Enable the CDI display for the PFD widget.

src/uas/UAS.cc

@@ -1342,6 +1342,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             setDistToWaypoint(p.wp_dist);
             setBearingToWaypoint(p.nav_bearing);
             emit navigationControllerErrorsChanged(this, p.alt_error, p.aspd_error, p.xtrack_error);
+            emit NavigationControllerDataChanged(this, p.nav_roll, p.nav_pitch, p.nav_bearing, p.target_bearing, p.wp_dist);
         }
             break;
         // Messages to ignore

src/uas/UASInterface.h

@@ -544,6 +544,7 @@ signals:
     void velocityChanged_NED(UASInterface*, double vx, double vy, double vz, quint64 usec);
 
     void navigationControllerErrorsChanged(UASInterface*, double altitudeError, double speedError, double xtrackError);
+    void NavigationControllerDataChanged(UASInterface *uas, float navRoll, float navPitch, float navBearing, float targetBearing, float targetDist);
 
     void imageStarted(int imgid, int width, int height, int depth, int channels);
     void imageDataReceived(int imgid, const unsigned char* imageData, int length, int startIndex);

src/ui/PrimaryFlightDisplay.cc

@@ -121,7 +121,7 @@ PrimaryFlightDisplay::PrimaryFlightDisplay(QWidget *parent) :
     airSpeed(std::numeric_limits<double>::quiet_NaN()),
     climbRate(std::numeric_limits<double>::quiet_NaN()),
 
-    navigationCrosstrackError(0),
+    navigationCrosstrackError(std::numeric_limits<double>::quiet_NaN()),
     navigationTargetBearing(std::numeric_limits<double>::quiet_NaN()),
 
     layout(COMPASS_INTEGRATED),
@@ -221,6 +221,7 @@ void PrimaryFlightDisplay::forgetUAS(UASInterface* uas)
         disconnect(this->uas, SIGNAL(speedChanged(UASInterface*, double, double, quint64)), this, SLOT(updateSpeed(UASInterface*, double, double, quint64)));
         disconnect(this->uas, SIGNAL(altitudeChanged(UASInterface*, double, double, double, double, quint64)), this, SLOT(updateAltitude(UASInterface*, double, double, double, quint64)));
         disconnect(this->uas, SIGNAL(navigationControllerErrorsChanged(UASInterface*, double, double, double)), this, SLOT(updateNavigationControllerErrors(UASInterface*, double, double, double)));
+        disconnect(this->uas, &UASInterface::NavigationControllerDataChanged, this, &PrimaryFlightDisplay::UpdateNavigationControllerData);
     }
 }
 
@@ -244,6 +245,7 @@ void PrimaryFlightDisplay::setActiveUAS(UASInterface* uas)
         connect(uas, SIGNAL(speedChanged(UASInterface*, double, double, quint64)), this, SLOT(updateSpeed(UASInterface*, double, double, quint64)));
         connect(uas, SIGNAL(altitudeChanged(UASInterface*, double, double, double, double, quint64)), this, SLOT(updateAltitude(UASInterface*, double, double, double, double, quint64)));
         connect(uas, SIGNAL(navigationControllerErrorsChanged(UASInterface*, double, double, double)), this, SLOT(updateNavigationControllerErrors(UASInterface*, double, double, double)));
+        connect(uas, &UASInterface::NavigationControllerDataChanged, this, &PrimaryFlightDisplay::UpdateNavigationControllerData);
 
         // Set new UAS
         this->uas = uas;
@@ -346,6 +348,16 @@ void PrimaryFlightDisplay::updateAltitude(UASInterface* uas, double _altitudeAMS
     climbRate = _climbRate;
 }
 
+void PrimaryFlightDisplay::UpdateNavigationControllerData(UASInterface *uas, float navRoll, float navPitch, float navBearing, float targetBearing, float targetDistance) {
+    Q_UNUSED(navRoll);
+    Q_UNUSED(navPitch);
+    Q_UNUSED(navBearing);
+    Q_UNUSED(targetDistance);
+    if (this->uas == uas) {
+        this->navigationTargetBearing = targetBearing;
+    }
+}
+
 void PrimaryFlightDisplay::updateNavigationControllerErrors(UASInterface* uas, double altitudeError, double speedError, double xtrackError) {
     Q_UNUSED(uas);
     this->navigationAltitudeError = altitudeError;
@@ -862,7 +874,8 @@ void PrimaryFlightDisplay::drawAICompassDisk(QPainter& painter, QRectF area, flo
     drawTextCenter(painter, s_digitalCompass, largeTextSize, 0, -radius*0.38-digitalCompassUpshift);
 
     // The CDI
-    if (shouldDisplayNavigationData() && !isnan(navigationTargetBearing) && !isinf(navigationCrosstrackError)) {
+    // We only display this navigation data if both the target bearing and crosstrack error are valid
+    if (shouldDisplayNavigationData() && !isnan(navigationTargetBearing) && !isnan(navigationCrosstrackError)) {
         painter.resetTransform();
         painter.translate(area.center());
         // TODO : Sign might be wrong?

src/ui/PrimaryFlightDisplay.h

@@ -21,6 +21,7 @@ public slots:
     void updateSpeed(UASInterface* uas, double _groundSpeed, double _airSpeed, quint64 timestamp);
     void updateAltitude(UASInterface* uas, double _altitudeAMSL, double _altitudeWGS84, double _altitudeRelative, double _climbRate, quint64 timestamp);
     void updateNavigationControllerErrors(UASInterface* uas, double altitudeError, double speedError, double xtrackError);
+    void UpdateNavigationControllerData(UASInterface *uas, float navRoll, float navPitch, float navBearing, float targetBearing, float targetDistance);
 
     /** @brief Set the currently monitored UAS */
     void forgetUAS(UASInterface* uas);