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.cc

+/*=====================================================================
+
+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.cc
+ *   Implementation of X-Plane interface
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#include <QTimer>
+#include <QList>
+#include <QDebug>
+#include <QMutexLocker>
+#include <iostream>
+#include "QGCXPlaneLink.h"
+#include "QGC.h"
+#include <QHostInfo>
+#include "MainWindow.h"
+
+QGCXPlaneLink::QGCXPlaneLink(UASInterface* mav, QString remoteHost, QHostAddress host, quint16 port) :
+    process(NULL),
+    terraSync(NULL)
+{
+    this->host = host;
+    this->port = port+mav->getUASID();
+    this->connectState = false;
+    this->currentPort = 48000+mav->getUASID();
+    this->mav = mav;
+    this->name = tr("X-Plane Link (port:%1)").arg(port);
+    setRemoteHost(remoteHost);
+}
+
+QGCXPlaneLink::~QGCXPlaneLink()
+{   //do not disconnect unless it is connected.
+    //disconnectSimulation will delete the memory that was allocated for proces, terraSync and socket
+    if(connectState){
+       disconnectSimulation();
+    }
+}
+
+/**
+ * @brief Runs the thread
+ *
+ **/
+void QGCXPlaneLink::run()
+{
+    exec();
+}
+
+void QGCXPlaneLink::setPort(int port)
+{
+    this->port = port;
+    disconnectSimulation();
+    connectSimulation();
+}
+
+void QGCXPlaneLink::processError(QProcess::ProcessError err)
+{
+    switch(err)
+    {
+    case QProcess::FailedToStart:
+        MainWindow::instance()->showCriticalMessage(tr("X-Plane Failed to Start"), tr("Please check if the path and command is correct"));
+        break;
+    case QProcess::Crashed:
+        MainWindow::instance()->showCriticalMessage(tr("X-Plane Crashed"), tr("This is a X-Plane-related problem. Please upgrade X-Plane"));
+        break;
+    case QProcess::Timedout:
+        MainWindow::instance()->showCriticalMessage(tr("X-Plane Start Timed Out"), tr("Please check if the path and command is correct"));
+        break;
+    case QProcess::WriteError:
+        MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with X-Plane"), tr("Please check if the path and command is correct"));
+        break;
+    case QProcess::ReadError:
+        MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with X-Plane"), tr("Please check if the path and command is correct"));
+        break;
+    case QProcess::UnknownError:
+    default:
+        MainWindow::instance()->showCriticalMessage(tr("X-Plane Error"), tr("Please check if the path and command is correct."));
+        break;
+    }
+}
+
+/**
+ * @param host Hostname in standard formatting, e.g. localhost:14551 or 192.168.1.1:14551
+ */
+void QGCXPlaneLink::setRemoteHost(const QString& host)
+{
+    if (host.contains(":"))
+    {
+        //qDebug() << "HOST: " << host.split(":").first();
+        QHostInfo info = QHostInfo::fromName(host.split(":").first());
+        if (info.error() == QHostInfo::NoError)
+        {
+            // Add host
+            QList<QHostAddress> hostAddresses = info.addresses();
+            QHostAddress address;
+            for (int i = 0; i < hostAddresses.size(); i++)
+            {
+                // Exclude loopback IPv4 and all IPv6 addresses
+                if (!hostAddresses.at(i).toString().contains(":"))
+                {
+                    address = hostAddresses.at(i);
+                }
+            }
+            currentHost = address;
+            //qDebug() << "Address:" << address.toString();
+            // Set port according to user input
+            currentPort = host.split(":").last().toInt();
+        }
+    }
+    else
+    {
+        QHostInfo info = QHostInfo::fromName(host);
+        if (info.error() == QHostInfo::NoError)
+        {
+            // Add host
+            currentHost = info.addresses().first();
+        }
+    }
+
+}
+
+void QGCXPlaneLink::updateControls(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode)
+{
+    // magnetos,aileron,elevator,rudder,throttle\n
+
+    //float magnetos = 3.0f;
+    Q_UNUSED(time);
+    Q_UNUSED(systemMode);
+    Q_UNUSED(navMode);
+
+    QString state("%1\t%2\t%3\t%4\t%5\n");
+    state = state.arg(rollAilerons).arg(pitchElevator).arg(yawRudder).arg(true).arg(throttle);
+    writeBytes(state.toAscii().constData(), state.length());
+    qDebug() << "Updated controls" << state;
+}
+
+void QGCXPlaneLink::writeBytes(const char* data, qint64 size)
+{
+    //#define QGCXPlaneLink_DEBUG
+#if 1
+    QString bytes;
+    QString ascii;
+    for (int i=0; i<size; i++)
+    {
+        unsigned char v = data[i];
+        bytes.append(QString().sprintf("%02x ", v));
+        if (data[i] > 31 && data[i] < 127)
+        {
+            ascii.append(data[i]);
+        }
+        else
+        {
+            ascii.append(219);
+        }
+    }
+    qDebug() << "Sent" << size << "bytes to" << currentHost.toString() << ":" << currentPort << "data:";
+    qDebug() << bytes;
+    qDebug() << "ASCII:" << ascii;
+#endif
+    if (connectState && socket) socket->writeDatagram(data, size, currentHost, currentPort);
+}
+
+/**
+ * @brief Read a number of bytes from the interface.
+ *
+ * @param data Pointer to the data byte array to write the bytes to
+ * @param maxLength The maximum number of bytes to write
+ **/
+void QGCXPlaneLink::readBytes()
+{
+    const qint64 maxLength = 65536;
+    char data[maxLength];
+    QHostAddress sender;
+    quint16 senderPort;
+
+    unsigned int s = socket->pendingDatagramSize();
+    if (s > maxLength) std::cerr << __FILE__ << __LINE__ << " UDP datagram overflow, allowed to read less bytes than datagram size" << std::endl;
+    socket->readDatagram(data, maxLength, &sender, &senderPort);
+
+    QByteArray b(data, s);
+
+    // Print string
+    QString state(b);
+    //qDebug() << "FG LINK GOT:" << state;
+
+    QStringList values = state.split("\t");
+
+    // Check length
+    if (values.size() != 17)
+    {
+        qDebug() << "RETURN LENGTH MISMATCHING EXPECTED" << 17 << "BUT GOT" << values.size();
+        qDebug() << state;
+        return;
+    }
+
+    // Parse string
+    double time;
+    float roll, pitch, yaw, rollspeed, pitchspeed, yawspeed;
+    double lat, lon, alt;
+    double vx, vy, vz, xacc, yacc, zacc;
+    double airspeed;
+
+    time = values.at(0).toDouble();
+    lat = values.at(1).toDouble();
+    lon = values.at(2).toDouble();
+    alt = values.at(3).toDouble();
+    roll = values.at(4).toDouble();
+    pitch = values.at(5).toDouble();
+    yaw = values.at(6).toDouble();
+    rollspeed = values.at(7).toDouble();
+    pitchspeed = values.at(8).toDouble();
+    yawspeed = values.at(9).toDouble();
+
+    xacc = values.at(10).toDouble();
+    yacc = values.at(11).toDouble();
+    zacc = values.at(12).toDouble();
+
+    vx = values.at(13).toDouble();
+    vy = values.at(14).toDouble();
+    vz = values.at(15).toDouble();
+
+    airspeed = values.at(16).toDouble();
+
+    // Send updated state
+    emit hilStateChanged(QGC::groundTimeUsecs(), roll, pitch, yaw, rollspeed,
+                         pitchspeed, yawspeed, lat, lon, alt,
+                         vx, vy, vz, xacc, yacc, zacc);
+
+    //    // Echo data for debugging purposes
+    //    std::cerr << __FILE__ << __LINE__ << "Received datagram:" << std::endl;
+    //    int i;
+    //    for (i=0; i<s; i++)
+    //    {
+    //        unsigned int v=data[i];
+    //        fprintf(stderr,"%02x ", v);
+    //    }
+    //    std::cerr << std::endl;
+}
+
+
+/**
+ * @brief Get the number of bytes to read.
+ *
+ * @return The number of bytes to read
+ **/
+qint64 QGCXPlaneLink::bytesAvailable()
+{
+    return socket->pendingDatagramSize();
+}
+
+/**
+ * @brief Disconnect the connection.
+ *
+ * @return True if connection has been disconnected, false if connection couldn't be disconnected.
+ **/
+bool QGCXPlaneLink::disconnectSimulation()
+{
+    disconnect(process, SIGNAL(error(QProcess::ProcessError)),
+               this, SLOT(processError(QProcess::ProcessError)));
+    disconnect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
+    disconnect(this, SIGNAL(hilStateChanged(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)), mav, SLOT(sendHilState(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)));
+
+    if (process)
+    {
+        process->close();
+        delete process;
+        process = NULL;
+    }
+    if (terraSync)
+    {
+        terraSync->close();
+        delete terraSync;
+        terraSync = NULL;
+    }
+    if (socket)
+    {
+        socket->close();
+        delete socket;
+        socket = NULL;
+    }
+
+    connectState = false;
+
+    emit simulationDisconnected();
+    emit simulationConnected(false);
+    return !connectState;
+}
+
+/**
+ * @brief Connect the connection.
+ *
+ * @return True if connection has been established, false if connection couldn't be established.
+ **/
+bool QGCXPlaneLink::connectSimulation()
+{
+    if (!mav) return false;
+    socket = new QUdpSocket(this);
+    connectState = socket->bind(host, port);
+
+    QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
+
+    //process = new QProcess(this);
+    //terraSync = new QProcess(this);
+
+    connect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
+    connect(this, SIGNAL(hilStateChanged(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)), mav, SLOT(sendHilState(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)));
+
+    // XXX ugly hack to set MAVLINK_MODE_HIL_FLAG_ENABLED
+    // without pulling MAVLINK dependencies in here
+    mav->setMode(32);
+
+    // XXX This will later be enabled to start X-Plane from within QGroundControl with the right arguments
+
+//    //connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
+//    // Catch process error
+//    QObject::connect( process, SIGNAL(error(QProcess::ProcessError)),
+//                      this, SLOT(processError(QProcess::ProcessError)));
+//    QObject::connect( terraSync, SIGNAL(error(QProcess::ProcessError)),
+//                      this, SLOT(processError(QProcess::ProcessError)));
+//    // Start X-Plane
+//    QStringList processCall;
+//    QString processFgfs;
+//    QString processTerraSync;
+//    QString fgRoot;
+//    QString fgScenery;
+//    QString aircraft;
+
+//    if (mav->getSystemType() == MAV_TYPE_FIXED_WING)
+//    {
+//        aircraft = "Rascal110-JSBSim";
+//    }
+//    else if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
+//    {
+//        aircraft = "arducopter";
+//    }
+//    else
+//    {
+//        aircraft = "Rascal110-JSBSim";
+//    }
+
+//#ifdef Q_OS_MACX
+//    processFgfs = "/Applications/X-Plane.app/Contents/Resources/fgfs";
+//    processTerraSync = "/Applications/X-Plane.app/Contents/Resources/terrasync";
+//    fgRoot = "/Applications/X-Plane.app/Contents/Resources/data";
+//    //fgScenery = "/Applications/X-Plane.app/Contents/Resources/data/Scenery";
+//    fgScenery = "/Applications/X-Plane.app/Contents/Resources/data/Scenery-TerraSync";
+//    //   /Applications/X-Plane.app/Contents/Resources/data/Scenery:
+//#endif
+
+//#ifdef Q_OS_WIN32
+//    processFgfs = "C:\\Program Files (x86)\\X-Plane\\bin\\Win32\\fgfs";
+//    fgRoot = "C:\\Program Files (x86)\\X-Plane\\data";
+//    fgScenery = "C:\\Program Files (x86)\\X-Plane\\data\\Scenery-Terrasync";
+//#endif
+
+//#ifdef Q_OS_LINUX
+//    processFgfs = "fgfs";
+//    fgRoot = "/usr/share/X-Plane/data";
+//    fgScenery = "/usr/share/X-Plane/data/Scenery-Terrasync";
+//#endif
+
+//    // Sanity checks
+//    bool sane = true;
+//    QFileInfo executable(processFgfs);
+//    if (!executable.isExecutable())
+//    {
+//        MainWindow::instance()->showCriticalMessage(tr("X-Plane Failed to Start"), tr("X-Plane was not found at %1").arg(processFgfs));
+//        sane = false;
+//    }
+
+//    QFileInfo root(fgRoot);
+//    if (!root.isDir())
+//    {
+//        MainWindow::instance()->showCriticalMessage(tr("X-Plane Failed to Start"), tr("X-Plane data directory was not found at %1").arg(fgRoot));
+//        sane = false;
+//    }
+
+//    QFileInfo scenery(fgScenery);
+//    if (!scenery.isDir())
+//    {
+//        MainWindow::instance()->showCriticalMessage(tr("X-Plane Failed to Start"), tr("X-Plane scenery directory was not found at %1").arg(fgScenery));
+//        sane = false;
+//    }
+
+//    if (!sane) return false;
+
+//    // --atlas=socket,out,1,localhost,5505,udp
+//    // terrasync -p 5505 -S -d /usr/local/share/TerraSync
+
+//    processCall << QString("--fg-root=%1").arg(fgRoot);
+//    processCall << QString("--fg-scenery=%1").arg(fgScenery);
+//    if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
+//    {
+//        // FIXME ADD QUAD-Specific protocol here
+//        processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port);
+//        processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort);
+//    }
+//    else
+//    {
+//        processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port);
+//        processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort);
+//    }
+//    processCall << "--atlas=socket,out,1,localhost,5505,udp";
+//    processCall << "--in-air";
+//    processCall << "--roll=0";
+//    processCall << "--pitch=0";
+//    processCall << "--vc=90";
+//    processCall << "--heading=300";
+//    processCall << "--timeofday=noon";
+//    processCall << "--disable-hud-3d";
+//    processCall << "--disable-fullscreen";
+//    processCall << "--geometry=400x300";
+//    processCall << "--disable-anti-alias-hud";
+//    processCall << "--wind=0@0";
+//    processCall << "--turbulence=0.0";
+//    processCall << "--prop:/sim/frame-rate-throttle-hz=30";
+//    processCall << "--control=mouse";
+//    processCall << "--disable-intro-music";
+//    processCall << "--disable-sound";
+//    processCall << "--disable-random-objects";
+//    processCall << "--disable-ai-models";
+//    processCall << "--shading-flat";
+//    processCall << "--fog-disable";
+//    processCall << "--disable-specular-highlight";
+//    //processCall << "--disable-skyblend";
+//    processCall << "--disable-random-objects";
+//    processCall << "--disable-panel";
+//    //processCall << "--disable-horizon-effect";
+//    processCall << "--disable-clouds";
+//    processCall << "--fdm=jsb";
+//    processCall << "--units-meters";
+//    if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
+//    {
+//        // Start all engines of the quad
+//        processCall << "--prop:/engines/engine[0]/running=true";
+//        processCall << "--prop:/engines/engine[1]/running=true";
+//        processCall << "--prop:/engines/engine[2]/running=true";
+//        processCall << "--prop:/engines/engine[3]/running=true";
+//    }
+//    else
+//    {
+//        processCall << "--prop:/engines/engine/running=true";
+//    }
+//    processCall << QString("--lat=%1").arg(UASManager::instance()->getHomeLatitude());
+//    processCall << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude());
+//    processCall << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude());
+//    // Add new argument with this: processCall << "";
+//    processCall << QString("--aircraft=%2").arg(aircraft);
+
+
+//    QStringList terraSyncArguments;
+//    terraSyncArguments << "-p 5505";
+//    terraSyncArguments << "-S";
+//    terraSyncArguments << QString("-d=%1").arg(fgScenery);
+
+//    terraSync->start(processTerraSync, terraSyncArguments);
+//    process->start(processFgfs, processCall);
+
+
+
+//    emit X-PlaneConnected(connectState);
+//    if (connectState) {
+//        emit X-PlaneConnected();
+//        connectionStartTime = QGC::groundTimeUsecs()/1000;
+//    }
+//    qDebug() << "STARTING SIM";
+
+//        qDebug() << "STARTING: " << processFgfs << processCall;
+
+    qDebug() << "STARTING X-PLANE LINK";
+
+    start(LowPriority);
+    return connectState;
+}
+
+/**
+ * @brief Check if connection is active.
+ *
+ * @return True if link is connected, false otherwise.
+ **/
+bool QGCXPlaneLink::isConnected()
+{
+    return connectState;
+}
+
+QString QGCXPlaneLink::getName()
+{
+    return name;
+}
+
+void QGCXPlaneLink::setName(QString name)
+{
+    this->name = name;
+    //    emit nameChanged(this->name);
+}

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;