Merge branch 'experimental' of git@github.com:pixhawk/qgroundcontrol into experimental

lib/QMapControl/src/imagemanager.cpp

@@ -153,7 +153,7 @@ namespace qmapcontrol
         QBuffer buffer(&bytes);
         buffer.open(QIODevice::WriteOnly);
         tileData.save(&buffer, "PNG");
-
+        // FIXME This is weird - why first write in buffer and then in file?
         file.write(bytes);
         file.close();
         return true;

lib/QMapControl/src/layer.cpp

@@ -39,10 +39,10 @@ namespace qmapcontrol
         delete mapAdapter;
     }
 
-    void Layer::setSize(QSize size)
+    void Layer::setSize(QSize size, QPoint screenmiddle)
     {
         this->size = size;
-        screenmiddle = QPoint(size.width()/2, size.height()/2);
+        this->screenmiddle = screenmiddle;// QPoint(size.width()/2, size.height()/2);
         //QMatrix mat;
         //mat.translate(480/2, 640/2);
         //mat.rotate(45);
@@ -292,10 +292,12 @@ namespace qmapcontrol
 
 
         // PREFETCHING
-        int upper = mapmiddle_tile_y-tiles_above-1;
-        int right = mapmiddle_tile_x+tiles_right+1;
-        int left = mapmiddle_tile_x-tiles_right-1;
-        int lower = mapmiddle_tile_y+tiles_bottom+1;
+
+        // FIXME Make prefetching a parameter
+        int upper = mapmiddle_tile_y-tiles_above-2;
+        int right = mapmiddle_tile_x+tiles_right+2;
+        int left = mapmiddle_tile_x-tiles_right-2;
+        int lower = mapmiddle_tile_y+tiles_bottom+2;
 
         int j = upper;
         for (int i=left; i<=right; i++)

lib/QMapControl/src/layer.h

@@ -139,7 +139,7 @@ namespace qmapcontrol
         void moveWidgets(const QPoint mapmiddle_px) const;
         void drawYourImage(QPainter* painter, const QPoint mapmiddle_px) const;
         void drawYourGeometries(QPainter* painter, const QPoint mapmiddle_px, QRect viewport) const;
-        void setSize(QSize size);
+        void setSize(QSize size, QPoint screenmiddle);
         QRect offscreenViewport() const;
         bool takesMouseEvents() const;
         void mouseEvent(const QMouseEvent*, const QPoint mapmiddle_px);

lib/QMapControl/src/layermanager.cpp

@@ -47,6 +47,7 @@ namespace qmapcontrol
         offFactor = factor;
         composedOffscreenImage = QPixmap(offSize);
         composedOffscreenImage2 = QPixmap(offSize);
+        resize(size);
     }
 
     float LayerManager::offscreenImageFactor()
@@ -219,7 +220,7 @@ namespace qmapcontrol
     {
         mylayers.append(layer);
 
-        layer->setSize(size);
+        layer->setSize(size, screenmiddle);
 
         connect(layer, SIGNAL(updateRequest(QRectF)),
                 this, SLOT(updateRequest(QRectF)));
@@ -438,6 +439,20 @@ namespace qmapcontrol
         forceRedraw();
     }
 
+    void LayerManager::drawGeoms()
+    {
+        QPainter painter(&composedOffscreenImage);
+        QListIterator<Layer*> it(mylayers);
+        while (it.hasNext())
+        {
+            Layer* l = it.next();
+            if (l->layertype() == Layer::GeometryLayer && l->isVisible())
+            {
+                l->drawYourGeometries(&painter, mapmiddle_px, layer()->offscreenViewport());
+            }
+        }
+    }
+
     void LayerManager::drawGeoms(QPainter* painter)
     {
         QListIterator<Layer*> it(mylayers);
@@ -450,6 +465,8 @@ namespace qmapcontrol
             }
         }
     }
+
+
     void LayerManager::drawImage(QPainter* painter)
     {
         painter->drawPixmap(-scroll.x()-screenmiddle.x(),
@@ -477,7 +494,7 @@ namespace qmapcontrol
         while (it.hasNext())
         {
             Layer* l = it.next();
-            l->setSize(newSize);
+            l->setSize(newSize, screenmiddle);
         }
 
         newOffscreenImage();

lib/QMapControl/src/layermanager.h

@@ -171,6 +171,8 @@ namespace qmapcontrol
          */
         int currentZoom() const;
 
+
+        void drawGeoms();
         void drawGeoms(QPainter* painter);
         void drawImage(QPainter* painter);
 

lib/QMapControl/src/mapcontrol.cpp

@@ -350,6 +350,12 @@ namespace qmapcontrol
     {
         update(rect);
     }
+
+    void MapControl::drawGeometries()
+    {
+        layermanager->drawGeoms();
+    }
+
     void MapControl::updateRequestNew()
     {
         // qDebug() << "MapControl::updateRequestNew()";

lib/QMapControl/src/mapcontrol.h

@@ -345,6 +345,8 @@ namespace qmapcontrol
          */
         void updateRequest ( QRect rect );
 
+        void drawGeometries();
+
         //! updates the hole map by creating a new offscreen image
         /*!
          *

qgroundcontrol.pro

@@ -261,7 +261,9 @@ HEADERS += src/MG.h \
     src/ui/designer/QGCParamSlider.h \
     src/ui/designer/QGCActionButton.h \
     src/ui/designer/QGCToolWidgetItem.h \
-    src/ui/QGCMAVLinkLogPlayer.h
+    src/ui/QGCMAVLinkLogPlayer.h \
+    src/comm/MAVLinkSimulationWaypointPlanner.h \
+    src/comm/MAVLinkSimulationMAV.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|win32-msvc2008: {
@@ -383,7 +385,9 @@ SOURCES += src/main.cc \
     src/ui/designer/QGCParamSlider.cc \
     src/ui/designer/QGCActionButton.cc \
     src/ui/designer/QGCToolWidgetItem.cc \
-    src/ui/QGCMAVLinkLogPlayer.cc
+    src/ui/QGCMAVLinkLogPlayer.cc \
+    src/comm/MAVLinkSimulationWaypointPlanner.cc \
+    src/comm/MAVLinkSimulationMAV.cc
 
 macx|win32-msvc2008: {
     SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/comm/LinkManager.cc

@@ -66,10 +66,13 @@ LinkManager::~LinkManager()
 
 void LinkManager::add(LinkInterface* link)
 {
-    if(!link) return;
-    connect(link, SIGNAL(destroyed(QObject*)), this, SLOT(removeLink(QObject*)));
-    links.append(link);
-    emit newLink(link);
+    if (!links.contains(link))
+    {
+        if(!link) return;
+        connect(link, SIGNAL(destroyed(QObject*)), this, SLOT(removeLink(QObject*)));
+        links.append(link);
+        emit newLink(link);
+    }
 }
 
 void LinkManager::addProtocol(LinkInterface* link, ProtocolInterface* protocol)
@@ -77,9 +80,18 @@ void LinkManager::addProtocol(LinkInterface* link, ProtocolInterface* protocol)
     // Connect link to protocol
     // the protocol will receive new bytes from the link
     if(!link || !protocol) return;
-    connect(link, SIGNAL(bytesReceived(LinkInterface*, QByteArray)), protocol, SLOT(receiveBytes(LinkInterface*, QByteArray)));
-    // Store the connection information in the protocol links map
-    protocolLinks.insertMulti(protocol, link);
+
+    QList<LinkInterface*> linkList = protocolLinks.values(protocol);
+
+    // If protocol has not been added before (list length == 0)
+    // OR if link has not been added to protocol, add
+    if ((linkList.length() > 0 && !linkList.contains(link)) || linkList.length() == 0)
+    {
+        // Protocol is new, add
+        connect(link, SIGNAL(bytesReceived(LinkInterface*, QByteArray)), protocol, SLOT(receiveBytes(LinkInterface*, QByteArray)));
+        // Store the connection information in the protocol links map
+        protocolLinks.insertMulti(protocol, link);
+    }
     //qDebug() << __FILE__ << __LINE__ << "ADDED LINK TO PROTOCOL" << link->getName() << protocol->getName() << "NEW SIZE OF LINK LIST:" << protocolLinks.size();
 }
 

src/comm/MAVLinkSimulationLink.cc

@@ -40,9 +40,9 @@ This file is part of the QGROUNDCONTROL project
 #include "LinkManager.h"
 #include "MAVLinkProtocol.h"
 #include "MAVLinkSimulationLink.h"
-// MAVLINK includes
-#include <QGCMAVLink.h>
+#include "QGCMAVLink.h"
 #include "QGC.h"
+#include "MAVLinkSimulationMAV.h"
 
 /**
  * Create a simulated link. This link is connected to an input and output file.
@@ -90,15 +90,13 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile
         this->name = "MAVLink simulation link";
     }
 
+
+
     // Initialize the pseudo-random number generator
     srand(QTime::currentTime().msec());
     maxTimeNoise = 0;
     this->id = getNextLinkId();
     LinkManager::instance()->add(this);
-
-    // Open packet log
-    mavlinkLogFile = new QFile();
-    //mavlinkLogFile->open(QIODevice::ReadOnly);
 }
 
 MAVLinkSimulationLink::~MAVLinkSimulationLink()
@@ -118,6 +116,8 @@ void MAVLinkSimulationLink::run()
     status.motor_block = 1;
     status.packet_drop = 0;
 
+
+
     forever
     {
 
@@ -146,6 +146,23 @@ void MAVLinkSimulationLink::run()
     }
 }
 
+void MAVLinkSimulationLink::sendMAVLinkMessage(const mavlink_message_t* msg)
+{
+    // Allocate buffer with packet data
+    uint8_t buf[MAVLINK_MAX_PACKET_LEN];
+    unsigned int bufferlength = mavlink_msg_to_send_buffer(buf, msg);
+
+    // Pack to link buffer
+    readyBufferMutex.lock();
+    for (unsigned int i = 0; i < bufferlength; i++)
+    {
+        readyBuffer.enqueue(*(buf + i));
+    }
+    readyBufferMutex.unlock();
+
+    //qDebug() << "SENT MAVLINK MESSAGE FROM SYSTEM" << msg->sysid << "COMP" << msg->compid;
+}
+
 void MAVLinkSimulationLink::enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg)
 {
     // Allocate buffer with packet data
@@ -162,10 +179,7 @@ void MAVLinkSimulationLink::mainloop()
     // Test for encoding / decoding packets
 
     // Test data stream
-    const int streamlength = 4096;
-    int streampointer = 0;
-    //const int testoffset = 0;
-    uint8_t stream[streamlength] = {};
+    streampointer = 0;
 
     // Fake system values
 
@@ -673,7 +687,7 @@ void MAVLinkSimulationLink::mainloop()
     }*/
 
     readyBufferMutex.lock();
-    for (int i = 0; i < streampointer; i++)
+    for (unsigned int i = 0; i < streampointer; i++)
     {
         readyBuffer.enqueue(*(stream + i));
     }
@@ -717,6 +731,8 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
         if (mavlink_parse_char(this->id, data[i], &msg, &comm))
         {
             // MESSAGE RECEIVED!
+            qDebug() << "SIMULATION LINK RECEIVED MESSAGE!";
+            emit messageReceived(msg);
 
             switch (msg.msgid)
             {
@@ -937,6 +953,8 @@ bool MAVLinkSimulationLink::connect()
     emit connected(true);
 
     start(LowPriority);
+    MAVLinkSimulationMAV* mav1 = new MAVLinkSimulationMAV(this, 1);
+    Q_UNUSED(mav1);
     //    timer->start(rate);
     return true;
 }

src/comm/MAVLinkSimulationLink.h

@@ -89,6 +89,7 @@ public slots:
     virtual void mainloop();
     bool connectLink(bool connect);
     void connectLink();
+    void sendMAVLinkMessage(const mavlink_message_t* msg);
 
 
 protected:
@@ -106,7 +107,7 @@ protected:
     QString simulationHeader;
     /** File where the commands sent by the groundstation are stored **/
     QFile* receiveFile;
-    QTextStream stream;
+    QTextStream textStream;
     QTextStream* fileStream;
     QTextStream* outStream;
     /** Buffer which can be read from connected protocols through readBytes(). **/
@@ -115,6 +116,10 @@ protected:
     quint64 rate;
     int maxTimeNoise;
     quint64 lastSent;
+    static const int streamlength = 4096;
+    unsigned int streampointer;
+    //const int testoffset = 0;
+    uint8_t stream[streamlength];
 
     int readyBytes;
     QQueue<uint8_t> readyBuffer;
@@ -133,6 +138,7 @@ protected:
 
 signals:
     void valueChanged(int uasId, QString curve, double value, quint64 usec);
+    void messageReceived(const mavlink_message_t& message);
 
 };
 

src/comm/MAVLinkSimulationMAV.cc

+#include <QDebug>
+
+#include "MAVLinkSimulationMAV.h"
+
+MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int systemid) :
+    QObject(parent),
+    link(parent),
+    planner(parent, systemid),
+    systemid(systemid)
+{
+    connect(&mainloopTimer, SIGNAL(timeout()), this, SLOT(mainloop()));
+    mainloopTimer.start(1000);
+    connect(link, SIGNAL(messageReceived(mavlink_message_t)), this, SLOT(handleMessage(mavlink_message_t)));
+    mainloop();
+}
+
+void MAVLinkSimulationMAV::mainloop()
+{
+    mavlink_message_t msg;
+    mavlink_msg_heartbeat_pack(systemid, MAV_COMP_ID_IMU, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_SLUGS);
+    link->sendMAVLinkMessage(&msg);
+}
+
+void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
+{
+    qDebug() << "MAV:" << systemid << "RECEIVED MESSAGE FROM" << msg.sysid << "COMP" << msg.compid;
+
+    switch(msg.msgid)
+    {
+    case MAVLINK_MSG_ID_ATTITUDE:
+        break;
+    }
+}

src/comm/MAVLinkSimulationMAV.h

+#ifndef MAVLINKSIMULATIONMAV_H
+#define MAVLINKSIMULATIONMAV_H
+
+#include <QObject>
+#include <QTimer>
+
+#include "MAVLinkSimulationLink.h"
+#include "MAVLinkSimulationWaypointPlanner.h"
+
+class MAVLinkSimulationMAV : public QObject
+{
+    Q_OBJECT
+public:
+    explicit MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int systemid);
+
+signals:
+
+public slots:
+    void mainloop();
+    void handleMessage(const mavlink_message_t& msg);
+
+protected:
+    MAVLinkSimulationLink* link;
+    MAVLinkSimulationWaypointPlanner planner;
+    int systemid;
+    QTimer mainloopTimer;
+
+
+};
+
+#endif // MAVLINKSIMULATIONMAV_H

src/comm/MAVLinkSimulationWaypointPlanner.h

+#ifndef MAVLINKSIMULATIONWAYPOINTPLANNER_H
+#define MAVLINKSIMULATIONWAYPOINTPLANNER_H
+
+#include <QObject>
+#include <vector>
+
+#include "MAVLinkSimulationLink.h"
+#include "QGCMAVLink.h"
+
+enum PX_WAYPOINTPLANNER_STATES
+{
+    PX_WPP_IDLE = 0,
+    PX_WPP_SENDLIST,
+    PX_WPP_SENDLIST_SENDWPS,
+    PX_WPP_GETLIST,
+    PX_WPP_GETLIST_GETWPS,
+    PX_WPP_GETLIST_GOTALL
+};
+
+class MAVLinkSimulationWaypointPlanner : public QObject
+{
+    Q_OBJECT
+public:
+    explicit MAVLinkSimulationWaypointPlanner(MAVLinkSimulationLink *parent, int systemid);
+
+signals:
+
+public slots:
+    void handleMessage(const mavlink_message_t& msg);
+
+protected:
+    MAVLinkSimulationLink* link;
+    bool idle;      				///< indicates if the system is following the waypoints or is waiting
+    uint16_t current_active_wp_id;		///< id of current waypoint
+    bool yawReached;						///< boolean for yaw attitude reached
+    bool posReached;						///< boolean for position reached
+    uint64_t timestamp_lastoutside_orbit;///< timestamp when the MAV was last outside the orbit or had the wrong yaw value
+    uint64_t timestamp_firstinside_orbit;///< timestamp when the MAV was the first time after a waypoint change inside the orbit and had the correct yaw value
+
+    std::vector<mavlink_waypoint_t*> waypoints1;	///< vector1 that holds the waypoints
+    std::vector<mavlink_waypoint_t*> waypoints2;	///< vector2 that holds the waypoints
+
+    std::vector<mavlink_waypoint_t*>* waypoints;		///< pointer to the currently active waypoint vector
+    std::vector<mavlink_waypoint_t*>* waypoints_receive_buffer;	///< pointer to the receive buffer waypoint vector
+    PX_WAYPOINTPLANNER_STATES current_state;
+    uint16_t protocol_current_wp_id;
+    uint16_t protocol_current_count;
+    uint8_t protocol_current_partner_systemid;
+    uint8_t protocol_current_partner_compid;
+    uint64_t protocol_timestamp_lastaction;
+    unsigned int protocol_timeout;
+    uint64_t timestamp_last_send_setpoint;
+    uint8_t systemid;
+    uint8_t compid;
+    unsigned int setpointDelay;
+    float yawTolerance;
+    bool verbose;
+    bool debug;
+    bool silent;
+
+    void send_waypoint_ack(uint8_t target_systemid, uint8_t target_compid, uint8_t type);
+    void send_waypoint_current(uint16_t seq);
+    void send_setpoint(uint16_t seq);
+    void send_waypoint_count(uint8_t target_systemid, uint8_t target_compid, uint16_t count);
+    void send_waypoint(uint8_t target_systemid, uint8_t target_compid, uint16_t seq);
+    void send_waypoint_request(uint8_t target_systemid, uint8_t target_compid, uint16_t seq);
+    void send_waypoint_reached(uint16_t seq);
+    float distanceToSegment(uint16_t seq, float x, float y, float z);
+    float distanceToPoint(uint16_t seq, float x, float y, float z);
+    void mavlink_handler(const mavlink_message_t* msg);
+
+};
+
+#endif // MAVLINKSIMULATIONWAYPOINTPLANNER_H

src/uas/SlugsMAV.h

@@ -36,7 +36,9 @@ class SlugsMAV : public UAS
 public:
     SlugsMAV(MAVLinkProtocol* mavlink, int id = 0);
 
-
+#ifdef MAVLINK_ENABLED_SLUGS
+    mavlink_pwm_commands_t* getPwmCommands();
+#endif
 
 public slots:
     /** @brief Receive a MAVLink message from this MAV */

src/uas/UAS.cc

@@ -271,6 +271,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     GAudioOutput::instance()->stopEmergency();
                     GAudioOutput::instance()->say(audiostring);
                 }
+
+                if (state.status == MAV_STATE_POWEROFF)
+                {
+                    emit systemRemoved(this);
+                    emit systemRemoved();
+                }
             }
             break;
         case MAVLINK_MSG_ID_RAW_IMU:

src/uas/UASInterface.h

@@ -262,6 +262,9 @@ signals:
      * @param description longer textual description. Should be however limited to a short text, e.g. 200 chars.
      */
     void statusChanged(UASInterface* uas, QString status, QString description);
+    /** @brief System has been removed / disconnected / shutdown cleanly, remove */
+    void systemRemoved(UASInterface* uas);
+    void systemRemoved();
     /**
      * @brief Received a plain text message from the robot
      * This signal should NOT be used for standard communication, but rather for VERY IMPORTANT

src/ui/CommConfigurationWindow.cc

@@ -68,6 +68,8 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
     // Create configuration action for this link
     // Connect the current UAS
     action = new QAction(QIcon(":/images/devices/network-wireless.svg"), "", link);
+    LinkManager::instance()->add(link);
+    action->setData(LinkManager::instance()->getLinks().indexOf(link));
     setLinkName(link->getName());
     connect(action, SIGNAL(triggered()), this, SLOT(show()));
 
@@ -209,11 +211,12 @@ void CommConfigurationWindow::remove()
         link->disconnect(); //disconnect port, and also calls terminate() to stop the thread
         if (link->isRunning()) link->terminate(); // terminate() the serial thread just in case it is still running
         link->wait(); // wait() until thread is stoped before deleting
-        delete link;
+        link->deleteLater();
     }
     link=NULL;
 
     this->window()->close();
+    this->deleteLater();
 }
 
 void CommConfigurationWindow::connectionState(bool connect)

src/ui/MainWindow.cc

@@ -402,17 +402,17 @@ void MainWindow::buildPxWidgets()
 #ifdef QGC_OSG_ENABLED
     if (!_3DWidget)
     {
-        _3DWidget         = Q3DWidgetFactory::get("PIXHAWK");
-        addToCentralWidgetsMenu(_3DWidget, "Local 3D", SLOT(showCentralWidget()), CENTRAL_3D_LOCAL);
+//        _3DWidget         = Q3DWidgetFactory::get("PIXHAWK");
+//        addToCentralWidgetsMenu(_3DWidget, "Local 3D", SLOT(showCentralWidget()), CENTRAL_3D_LOCAL);
     }
 #endif
 
 #ifdef QGC_OSGEARTH_ENABLED
-    if (!_3DMapWidget)
-    {
-        _3DMapWidget = Q3DWidgetFactory::get("MAP3D");
-        addToCentralWidgetsMenu(_3DMapWidget, "OSG Earth 3D", SLOT(showCentralWidget()), CENTRAL_OSGEARTH);
-    }
+//    if (!_3DMapWidget)
+//    {
+//        _3DMapWidget = Q3DWidgetFactory::get("MAP3D");
+//        addToCentralWidgetsMenu(_3DMapWidget, "OSG Earth 3D", SLOT(showCentralWidget()), CENTRAL_OSGEARTH);
+//    }
 #endif
 
 #if (defined _MSC_VER) | (defined Q_OS_MAC)
@@ -1220,18 +1220,27 @@ void MainWindow::addLink()
     SerialLink* link = new SerialLink();
     // TODO This should be only done in the dialog itself
 
+    LinkManager::instance()->add(link);
     LinkManager::instance()->addProtocol(link, mavlink);
 
-    CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);
+    // Go fishing for this link's configuration window
+    QList<QAction*> actions = ui.menuNetwork->actions();
 
-    ui.menuNetwork->addAction(commWidget->getAction());
-
-    commWidget->show();
+    foreach (QAction* act, actions)
+    {
+        if (act->data().toInt() == LinkManager::instance()->getLinks().indexOf(link))
+        {
+            act->trigger();
+            break;
+        }
+    }
 }
 
 void MainWindow::addLink(LinkInterface *link)
 {
+    LinkManager::instance()->add(link);
     LinkManager::instance()->addProtocol(link, mavlink);
+
     CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);
     ui.menuNetwork->addAction(commWidget->getAction());
 
@@ -1290,7 +1299,11 @@ void MainWindow::UASCreated(UASInterface* uas)
             break;
         }
 
-        ui.menuConnected_Systems->addAction(icon, tr("Select %1 for control").arg(uas->getUASName()), uas, SLOT(setSelected()));
+        QAction* uasAction = new QAction(icon, tr("Select %1 for control").arg(uas->getUASName()), ui.menuConnected_Systems);
+        connect(uas, SIGNAL(systemRemoved()), uasAction, SLOT(deleteLater()));
+        connect(uasAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
+
+        ui.menuConnected_Systems->addAction(uasAction);
 
         // FIXME Should be not inside the mainwindow
         if (debugConsoleDockWidget)

src/ui/MapWidget.cc

@@ -42,14 +42,6 @@ MapWidget::MapWidget(QWidget *parent) :
     QString buttonStyle("QAbstractButton { background-color: rgba(20, 20, 20, 45%); border-color: rgba(10, 10, 10, 50%)}  QDoubleSpinBox { background-color: rgba(20, 20, 20, 45%); border-color: rgba(10, 10, 10, 50%)}");
     mc->setPen(QGC::colorCyan.darker(400));
 
-
-
-
-
-
-
-
-
     waypointIsDrag = false;
 
     // Accept focus by clicking or keyboard
@@ -267,6 +259,10 @@ MapWidget::MapWidget(QWidget *parent) :
     drawCamBorder = false;
     radioCamera = 10;
 
+//    mc->setZoom(20);
+//    //mc->resize(QSize(7025, 4968));
+//    mc->resize(QSize(3000, 2000));
+
     //mc->setOffscreenImageFactor(15);
 }
 
@@ -650,6 +646,10 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
         uasTrails.value(uas->getUASID())->addPoint(new qmapcontrol::Point(lat, lon, ""));
     }
 
+    mc->drawGeometries();
+
+    //mc->updateRequest(QRect(QPoint(0, 0), QPoint(600, 600)));
+
     //mc->updateRequestNew();//(uasTrails.value(uas->getUASID())->boundingBox().toRect());
 
 

src/ui/SerialConfigurationWindow.cc

@@ -260,9 +260,9 @@ userConfigured(false)
         connect(ui.portName, SIGNAL(currentIndexChanged(QString)), this, SLOT(setPortName(QString)));
         connect(ui.baudRate, SIGNAL(activated(int)), this->link, SLOT(setBaudRateType(int)));
         connect(ui.flowControlCheckBox, SIGNAL(toggled(bool)), this, SLOT(enableFlowControl(bool)));
-        connect(ui.parNone, SIGNAL(toggled(bool)), this, SLOT(setParityNone()));
-        connect(ui.parOdd, SIGNAL(toggled(bool)), this, SLOT(setParityOdd()));
-        connect(ui.parEven, SIGNAL(toggled(bool)), this, SLOT(setParityEven()));
+        connect(ui.parNone, SIGNAL(toggled(bool)), this, SLOT(setParityNone(bool)));
+        connect(ui.parOdd, SIGNAL(toggled(bool)), this, SLOT(setParityOdd(bool)));
+        connect(ui.parEven, SIGNAL(toggled(bool)), this, SLOT(setParityEven(bool)));
         connect(ui.dataBitsSpinBox, SIGNAL(valueChanged(int)), this->link, SLOT(setDataBits(int)));
         connect(ui.stopBitsSpinBox, SIGNAL(valueChanged(int)), this->link, SLOT(setStopBits(int)));
 
@@ -283,7 +283,7 @@ userConfigured(false)
             break;
         default:
             // Enforce default: no parity in link
-            setParityNone();
+            setParityNone(true);
             ui.parNone->setChecked(true);
             break;
         }
@@ -320,7 +320,8 @@ userConfigured(false)
     }
 }
 
-SerialConfigurationWindow::~SerialConfigurationWindow() {
+SerialConfigurationWindow::~SerialConfigurationWindow()
+{
 
 }
 
@@ -472,19 +473,19 @@ void SerialConfigurationWindow::enableFlowControl(bool flow)
     }
 }
 
-void SerialConfigurationWindow::setParityNone()
+void SerialConfigurationWindow::setParityNone(bool accept)
 {
-    link->setParityType(0);
+    if (accept) link->setParityType(0);
 }
 
-void SerialConfigurationWindow::setParityOdd()
+void SerialConfigurationWindow::setParityOdd(bool accept)
 {
-    link->setParityType(1);
+    if (accept) link->setParityType(1);
 }
 
-void SerialConfigurationWindow::setParityEven()
+void SerialConfigurationWindow::setParityEven(bool accept)
 {
-    link->setParityType(2);
+    if (accept) link->setParityType(2);
 }
 
 void SerialConfigurationWindow::setPortName(QString port)

src/ui/SerialConfigurationWindow.h

@@ -55,9 +55,9 @@ public:
 public slots:
     void configureCommunication();
     void enableFlowControl(bool flow);
-    void setParityNone();
-    void setParityOdd();
-    void setParityEven();
+    void setParityNone(bool accept);
+    void setParityOdd(bool accept);
+    void setParityEven(bool accept);
     void setPortName(QString port);
     void setLinkName(QString name);
     void setupPortList();

src/ui/SlugsHilSim.cc

@@ -51,12 +51,14 @@ SlugsHilSim::SlugsHilSim(QWidget *parent) :
 
     linksAvailable.clear();
 
+	#ifdef MAVLINK_ENABLED_SLUGS
     memset(&tmpAirData, 0, sizeof(mavlink_air_data_t));
     memset(&tmpAttitudeData, 0, sizeof(mavlink_attitude_t));
     memset(&tmpGpsData, 0, sizeof(mavlink_gps_raw_t));
     memset(&tmpGpsTime, 0, sizeof(mavlink_gps_date_time_t));
     memset(&tmpLocalPositionData, 0, sizeof(mavlink_sensor_bias_t));
     memset(&tmpRawImuData, 0, sizeof(mavlink_raw_imu_t));
+	#endif
 
     foreach (LinkInterface* link, LinkManager::instance()->getLinks())
     {
@@ -263,6 +265,7 @@ void SlugsHilSim::linkSelected(int cbIndex){
 
 void SlugsHilSim::sendMessageToSlugs()
 {
+	#ifdef MAVLINK_ENABLED_SLUGS
     mavlink_message_t msg;
 
     mavlink_msg_local_position_encode(MG::SYSTEM::ID,
@@ -306,11 +309,13 @@ void SlugsHilSim::sendMessageToSlugs()
                                     &tmpGpsTime);
     activeUas->sendMessage(hilLink, msg);
     memset(&msg, 0, sizeof(mavlink_message_t));
+#endif
 }
 
 
 void SlugsHilSim::commandDatagramToSimulink()
 {
+	#ifdef MAVLINK_ENABLED_SLUGS
     //mavlink_pwm_commands_t* pwdC = (static_cast<SlugsMAV*>(activeUas))->getPwmCommands();
 
     mavlink_pwm_commands_t* pwdC;
@@ -335,6 +340,7 @@ void SlugsHilSim::commandDatagramToSimulink()
     setUInt16ToDatagram(data, &i, 11);//value default
 
     txSocket->writeDatagram(data, QHostAddress::Broadcast, ui->ed_txPort->text().toInt());
+#endif
 }
 
 void SlugsHilSim::setUInt16ToDatagram(QByteArray& datagram, unsigned char* pos, uint16_t value)

src/ui/SlugsHilSim.h

@@ -69,9 +69,13 @@ protected:
     mavlink_local_position_t tmpLocalPositionData;
     mavlink_attitude_t tmpAttitudeData;
     mavlink_raw_imu_t tmpRawImuData;
+#ifdef MAVLINK_ENABLED_SLUGS
     mavlink_air_data_t tmpAirData;
+#endif
     mavlink_gps_raw_t tmpGpsData;
+	#ifdef MAVLINK_ENABLED_SLUGS
     mavlink_gps_date_time_t tmpGpsTime;
+#endif
 
 public slots:
 
@@ -150,4 +154,4 @@ private:
 
 };
 
-#endif // SLUGSHILSIM_H
+#endif // SLUGSHILSIM_H
\ No newline at end of file

src/ui/UASView.ui

@@ -181,7 +181,31 @@ QProgressBar::chunk#speedBar {
 
 QProgressBar::chunk#thrustBar {
 	background-color: orange;
-}</string>
+}
+
+QToolTip {
+        background-color: #090909;
+        border: 1px solid #379AC3;
+	border-radius: 3px;
+    color: #DDDDDF;
+}
+
+QMenu {
+    border: 1px solid #379AC3;
+background-color: #050508;
+color: #DDDDDF;
+background-clip: border;
+font-size: 11px;
+}
+
+QMenu::separator {
+     height: 1px;
+     background: #379AC3;
+     margin-top: 8px;
+     margin-bottom: 4px;
+     margin-left: 5px;
+     margin-right: 5px;
+ }</string>
   </property>
   <layout class="QHBoxLayout" name="horizontalLayout_2">
    <property name="spacing">

src/ui/designer/QGCToolWidget.cc

@@ -28,7 +28,17 @@ QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent) :
     if (dock)
     {
         dock->setWindowTitle(title);
+        dock->setObjectName(title+"DOCK");
     }
+
+    // Try with parent
+    dock = dynamic_cast<QDockWidget*>(this->parentWidget());
+    if (dock)
+    {
+        dock->setWindowTitle(title);
+        dock->setObjectName(title+"DOCK");
+    }
+
     this->setWindowTitle(title);
 
     QList<UASInterface*> systems = UASManager::instance()->getUASList();

src/ui/uas/UASView.cc

@@ -31,6 +31,7 @@ This file is part of the PIXHAWK project
 #include <cmath>
 #include <QDateTime>
 #include <QDebug>
+#include <QMenu>
 
 #include "QGC.h"
 #include "MG.h"
@@ -42,6 +43,8 @@ This file is part of the PIXHAWK project
 UASView::UASView(UASInterface* uas, QWidget *parent) :
         QWidget(parent),
         startTime(0),
+        lastHeartbeat(0),
+        iconIsRed(true),
         timeRemaining(0),
         chargeLevel(0),
         uas(uas),
@@ -60,6 +63,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
         alt(0),
         groundDistance(0),
         localFrame(false),
+        removeAction(new QAction("Remove this system", this)),
         m_ui(new Ui::UASView)
 {
     m_ui->setupUi(this);
@@ -92,6 +96,10 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     connect(m_ui->abortButton, SIGNAL(clicked()), uas, SLOT(emergencySTOP()));
     connect(m_ui->killButton, SIGNAL(clicked()), uas, SLOT(emergencyKILL()));
     connect(m_ui->shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
+
+    // Allow to delete this widget
+    connect(removeAction, SIGNAL(triggered()), this, SLOT(deleteLater()));
+    connect(uas, SIGNAL(systemRemoved()), this, SLOT(deleteLater()));
     
     // Set static values
     
@@ -230,12 +238,11 @@ void UASView::hideEvent(QHideEvent* event)
 void UASView::receiveHeartbeat(UASInterface* uas)
 {
     Q_UNUSED(uas);
-    QString colorstyle;
     heartbeatColor = QColor(20, 200, 20);
-    colorstyle = colorstyle.sprintf("QGroupBox { border: 1px solid #EEEEEE; border-radius: 4px; padding: 0px; margin: 0px; background-color: #%02X%02X%02X;}",
-                                    heartbeatColor.red(), heartbeatColor.green(), heartbeatColor.blue());
-    m_ui->heartbeatIcon->setStyleSheet(colorstyle);
-    m_ui->heartbeatIcon->setAutoFillBackground(true);
+    QString colorstyle("QGroupBox { border-radius: 5px; padding: 2px; margin: 2px; border: 0px; background-color: %1; }");
+    m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(heartbeatColor.name()));
+    lastHeartbeat = QGC::groundTimeUsecs();
+    //m_ui->heartbeatIcon->setAutoFillBackground(true);
 }
 
 /**
@@ -391,6 +398,16 @@ void UASView::updateLoad(UASInterface* uas, double load)
     }
 }
 
+void UASView::contextMenuEvent (QContextMenuEvent* event)
+{
+    if (QGC::groundTimeUsecs() - lastHeartbeat > 1500000)
+    {
+        QMenu menu(this);
+        menu.addAction(removeAction);
+        menu.exec(event->globalPos());
+    }
+}
+
 void UASView::refresh()
 {
     //setUpdatesEnabled(false);
@@ -494,15 +511,44 @@ void UASView::refresh()
     }
     generalUpdateCount++;
 
+    QString colorstyle("QGroupBox { border-radius: 5px; padding: 2px; margin: 2px; border: 0px; background-color: %1; }");
+
+    if (QGC::groundTimeUsecs() - lastHeartbeat > 1500000)
+    {
+        // CRITICAL CONDITION, NO HEARTBEAT
+
+        if (iconIsRed)
+        {
+            QColor warnColor(Qt::red);
+            m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(warnColor.name()));
+            QString style = QString("QGroupBox { border-radius: 12px; padding: 0px; margin: 0px; background-color: %1; }").arg(warnColor.name());
+            m_ui->uasViewFrame->setStyleSheet(style);
+        }
+        else
+        {
+            QColor warnColor(Qt::black);
+            m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(warnColor.name()));
+            QString style = QString("QGroupBox { border-radius: 12px; padding: 0px; margin: 0px; background-color: %1; }").arg(warnColor.name());
+            m_ui->uasViewFrame->setStyleSheet(style);
+        }
+        iconIsRed = !iconIsRed;
+    }
+    else
+    {
+        // Break alert once everything is back to normal
+        if (!iconIsRed)
+        {
+            setBackgroundColor();
+            iconIsRed = true;
+        }
+
     // Fade heartbeat icon
     // Make color darker
     heartbeatColor = heartbeatColor.darker(150);
 
-    QString colorstyle;
-    colorstyle = colorstyle.sprintf("QGroupBox { border: 1px solid #EEEEEE; border-radius: 8px; padding: 0px; margin: 0px; background-color: #%02X%02X%02X;}",
-                                    heartbeatColor.red(), heartbeatColor.green(), heartbeatColor.blue());
-    m_ui->heartbeatIcon->setStyleSheet(colorstyle);
-    m_ui->heartbeatIcon->setAutoFillBackground(true);
+    //m_ui->heartbeatIcon->setAutoFillBackground(true);
+    m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(heartbeatColor.name()));
+    }
     //setUpdatesEnabled(true);
 
     //setUpdatesEnabled(false);

src/ui/uas/UASView.h

@@ -82,6 +82,8 @@ protected:
     QTimer* refreshTimer;
     QColor heartbeatColor;
     quint64 startTime;
+    quint64 lastHeartbeat;
+    bool iconIsRed;
     int timeRemaining;
     float chargeLevel;
     UASInterface* uas;
@@ -100,6 +102,7 @@ protected:
     float alt;
     float groundDistance;
     bool localFrame;
+    QAction* removeAction;
     static const int updateInterval = 300;
 
 
@@ -112,6 +115,7 @@ protected:
     void showEvent(QShowEvent* event);
     /** @brief Stop widget updating */
     void hideEvent(QHideEvent* event);
+    void contextMenuEvent(QContextMenuEvent* event);
 
 private:
     Ui::UASView *m_ui;