1, 50);
     setLayout(layout);
-    
+
     // create buttons to control the map (zoom, GPS tracking and WP capture)
     QPushButton* zoomin = new QPushButton(QIcon(":/images/actions/list-add.svg"), "", this);
     QPushButton* zoomout = new QPushButton(QIcon(":/images/actions/list-remove.svg"), "", this);
     createPath = new QPushButton(QIcon(":/images/actions/go-bottom.svg"), "", this);
     followgps = new QPushButton(QIcon(":/images/actions/system-lock-screen.svg"), "", this);
-    
+
     zoomin->setMaximumWidth(50);
     zoomout->setMaximumWidth(50);
     createPath->setMaximumWidth(50);
     followgps->setMaximumWidth(50);
-    
+
     // Set checkable buttons
     // TODO: Currently checked buttons are are very difficult to distinguish when checked.
     //       create a style and the slots to change the background so it is easier to distinguish
     followgps->setCheckable(true);
     createPath->setCheckable(true);
-    
+
     // add buttons to control the map (zoom, GPS tracking and WP capture)
     QGridLayout* innerlayout = new QGridLayout(mc);
     innerlayout->setMargin(5);
@@ -185,56 +166,60 @@ MapWidget::MapWidget(QWidget *parent) :
     innerlayout->setRowStretch(0, 1);
     innerlayout->setRowStretch(1, 100);
     mc->setLayout(innerlayout);
-    
-    
+
+
     // Connect the required signals-slots
     connect(zoomin, SIGNAL(clicked(bool)),
             mc, SLOT(zoomIn()));
-    
+
     connect(zoomout, SIGNAL(clicked(bool)),
             mc, SLOT(zoomOut()));
-    
+
+    QList<UASInterface*> systems = UASManager::instance()->getUASList();
+    foreach(UASInterface* system, systems)
+    {
+        addUAS(system);
+    }
+
     connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
             this, SLOT(addUAS(UASInterface*)));
+
+    activeUASSet(UASManager::instance()->getActiveUAS());
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(activeUASSet(UASInterface*)));
-    
+
     connect(mc, SIGNAL(mouseEventCoordinate(const QMouseEvent*, const QPointF)),
             this, SLOT(captureMapClick(const QMouseEvent*, const QPointF)));
-    
+
     connect(createPath, SIGNAL(clicked(bool)),
             this, SLOT(createPathButtonClicked(bool)));
-    
-    
+
+
     connect(geomLayer, SIGNAL(geometryClicked(Geometry*,QPoint)),
             this, SLOT(captureGeometryClick(Geometry*, QPoint)));
-    
+
     connect(geomLayer, SIGNAL(geometryDragged(Geometry*, QPointF)),
             this, SLOT(captureGeometryDrag(Geometry*, QPointF)));
-    
+
     connect(geomLayer, SIGNAL(geometryEndDrag(Geometry*, QPointF)),
             this, SLOT(captureGeometryEndDrag(Geometry*, QPointF)));
-    
+
     // Configure the WP Path's pen
     pointPen = new QPen(QColor(0, 255,0));
     pointPen->setWidth(3);
-    
+
     path = new qmapcontrol::LineString (wps, "UAV Path", pointPen);
     mc->layer("Waypoints")->addGeometry(path);
-    
+
     //Camera Control
     // CAMERA INDICATOR LAYER
     // create a layer with the mapadapter and type GeometryLayer (for camera indicator)
     camLayer = new qmapcontrol::GeometryLayer("Camera", mapadapter);
     mc->addLayer(camLayer);
-    
+
     //camLine = new qmapcontrol::LineString(camPoints,"Camera Eje", camBorderPen);
-    
+
     drawCamBorder = false;
     radioCamera = 10;
-    
-    
-    
-    this->setVisible(false);
 }
 
 
@@ -246,27 +231,27 @@ void MapWidget::mapproviderSelected(QAction* action)
     {
         int zoom = mapadapter->adaptedZoom();
         mc->setZoom(0);
-        
+
         mapadapter = new qmapcontrol::OSMMapAdapter();
         l->setMapAdapter(mapadapter);
         geomLayer->setMapAdapter(mapadapter);
-        
+
         mc->updateRequestNew();
         mc->setZoom(zoom);
         //        yahooActionOverlay->setEnabled(false);
         overlay->setVisible(false);
         //        yahooActionOverlay->setChecked(false);
-        
+
     }
     else if (action == yahooActionMap)
     {
         int zoom = mapadapter->adaptedZoom();
         mc->setZoom(0);
-        
+
         mapadapter = new qmapcontrol::YahooMapAdapter();
         l->setMapAdapter(mapadapter);
         geomLayer->setMapAdapter(mapadapter);
-        
+
         mc->updateRequestNew();
         mc->setZoom(zoom);
         //        yahooActionOverlay->setEnabled(false);
@@ -278,10 +263,10 @@ void MapWidget::mapproviderSelected(QAction* action)
         int zoom = mapadapter->adaptedZoom();
         QPointF a = mc->currentCoordinate();
         mc->setZoom(0);
-        
+
         mapadapter = new qmapcontrol::YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=1.7&t=a&s=256&x=%2&y=%3&z=%1");
         l->setMapAdapter(mapadapter);
-        
+
         mc->updateRequestNew();
         mc->setZoom(zoom);
         //        yahooActionOverlay->setEnabled(true);
@@ -293,7 +278,7 @@ void MapWidget::mapproviderSelected(QAction* action)
         mapadapter = new qmapcontrol::GoogleMapAdapter();
         l->setMapAdapter(mapadapter);
         geomLayer->setMapAdapter(mapadapter);
-        
+
         mc->updateRequestNew();
         mc->setZoom(zoom);
         //        yahooActionOverlay->setEnabled(false);
@@ -307,7 +292,7 @@ void MapWidget::mapproviderSelected(QAction* action)
         mapadapter = new qmapcontrol::GoogleSatMapAdapter();
         l->setMapAdapter(mapadapter);
         geomLayer->setMapAdapter(mapadapter); 
-        
+
         mc->updateRequestNew();
         mc->setZoom(zoom);
         //        yahooActionOverlay->setEnabled(false);
@@ -324,19 +309,19 @@ void MapWidget::mapproviderSelected(QAction* action)
 void MapWidget::createPathButtonClicked(bool checked)
 {
     Q_UNUSED(checked);
-    
-    
-    
+
+
+
     if (createPath->isChecked())
     {
         // change the cursor shape
         this->setCursor(Qt::PointingHandCursor);
         mc->setMouseMode(qmapcontrol::MapControl::None);
-        
-        
+
+
         // emit signal start to create a Waypoint global
         emit createGlobalWP(true, mc->currentCoordinate());
-        
+
         //        // Clear the previous WP track
         //        // TODO: Move this to an actual clear track button and add a warning dialog
         //        mc->layer("Waypoints")->clearGeometries();
@@ -344,16 +329,16 @@ void MapWidget::createPathButtonClicked(bool checked)
         //        path->setPoints(wps);
         //        mc->layer("Waypoints")->addGeometry(path);
         //        wpIndex.clear();
-        
-        
+
+
     } else {
-        
+
         this->setCursor(Qt::ArrowCursor);
         mc->setMouseMode(qmapcontrol::MapControl::Panning);
-        
-        
+
+
     }
-    
+
 }
 
 /**
@@ -366,19 +351,19 @@ void MapWidget::createPathButtonClicked(bool checked)
 
 void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordinate)
 {
-    
+
     qDebug() << mc->mouseMode();
-    
+
     if (QEvent::MouseButtonRelease == event->type() && createPath->isChecked())
     {
         // Create waypoint name
         QString str;
-        
+
         str = QString("%1").arg(path->numberOfPoints());
-        
+
         // create the WP and set everything in the LineString to display the path
         Waypoint2DIcon* tempCirclePoint;
-        
+
         if (mav)
         {
             tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor()));
@@ -388,19 +373,19 @@ void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordina
             tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
         }
         mc->layer("Waypoints")->addGeometry(tempCirclePoint);
-        
+
         qmapcontrol::Point* tempPoint = new qmapcontrol::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);
-        
+
     }
 }
 
@@ -409,14 +394,14 @@ void MapWidget::createWaypointGraphAtMap(const QPointF coordinate)
     if (!wpExists(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);
         Waypoint2DIcon* tempCirclePoint;
-        
+
         if (mav)
         {
             tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor()));
@@ -425,21 +410,21 @@ void MapWidget::createWaypointGraphAtMap(const QPointF coordinate)
         {
             tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
         }
-        
-        
+
+
         mc->layer("Waypoints")->addGeometry(tempCirclePoint);
-        
+
         Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str);
         wps.append(tempPoint);
         path->addPoint(tempPoint);
-        
+
         wpIndex.insert(str,tempPoint);
         qDebug()<<"Funcion createWaypointGraphAtMap WP= "<<str<<" -> x= "<<tempPoint->latitude()<<" y= "<<tempPoint->longitude();
-        
+
         // Refresh the screen
         mc->updateRequestNew();
     }
-    
+
     ////    // emit signal mouse was clicked
     //    emit captureMapCoordinateClick(coordinate);
 }
@@ -459,40 +444,40 @@ 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)
 {
-    
-    
+
+
     waypointIsDrag = true;
-    
+
     // Refresh the screen
     mc->updateRequestNew();
-    
+
     int temp = 0;
     qmapcontrol::Point* point2Find;
     point2Find = wpIndex[geom->name()];
-    
+
     if (point2Find)
     {
         point2Find->setCoordinate(coordinate);
-        
+
         point2Find = dynamic_cast <qmapcontrol::Point*> (geom);
         if (point2Find)
         {
             point2Find->setCoordinate(coordinate);
-            
+
             // qDebug() << geom->name();
             temp = geom->get_myIndex();
             //qDebug() << temp;
             emit sendGeometryEndDrag(coordinate,temp);
         }
     }
-    
+
 }
 
 void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate)
@@ -500,14 +485,14 @@ void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate)
     Q_UNUSED(geom);
     Q_UNUSED(coordinate);
     // TODO: Investigate why when creating the waypoint path this slot is being called
-    
+
     // Only change the mouse mode back to panning when not creating a WP path
     if (!createPath->isChecked())
     {
         waypointIsDrag = false;
         mc->setMouseMode(qmapcontrol::MapControl::Panning);
     }
-    
+
 }
 
 MapWidget::~MapWidget()
@@ -520,6 +505,10 @@ MapWidget::~MapWidget()
  */
 void MapWidget::addUAS(UASInterface* uas)
 {
+    if(mav != NULL)
+    {
+        disconnect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
+    }
     connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
 }
 
@@ -555,30 +544,30 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
         // A QPen can be used to customize the
         //pointpen->setWidth(3);
         //points.append(new CirclePoint(lat, lon, 10, uas->getUASName(), Point::Middle, pointpen));
-        
+
         if (!uasIcons.contains(uas->getUASID()))
         {
             // Get the UAS color
             QColor uasColor = uas->getColor();
-            
+
             // Icon
             QPen* pointpen = new QPen(uasColor);
             qDebug() << uas->getUASName();
             MAV2DIcon* p = new MAV2DIcon(lat, lon, 20, uas->getUASName(), qmapcontrol::Point::Middle, pointpen);
             uasIcons.insert(uas->getUASID(), p);
             geomLayer->addGeometry(p);
-            
+
             // Line
             // A QPen also can use transparency
-            
+
             QList<qmapcontrol::Point*> points;
-            points.append(new qmapcontrol::Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon)));
+            points.append(new qmapcontrol::Point(lat, lon, ""));
             QPen* linepen = new QPen(uasColor.darker());
             linepen->setWidth(2);
             // Add the Points and the QPen to a LineString
             qmapcontrol::LineString* ls = new qmapcontrol::LineString(points, uas->getUASName(), linepen);
             uasTrails.insert(uas->getUASID(), ls);
-            
+
             // Add the LineString to the layer
             geomLayer->addGeometry(ls);
         }
@@ -591,14 +580,14 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
                 p->setYaw(uas->getYaw());
             }
             // Extend trail
-            uasTrails.value(uas->getUASID())->addPoint(new qmapcontrol::Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon)));
+            uasTrails.value(uas->getUASID())->addPoint(new qmapcontrol::Point(lat, lon, ""));
         }
-        
-        
+
+
         // Connect click events of the layer to this object
         // connect(osmLayer, SIGNAL(geometryClicked(Geometry*, QPoint)),
         //                  this, SLOT(geometryClicked(Geometry*, QPoint)));
-        
+
         // Sets the view to the interesting area
         updatePosition(0, lat, lon);
     }
@@ -628,10 +617,10 @@ void MapWidget::wheelEvent(QWheelEvent *event)
     // Detail zoom level is the number of steps zoomed in further
     // after the bounding has taken effect
     detailZoom = qAbs(qMin(0, mc->currentZoom()-newZoom));
-    
+
     // visual field of camera
     updateCameraPosition(20*newZoom,0,"no");
-    
+
 }
 
 void MapWidget::keyPressEvent(QKeyEvent *event)
@@ -681,20 +670,20 @@ void MapWidget::changeEvent(QEvent *e)
 void MapWidget::clearPath()
 {
     // Clear the previous WP track
-    
+
     mc->layer("Waypoints")->clearGeometries();
     wps.clear();
     path->setPoints(wps);
     mc->layer("Waypoints")->addGeometry(path);
     wpIndex.clear();
     mc->updateRequestNew();
-    
-    
+
+
     if(createPath->isChecked())
     {
         createPath->click();
     }
-    
+
 }
 
 void MapWidget::changeGlobalWaypointPositionBySpinBox(int index, float lat, float lon)
@@ -702,87 +691,88 @@ void MapWidget::changeGlobalWaypointPositionBySpinBox(int index, float lat, floa
     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();
     }
-    
-    
+
+
 }
 
 void MapWidget::updateCameraPosition(double radio, double bearing, QString dir)
 {
+    // FIXME Mariano
     //camPoints.clear();
     QPointF currentPos = mc->currentCoordinate();
     //    QPointF actualPos = getPointxBearing_Range(currentPos.y(),currentPos.x(),bearing,distance);
-    
+
     //    qmapcontrol::Point* tempPoint1 = new qmapcontrol::Point(currentPos.x(), currentPos.y(),"inicial",qmapcontrol::Point::Middle);
     //    qmapcontrol::Point* tempPoint2 = new qmapcontrol::Point(actualPos.x(), actualPos.y(),"final",qmapcontrol::Point::Middle);
-    
+
     //    camPoints.append(tempPoint1);
     //    camPoints.append(tempPoint2);
-    
+
     //    camLine->setPoints(camPoints);
-    
+
     QPen* camBorderPen = new QPen(QColor(255,0,0));
     camBorderPen->setWidth(2);
-    
+
     //radio = mc->currentZoom()
-    
+
     if(drawCamBorder)
     {
         //clear camera borders
         mc->layer("Camera")->clearGeometries();
-        
+
         //create a camera borders
         qmapcontrol::CirclePoint* camBorder = new qmapcontrol::CirclePoint(currentPos.x(), currentPos.y(), radio, "camBorder", qmapcontrol::Point::Middle, camBorderPen);
-        
+
         //camBorder->setCoordinate(currentPos);
-        
+
         mc->layer("Camera")->addGeometry(camBorder);
         // mc->layer("Camera")->addGeometry(camLine);
         mc->updateRequestNew();
-        
+
     }
     else
     {
         //clear camera borders
         mc->layer("Camera")->clearGeometries();
         mc->updateRequestNew();
-        
+
     }
-    
-    
+
+
 }
 
 void MapWidget::drawBorderCamAtMap(bool status)
 {
     drawCamBorder = status;
     updateCameraPosition(20,0,"no");
-    
+
 }
 
 QPointF MapWidget::getPointxBearing_Range(double lat1, double lon1, double bearing, double distance)
 {
     QPointF temp;
-    
+
     double rad = M_PI/180;
-    
+
     bearing = bearing*rad;
     temp.setX((lon1 + ((distance/60) * (sin(bearing)))));
     temp.setY((lat1 + ((distance/60) * (cos(bearing)))));
-    
+
     return temp;
 }
 

src/ui/RadioCalibration/AirfoilServoCalibrator.cc

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

src/ui/RadioCalibration/RadioCalibrationData.cc

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

src/ui/RadioCalibration/RadioCalibrationWindow.cc

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

src/ui/SlugsHilSim.cc

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

src/ui/WaypointList.cc

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

src/ui/map3D/QGCGoogleEarthView.cc

@@ -178,7 +178,7 @@ void QGCGoogleEarthView::showTrail(bool state)
 
 void QGCGoogleEarthView::showWaypoints(bool state)
 {
-
+    waypointsEnabled = state;
 }
 
 void QGCGoogleEarthView::follow(bool follow)
@@ -232,7 +232,7 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event)
             // Reloading the webpage, this resets Google Earth
             gEarthInitialized = false;
 
-            QTimer::singleShot(2000, this, SLOT(initializeGoogleEarth()));
+            QTimer::singleShot(3000, this, SLOT(initializeGoogleEarth()));
             updateTimer->start(refreshRateMs);
         }
     }
@@ -299,7 +299,7 @@ void QGCGoogleEarthView::initializeGoogleEarth()
             qDebug() << "COULD NOT GET DOCUMENT OBJECT! Aborting";
         }
 #endif
-        QTimer::singleShot(2500, this, SLOT(initializeGoogleEarth()));
+        QTimer::singleShot(3500, this, SLOT(initializeGoogleEarth()));
         return;
     }
 

src/ui/map3D/QOSGWidget.cc

@@ -26,7 +26,7 @@ QOSGWidget::QOSGWidget( QWidget * parent, const char * name, WindowFlags f, bool
     QWidget(parent, f), _overrideTraits (overrideTraits)
 {
     createContext();
-    
+    Q_UNUSED(name);
     setAttribute(Qt::WA_PaintOnScreen);
     setAttribute(Qt::WA_NoSystemBackground);
     setFocusPolicy(Qt::ClickFocus);   
@@ -95,6 +95,8 @@ void QOSGWidget::createContext()
 #ifndef WIN32 
 void QOSGWidget::destroyEvent(bool destroyWindow, bool destroySubWindows)
 {   
+    Q_UNUSED(destroyWindow);
+    Q_UNUSED(destroySubWindows);
     _gw->getEventQueue()->closeWindow();
 }
 
@@ -236,7 +238,7 @@ class QViewerTimer : public QWidget
         _timer.stop ();
     }
 
-        virtual void paintEvent (QPaintEvent * event) { _viewer->frame(); }
+        virtual void paintEvent (QPaintEvent * event) { Q_UNUSED(event); _viewer->frame(); }
 
         osg::ref_ptr <osgViewer::CompositeViewer> _viewer;
         QTimer _timer;