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/>.
-    
 ======================================================================*/
 
 /**
@@ -62,7 +43,7 @@ MapWidget::MapWidget(QWidget *parent) :
     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
@@ -194,8 +175,16 @@ MapWidget::MapWidget(QWidget *parent) :
     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)),
@@ -231,10 +220,6 @@ MapWidget::MapWidget(QWidget *parent) :
 
     drawCamBorder = false;
     radioCamera = 10;
-    
-    
-    
-    this->setVisible(false);
 }
 
 
@@ -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)));
 }
 
@@ -572,7 +561,7 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
             // 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
@@ -591,7 +580,7 @@ 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, ""));
         }
 
 
@@ -723,6 +712,7 @@ void MapWidget::changeGlobalWaypointPositionBySpinBox(int index, float lat, floa
 
 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);

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)
 {
+    // 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;