Added PX4 calibration widget, switched HIL from FlightGear to XPlane, bringing up HIL

files/px4/hexarotor/widgets/px4_calibration.qgw

+[PX4%20Calibration%20Tool]
+QGC_TOOL_WIDGET_ITEMS\1\TYPE=COMMANDBUTTON
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_DESCRIPTION=Reboot (only in standby)
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_BUTTONTEXT=REBOOT
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_COMMANDID=246
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM1=1
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM2=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM3=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM4=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM5=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM6=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM7=0
+QGC_TOOL_WIDGET_ITEMS\2\TYPE=COMMANDBUTTON
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_DESCRIPTION=Gyroscope calibration
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_BUTTONTEXT=MAG
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_COMMANDID=241
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM1=0
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM2=1
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM3=0
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM4=0
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM5=0
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM6=0
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM7=0
+QGC_TOOL_WIDGET_ITEMS\3\TYPE=COMMANDBUTTON
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_DESCRIPTION=Accelerometer calibration
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_BUTTONTEXT=ACCEL
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_COMMANDID=241
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM1=0
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM2=0
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM3=0
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM4=0
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM5=1
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM6=0
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM7=0
+QGC_TOOL_WIDGET_ITEMS\4\TYPE=COMMANDBUTTON
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_DESCRIPTION=Gyroscope calibration
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_BUTTONTEXT=GYRO
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_COMMANDID=241
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM1=1
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM2=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM3=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM4=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM5=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM6=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM7=0
+QGC_TOOL_WIDGET_ITEMS\size=4

files/px4/quadrotor/widgets/px4_calibration.qgw

+[PX4%20Calibration%20Tool]
+QGC_TOOL_WIDGET_ITEMS\1\TYPE=COMMANDBUTTON
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_DESCRIPTION=Reboot (only in standby)
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_BUTTONTEXT=REBOOT
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_COMMANDID=246
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM1=1
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM2=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM3=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM4=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM5=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM6=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM7=0
+QGC_TOOL_WIDGET_ITEMS\2\TYPE=COMMANDBUTTON
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_DESCRIPTION=Gyroscope calibration
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_BUTTONTEXT=MAG
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_COMMANDID=241
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM1=0
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM2=1
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM3=0
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM4=0
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM5=0
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM6=0
+QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM7=0
+QGC_TOOL_WIDGET_ITEMS\3\TYPE=COMMANDBUTTON
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_DESCRIPTION=Accelerometer calibration
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_BUTTONTEXT=ACCEL
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_COMMANDID=241
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM1=0
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM2=0
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM3=0
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM4=0
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM5=1
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM6=0
+QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM7=0
+QGC_TOOL_WIDGET_ITEMS\4\TYPE=COMMANDBUTTON
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_DESCRIPTION=Gyroscope calibration
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_BUTTONTEXT=GYRO
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_COMMANDID=241
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM1=1
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM2=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM3=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM4=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM5=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM6=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_COMMAND_BUTTON_PARAM7=0
+QGC_TOOL_WIDGET_ITEMS\size=4

qgroundcontrol.pro

@@ -252,6 +252,7 @@ HEADERS += src/MG.h \
     src/comm/ProtocolInterface.h \
     src/comm/MAVLinkProtocol.h \
     src/comm/QGCFlightGearLink.h \
+    src/comm/QGCXPlaneLink.h \
     src/ui/CommConfigurationWindow.h \
     src/ui/SerialConfigurationWindow.h \
     src/ui/MainWindow.h \
@@ -358,7 +359,8 @@ HEADERS += src/MG.h \
     src/ui/mission/QGCMissionNavSweep.h \
     src/ui/mission/QGCMissionDoStartSearch.h \
     src/ui/mission/QGCMissionDoFinishSearch.h \
-    src/ui/QGCVehicleConfig.h
+    src/ui/QGCVehicleConfig.h \
+    src/comm/QGCHilLink.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -412,6 +414,7 @@ SOURCES += src/main.cc \
     src/comm/SerialLink.cc \
     src/comm/MAVLinkProtocol.cc \
     src/comm/QGCFlightGearLink.cc \
+    src/comm/QGCXPlaneLink.cc \
     src/ui/CommConfigurationWindow.cc \
     src/ui/SerialConfigurationWindow.cc \
     src/ui/MainWindow.cc \
@@ -513,7 +516,8 @@ SOURCES += src/main.cc \
     src/ui/mission/QGCMissionNavSweep.cc \
     src/ui/mission/QGCMissionDoStartSearch.cc \
     src/ui/mission/QGCMissionDoFinishSearch.cc \
-    src/ui/QGCVehicleConfig.cc
+    src/ui/QGCVehicleConfig.cc \
+    src/comm/QGCHilLink.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/comm/QGCFlightGearLink.cc

@@ -304,8 +304,8 @@ bool QGCFlightGearLink::disconnectSimulation()
 
     connectState = false;
 
-    emit flightGearDisconnected();
-    emit flightGearConnected(false);
+    emit simulationDisconnected();
+    emit simulationConnected(false);
     return !connectState;
 }
 
@@ -475,9 +475,9 @@ bool QGCFlightGearLink::connectSimulation()
 
 
 
-    emit flightGearConnected(connectState);
+    emit simulationConnected(connectState);
     if (connectState) {
-        emit flightGearConnected();
+        emit simulationConnected();
         connectionStartTime = QGC::groundTimeUsecs()/1000;
     }
     qDebug() << "STARTING SIM";

src/comm/QGCFlightGearLink.h

@@ -41,8 +41,9 @@ This file is part of the QGROUNDCONTROL project
 #include <LinkInterface.h>
 #include <configuration.h>
 #include "UASInterface.h"
+#include "QGCHilLink.h"
 
-class QGCFlightGearLink : public QThread
+class QGCFlightGearLink : public QGCHilLink
 {
     Q_OBJECT
     //Q_INTERFACES(QGCFlightGearLinkInterface:LinkInterface)
@@ -114,25 +115,6 @@ protected:
     void setName(QString name);
 
 signals:
-    /**
-     * @brief This signal is emitted instantly when the link is connected
-     **/
-    void flightGearConnected();
-
-    /**
-     * @brief This signal is emitted instantly when the link is disconnected
-     **/
-    void flightGearDisconnected();
-
-    /**
-     * @brief This signal is emitted instantly when the link status changes
-     **/
-    void flightGearConnected(bool connected);
-
-    /** @brief State update from FlightGear */
-    void hilStateChanged(uint64_t time_us, float roll, float pitch, float yaw, float rollspeed,
-                        float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt,
-                        int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc);
 
 
 };

src/comm/QGCHilLink.cc

+#include "QGCHilLink.h"
+
+//QGCHilLink::QGCHilLink(QObject *parent) :
+//    QThread(parent)
+//{
+//}

src/comm/QGCHilLink.h

+#ifndef QGCHILLINK_H
+#define QGCHILLINK_H
+
+#include <QThread>
+#include <QProcess>
+
+class QGCHilLink : public QThread
+{
+    Q_OBJECT
+public:
+    
+    virtual bool isConnected() = 0;
+    virtual qint64 bytesAvailable() = 0;
+    virtual int getPort() const = 0;
+
+    /**
+     * @brief The human readable port name
+     */
+    virtual QString getName() = 0;
+
+public slots:
+    virtual void setPort(int port) = 0;
+    /** @brief Add a new host to broadcast messages to */
+    virtual void setRemoteHost(const QString& host) = 0;
+    /** @brief Send new control states to the simulation */
+    virtual void updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode) = 0;
+    virtual void processError(QProcess::ProcessError err) = 0;
+
+    virtual void readBytes() = 0;
+    /**
+     * @brief Write a number of bytes to the interface.
+     *
+     * @param data Pointer to the data byte array
+     * @param size The size of the bytes array
+     **/
+    virtual void writeBytes(const char* data, qint64 length) = 0;
+    virtual bool connectSimulation() = 0;
+    virtual bool disconnectSimulation() = 0;
+
+protected:
+    virtual void setName(QString name) = 0;
+
+signals:
+    /**
+     * @brief This signal is emitted instantly when the link is connected
+     **/
+    void simulationConnected();
+
+    /**
+     * @brief This signal is emitted instantly when the link is disconnected
+     **/
+    void simulationDisconnected();
+
+    /**
+     * @brief This signal is emitted instantly when the link status changes
+     **/
+    void simulationConnected(bool connected);
+
+    /** @brief State update from FlightGear */
+    void hilStateChanged(uint64_t time_us, float roll, float pitch, float yaw, float rollspeed,
+                        float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt,
+                        int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc);
+    
+};
+
+#endif // QGCHILLINK_H

src/comm/QGCXPlaneLink.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009 - 2011 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/>.
+
+======================================================================*/
+
+/**
+ * @file QGCXPlaneLink.h
+ *   @brief X-Plane simulation link
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#ifndef QGCXPLANESIMULATIONLINK_H
+#define QGCXPLANESIMULATIONLINK_H
+
+#include <QString>
+#include <QList>
+#include <QMap>
+#include <QMutex>
+#include <QUdpSocket>
+#include <QTimer>
+#include <QProcess>
+#include <LinkInterface.h>
+#include <configuration.h>
+#include "UASInterface.h"
+#include "QGCHilLink.h"
+
+class QGCXPlaneLink : public QGCHilLink
+{
+    Q_OBJECT
+    //Q_INTERFACES(QGCXPlaneLinkInterface:LinkInterface)
+
+public:
+    QGCXPlaneLink(UASInterface* mav, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005);
+    ~QGCXPlaneLink();
+
+    bool isConnected();
+    qint64 bytesAvailable();
+    int getPort() const {
+        return port;
+    }
+
+    /**
+     * @brief The human readable port name
+     */
+    QString getName();
+
+    void run();
+
+public slots:
+//    void setAddress(QString address);
+    void setPort(int port);
+    /** @brief Add a new host to broadcast messages to */
+    void setRemoteHost(const QString& host);
+    /** @brief Send new control states to the simulation */
+    void updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
+//    /** @brief Remove a host from broadcasting messages to */
+//    void removeHost(const QString& host);
+    //    void readPendingDatagrams();
+    void processError(QProcess::ProcessError err);
+
+    void readBytes();
+    /**
+     * @brief Write a number of bytes to the interface.
+     *
+     * @param data Pointer to the data byte array
+     * @param size The size of the bytes array
+     **/
+    void writeBytes(const char* data, qint64 length);
+    bool connectSimulation();
+    bool disconnectSimulation();
+
+protected:
+    QString name;
+    QHostAddress host;
+    QHostAddress currentHost;
+    quint16 currentPort;
+    quint16 port;
+    int id;
+    QUdpSocket* socket;
+    bool connectState;
+
+    quint64 bitsSentTotal;
+    quint64 bitsSentCurrent;
+    quint64 bitsSentMax;
+    quint64 bitsReceivedTotal;
+    quint64 bitsReceivedCurrent;
+    quint64 bitsReceivedMax;
+    quint64 connectionStartTime;
+    QMutex statisticsMutex;
+    QMutex dataMutex;
+    QTimer refreshTimer;
+    UASInterface* mav;
+    QProcess* process;
+    QProcess* terraSync;
+
+    void setName(QString name);
+
+signals:
+    /**
+     * @brief This signal is emitted instantly when the link is connected
+     **/
+    void flightGearConnected();
+
+    /**
+     * @brief This signal is emitted instantly when the link is disconnected
+     **/
+    void flightGearDisconnected();
+
+    /**
+     * @brief This signal is emitted instantly when the link status changes
+     **/
+    void flightGearConnected(bool connected);
+
+    /** @brief State update from FlightGear */
+    void hilStateChanged(uint64_t time_us, float roll, float pitch, float yaw, float rollspeed,
+                        float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt,
+                        int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc);
+
+
+};
+
+#endif // QGCXPLANESIMULATIONLINK_H

src/uas/UAS.cc

@@ -97,7 +97,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     paramManager(NULL),
     attitudeStamped(false),
     lastAttitude(0),
-    simulation(new QGCFlightGearLink(this)),
+    simulation(new QGCXPlaneLink(this)),
     isLocalPositionKnown(false),
     isGlobalPositionKnown(false),
     systemIsArmed(false),
@@ -2516,9 +2516,20 @@ void UAS::sendHilState(uint64_t time_us, float roll, float pitch, float yaw, flo
                        float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt,
                        int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
 {
-    mavlink_message_t msg;
-    mavlink_msg_hil_state_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, time_us, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc);
-    sendMessage(msg);
+    if (this->mode & MAV_MODE_FLAG_HIL_ENABLED)
+    {
+        mavlink_message_t msg;
+        mavlink_msg_hil_state_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, time_us, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc);
+        sendMessage(msg);
+    }
+    else
+    {
+        // Attempt to set HIL mode
+        mavlink_message_t msg;
+        mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode | MAV_MODE_FLAG_HIL_ENABLED, navMode);
+        sendMessage(msg);
+        qDebug() << __FILE__ << __LINE__ << "HIL is onboard not enabled, trying to enable.";
+    }
 }
 
 /**

src/uas/UAS.h

@@ -36,7 +36,9 @@ This file is part of the QGROUNDCONTROL project
 #include <MAVLinkProtocol.h>
 #include <QVector3D>
 #include "QGCMAVLink.h"
+#include "QGCHilLink.h"
 #include "QGCFlightGearLink.h"
+#include "QGCXPlaneLink.h"
 
 /**
  * @brief A generic MAVLINK-connected MAV/UAV
@@ -330,7 +332,7 @@ protected: //COMMENTS FOR TEST UNIT
     QString shortModeText;          ///< Short textual mode description
     bool attitudeStamped;           ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
     quint64 lastAttitude;           ///< Timestamp of last attitude measurement
-    QGCFlightGearLink* simulation;  ///< Hardware in the loop simulation link
+    QGCHilLink* simulation;         ///< Hardware in the loop simulation link
     bool isLocalPositionKnown;      ///< If the local position has been received for this MAV
     bool isGlobalPositionKnown;     ///< If the global position has been received for this MAV
     bool systemIsArmed;             ///< If the system is armed

src/ui/uas/UASView.cc

@@ -68,7 +68,8 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
         removeAction(new QAction("Delete this system", this)),
         renameAction(new QAction("Rename..", this)),
         selectAction(new QAction("Control this system", this )),
-        hilAction(new QAction("Enable Hardware-in-the-Loop Simulation", this )),
+        hilAction(new QAction("Enable Flightgear Hardware-in-the-Loop Simulation", this )),
+        hilXAction(new QAction("Enable X-Plane Hardware-in-the-Loop Simulation", this )),
         selectAirframeAction(new QAction("Choose Airframe", this)),
         setBatterySpecsAction(new QAction("Set Battery Options", this)),
         lowPowerModeEnabled(true),
@@ -80,6 +81,9 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     lowPowerModeEnabled = MainWindow::instance()->lowPowerModeEnabled();
 
     hilAction->setCheckable(true);
+    // Flightgear is not ready for prime time
+    hilAction->setEnabled(false);
+    hilXAction->setCheckable(true);
 
     m_ui->setupUi(this);
 
@@ -119,6 +123,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     connect(renameAction, SIGNAL(triggered()), this, SLOT(rename()));
     connect(selectAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
     connect(hilAction, SIGNAL(triggered(bool)), uas, SLOT(enableHil(bool)));
+    connect(hilXAction, SIGNAL(triggered(bool)), uas, SLOT(enableHil(bool)));
     connect(selectAirframeAction, SIGNAL(triggered()), this, SLOT(selectAirframe()));
     connect(setBatterySpecsAction, SIGNAL(triggered()), this, SLOT(setBatterySpecs()));
     connect(uas, SIGNAL(systemRemoved()), this, SLOT(deleteLater()));
@@ -464,7 +469,8 @@ void UASView::contextMenuEvent (QContextMenuEvent* event)
     {
         menu.addAction(removeAction);
     }
-    menu.addAction(hilAction);
+    menu.addAction(hilXAction);
+    // XXX Re-enable later menu.addAction(hilXAction);
     menu.addAction(selectAirframeAction);
     menu.addAction(setBatterySpecsAction);
     menu.exec(event->globalPos());

src/ui/uas/UASView.h

@@ -122,6 +122,7 @@ protected:
     QAction* renameAction;
     QAction* selectAction;
     QAction* hilAction;
+    QAction* hilXAction;
     QAction* selectAirframeAction;
     QAction* setBatterySpecsAction;
     static const int updateInterval = 800;