merged upstream

.gitignore

@@ -8,7 +8,7 @@ obj
 bin/*.exe
 bin/*.txt
 bin/mac
-*pro.user
+*pro.user*
 qrc_*.cpp
 *.Debug
 *.Release

qgroundcontrol.pri

@@ -69,6 +69,7 @@ macx {
         -framework SDL \
         -framework CoreFoundation \
         -framework ApplicationServices \
+ #       -framework GLUT \
         -lm
     
     ICON = $$BASEDIR/images/icons/macx.icns
@@ -107,8 +108,48 @@ linux-g++ {
     LIBS += \
         -L/usr/lib \
         -lm \
+        -lflite_cmu_us_kal16 \
+        -lflite_usenglish \
+        -lflite_cmulex \
+        -lflite \
+        -lSDL \
+        -lSDLmain
+
         #-lflite_cmu_us_rms \
         #-lflite_cmu_us_slt \
+}
+
+linux-g++-64 {
+    CONFIG += debug
+
+    debug {
+        DESTDIR = $$BASEDIR
+    }
+
+    release {
+        DESTDIR = $$BASEDIR
+    }
+    INCLUDEPATH += /usr/include \
+                   /usr/include/qt4/phonon
+              # $$BASEDIR/lib/flite/include \
+              # $$BASEDIR/lib/flite/lang
+
+
+    HARDWARE_PLATFORM = $$system(uname -a)
+    contains( HARDWARE_PLATFORM, x86_64 ) {
+        # 64-bit Linux
+        #LIBS += \
+            #-L$$BASEDIR/lib/flite/linux64
+        message(Building for GNU/Linux 64bit/x64)
+    } else {
+        # 32-bit Linux
+        #LIBS += \
+           #-L$$BASEDIR/lib/flite/linux32
+        message(Building for GNU/Linux 32bit/i386)
+    }
+    LIBS += \
+        -L/usr/lib \
+        -lm \
         -lflite_cmu_us_kal16 \
         -lflite_usenglish \
         -lflite_cmulex \

qgroundcontrol.pro

@@ -18,10 +18,9 @@ TARGET = qgroundcontrol
 BASEDIR = .
 BUILDDIR = build
 LANGUAGE = C++
-CONFIG += debug_and_release \ # console
-    OBJECTS_DIR \
-    = \
-    $$BUILDDIR/obj
+CONFIG += debug_and_release \
+    console
+OBJECTS_DIR = $$BUILDDIR/obj
 MOC_DIR = $$BUILDDIR/moc
 UI_HEADERS_DIR = src/ui/generated
 
@@ -56,7 +55,7 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/UASControl.ui \
     src/ui/UASList.ui \
     src/ui/UASInfo.ui \
-    src/ui/LineChart.ui \
+    src/ui/Linechart.ui \
     src/ui/UASView.ui \
     src/ui/ParameterInterface.ui \
     src/ui/WaypointList.ui \
@@ -90,7 +89,8 @@ INCLUDEPATH += src \
     src/lib/qmapcontrol \
     src/ui/mavlink \
     src/ui/param \
-    src/ui/watchdog
+    src/ui/watchdog \
+    src/ui/map3D
 HEADERS += src/MG.h \
     src/Core.h \
     src/uas/UASInterface.h \
@@ -158,7 +158,6 @@ HEADERS += src/MG.h \
     src/ui/linechart/IncrementalPlot.h \
     src/ui/map/Waypoint2DIcon.h \
     src/ui/map/MAV2DIcon.h \
-    src/ui/map/QGC2DIcon.h \
     src/ui/QGCRemoteControlView.h \
     src/WaypointGlobal.h \
     src/ui/WaypointGlobalView.h \
@@ -167,7 +166,11 @@ HEADERS += src/MG.h \
     src/ui/RadioCalibration/AirfoilServoCalibrator.h \
     src/ui/RadioCalibration/SwitchCalibrator.h \
     src/ui/RadioCalibration/CurveCalibrator.h \
-    src/ui/RadioCalibration/AbstractCalibrator.h
+    src/ui/RadioCalibration/AbstractCalibrator.h \
+    src/ui/map3D/Q3DWidget.h \
+    src/ui/map3D/CheetahModel.h \
+    src/ui/map3D/CheetahGL.h \
+    src/ui/map3D/QMap3DWidget.h
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -230,7 +233,6 @@ SOURCES += src/main.cc \
     src/ui/linechart/IncrementalPlot.cc \
     src/ui/map/Waypoint2DIcon.cc \
     src/ui/map/MAV2DIcon.cc \
-    src/ui/map/QGC2DIcon.cc \
     src/ui/QGCRemoteControlView.cc \
     src/WaypointGlobal.cpp \
     src/ui/WaypointGlobalView.cpp \
@@ -239,7 +241,11 @@ SOURCES += src/main.cc \
     src/ui/RadioCalibration/SwitchCalibrator.cc \
     src/ui/RadioCalibration/CurveCalibrator.cc \
     src/ui/RadioCalibration/AbstractCalibrator.cc \
-    src/ui/RadioCalibration/RadioCalibrationData.cc
+    src/ui/RadioCalibration/RadioCalibrationData.cc \
+    src/ui/map3D/Q3DWidget.cc \
+    src/ui/map3D/CheetahModel.cc \
+    src/ui/map3D/CheetahGL.cc \
+    src/ui/map3D/QMap3DWidget.cc
 RESOURCES = mavground.qrc
 
 # Include RT-LAB Library

src/Core.cc

@@ -123,8 +123,8 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
         msgBox.setIcon(QMessageBox::Critical);
         msgBox.setText("Could not connect UDP port. Is an instance of " + qAppName() + "already running?");
         msgBox.setInformativeText("You will not be able to receive data via UDP. Please check that you're running the right executable and then re-start " + qAppName() + ". Do you want to close the application?");
-        msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
-        msgBox.setDefaultButton(QMessageBox::Cancel);
+        msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
+        msgBox.setDefaultButton(QMessageBox::No);
         int ret = msgBox.exec();
 
         // Close the message box shortly after the click to prevent accidental clicks

src/comm/MAVLinkSimulationLink.cc

@@ -405,14 +405,14 @@ void MAVLinkSimulationLink::mainloop()
         streampointer += bufferlength;
 
         // GPS RAW
-        mavlink_msg_gps_raw_pack(systemId, componentId, &ret, 0, 3, 47.376417+x*0.001f, 8.548103+y*0.001f, z, 0, 0, 2.5f, 0.1f);
+        mavlink_msg_gps_raw_pack(systemId, componentId, &ret, 0, 3, 47.376417+(x*0.001), 8.548103+(y*0.001), z, 0, 0, 2.5f, 0.1f);
         bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);
         streampointer += bufferlength;
 
         // GLOBAL POSITION
-        mavlink_msg_global_position_pack(systemId, componentId, &ret, 0, 3, 47.376417+x*0.001f, 8.548103+y*0.001f, z, 0, 0);
+        mavlink_msg_global_position_pack(systemId, componentId, &ret, 0, 3, 47.376417+(x*0.001), 8.548103+(y*0.001), z, 0, 0);
         bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);

src/comm/SerialLink.h

@@ -57,7 +57,7 @@ class SerialLink : public SerialLinkInterface {
     //Q_INTERFACES(SerialLinkInterface:LinkInterface)
 
 public:
-    SerialLink(QString portname=NULL, BaudRateType baudrate=BAUD57600, FlowType flow=FLOW_OFF, ParityType parity=PAR_NONE, DataBitsType dataBits=DATA_8, StopBitsType stopBits=STOP_1);
+    SerialLink(QString portname = "", BaudRateType baudrate=BAUD57600, FlowType flow=FLOW_OFF, ParityType parity=PAR_NONE, DataBitsType dataBits=DATA_8, StopBitsType stopBits=STOP_1);
     ~SerialLink();
 
     static const int poll_interval = SERIAL_POLL_INTERVAL; ///< Polling interval, defined in configuration.h

src/uas/UAS.cc

@@ -73,6 +73,12 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
         sendDropRate(0),
         lowBattAlarm(false),
         positionLock(false),
+        localX(0),
+        localY(0),
+        localZ(0),
+        roll(0),
+        pitch(0),
+        yaw(0),
         statusTimeout(new QTimer(this))
 {
     color = UASInterface::getNextColor();
@@ -281,6 +287,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_attitude_t attitude;
                 mavlink_msg_attitude_decode(&message, &attitude);
                 quint64 time = getUnixTime(attitude.usec);
+                roll = attitude.roll;
+                pitch = attitude.pitch;
+                yaw = attitude.yaw;
                 emit valueChanged(uasId, "roll IMU", mavlink_msg_attitude_get_roll(&message), time);
                 emit valueChanged(uasId, "pitch IMU", mavlink_msg_attitude_get_pitch(&message), time);
                 emit valueChanged(uasId, "yaw IMU", mavlink_msg_attitude_get_yaw(&message), time);
@@ -300,6 +309,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_local_position_t pos;
                 mavlink_msg_local_position_decode(&message, &pos);
                 quint64 time = getUnixTime(pos.usec);
+                localX = pos.x;
+                localY = pos.y;
+                localZ = pos.z;
                 emit valueChanged(uasId, "x", pos.x, time);
                 emit valueChanged(uasId, "y", pos.y, time);
                 emit valueChanged(uasId, "z", pos.z, time);
@@ -353,28 +365,34 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 // only accept values in a realistic range
                // quint64 time = getUnixTime(pos.usec);
                 quint64 time = MG::TIME::getGroundTimeNow();
+
                 emit valueChanged(uasId, "lat", pos.lat, time);
                 emit valueChanged(uasId, "lon", pos.lon, time);
-                // Check for NaN
-                int alt = pos.alt;
-                if (alt != alt)
-                {
-                    alt = 0;
-                    emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
-                }
-                emit valueChanged(uasId, "alt", pos.alt, time);
-                // Smaller than threshold and not NaN
-                if (pos.v < 1000000 && pos.v == pos.v)
-                {
-                    emit valueChanged(uasId, "speed", pos.v, time);
-                    //qDebug() << "GOT GPS RAW";
-                    emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
-                }
-                else
+
+                if (pos.fix_type > 0)
                 {
-                     emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(pos.v));
+                    emit globalPositionChanged(this, pos.lon, pos.lat, pos.alt, time);
+
+                    // Check for NaN
+                    int alt = pos.alt;
+                    if (alt != alt)
+                    {
+                        alt = 0;
+                        emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
+                    }
+                    emit valueChanged(uasId, "alt", pos.alt, time);
+                    // Smaller than threshold and not NaN
+                    if (pos.v < 1000000 && pos.v == pos.v)
+                    {
+                        emit valueChanged(uasId, "speed", pos.v, time);
+                        //qDebug() << "GOT GPS RAW";
+                        emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
+                    }
+                    else
+                    {
+                        emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(pos.v));
+                    }
                 }
-                emit globalPositionChanged(this, pos.lon, pos.lat, alt, time);
             }
             break;
         case MAVLINK_MSG_ID_GPS_STATUS:
@@ -1159,8 +1177,8 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double
     manualYawAngle = yaw * yawScaling;
     manualThrust = thrust * thrustScaling;
 
-    if(mode == (int)MAV_MODE_MANUAL)
-    {
+//    if(mode == (int)MAV_MODE_MANUAL)
+//    {
       #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
         mavlink_message_t message;
         mavlink_msg_manual_control_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->uasId, (float)manualRollAngle, (float)manualPitchAngle, (float)manualYawAngle, (float)manualThrust, controlRollManual, controlPitchManual, controlYawManual, controlThrustManual);
@@ -1169,7 +1187,7 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double
 
         emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, MG::TIME::getGroundTimeNow());
       #endif
-    }
+//    }
 }
 
 int UAS::getSystemType()
@@ -1363,6 +1381,16 @@ void UAS::shutdown()
     }
 }
 
+void UAS::setTargetPosition(float x, float y, float z, float yaw)
+{
+    mavlink_message_t msg;
+    mavlink_msg_position_target_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, x, y, z, yaw);
+
+    // Send message twice to increase chance of reception
+    sendMessage(msg);
+    sendMessage(msg);
+}
+
 /**
  * @return The name of this system as string in human-readable form
  */

src/uas/UAS.h

@@ -79,6 +79,15 @@ public:
     /** @brief Get the links associated with this robot */
     QList<LinkInterface*>* getLinks();
 
+    double getLocalX() const { return localX; };
+    double getLocalY() const { return localY; };
+    double getLocalZ() const { return localZ; };
+
+    double getRoll() const { return roll; };
+    double getPitch() const { return pitch; };
+    double getYaw() const { return yaw; };
+
+
 friend class UASWaypointManager;
 protected:
     int uasId;                    ///< Unique system ID
@@ -127,6 +136,12 @@ protected:
     float sendDropRate;         ///< Percentage of packets that were not received from the MAV by the GCS
     bool lowBattAlarm;          ///< Switch if battery is low
     bool positionLock;          ///< Status if position information is available or not
+    double localX;
+    double localY;
+    double localZ;
+    double roll;
+    double pitch;
+    double yaw;
     QTimer* statusTimeout;      ///< Timer for various status timeouts
 
     /** @brief Set the current battery type */
@@ -164,6 +179,9 @@ public slots:
     /** @brief Shut the system cleanly down. Will shut down any onboard computers **/
     void shutdown();
 
+    /** @brief Set the target position for the robot to navigate to. */
+    void setTargetPosition(float x, float y, float z, float yaw);
+
     void startLowBattAlarm();
     void stopLowBattAlarm();
 

src/uas/UASInterface.h

@@ -66,6 +66,14 @@ public:
     /** @brief Get the status flag for the communication **/
     virtual int getCommunicationStatus() const = 0;
 
+    virtual double getLocalX() const = 0;
+    virtual double getLocalY() const = 0;
+    virtual double getLocalZ() const = 0;
+
+    virtual double getRoll() const = 0;
+    virtual double getPitch() const = 0;
+    virtual double getYaw() const = 0;
+
     /** @brief Get reference to the waypoint manager **/
     virtual UASWaypointManager &getWaypointManager(void) = 0;
 
@@ -171,6 +179,13 @@ public slots:
      * Works only if already landed and will cleanly shut down all onboard computers.
      */
     virtual void shutdown() = 0;
+    /** @brief Set the target position for the robot to navigate to.
+     *  @param x x-coordinate of the target position
+     *  @param y y-coordinate of the target position
+     *  @param z z-coordinate of the target position
+     *  @param yaw heading of the target position
+     */
+    virtual void setTargetPosition(float x, float y, float z, float yaw) = 0;
     /** @brief Request the list of stored waypoints from the robot */
     //virtual void requestWaypoints() = 0;
     /** @brief Clear all existing waypoints on the robot */

src/ui/HSIDisplay.cc

@@ -100,7 +100,7 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
         topMargin(3.0f)
 {
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
-    refreshTimer->setInterval(60);
+    refreshTimer->setInterval(120);
 
 
 //    this->setScene(new QGraphicsScene(-metricWidth/2.0f, -metricWidth/2.0f, metricWidth, metricWidth, this));

src/ui/HUD.cc

@@ -448,7 +448,7 @@ void HUD::paintText(QString text, QColor color, float fontSize, float refX, floa
 
     QFont font("Bitstream Vera Sans");
     // Enforce minimum font size of 5 pixels
-    int fSize = qMax(1, (int)(fontSize*scalingFactor*1.26f));
+    int fSize = qMax(5, (int)(fontSize*scalingFactor*1.26f));
     font.setPixelSize(fSize);
 
     QFontMetrics metrics = QFontMetrics(font);

src/ui/MainWindow.cc

@@ -45,6 +45,7 @@ This file is part of the QGROUNDCONTROL project
 #include "MainWindow.h"
 #include "JoystickWidget.h"
 #include "GAudioOutput.h"
+#include "QMap3DWidget.h"
 
 // FIXME Move
 #include "PxQuadMAV.h"
@@ -131,7 +132,7 @@ void MainWindow::buildWidgets()
     mapWidget         = new MapWidget(this);
     protocolWidget    = new XMLCommProtocolWidget(this);
     dataplotWidget    = new QGCDataPlot2D(this);
-    map3DWidget       = new QWidget(this); // FIXME Lionel, insert visualizer here
+    map3DWidget       = new QMap3DWidget(this);
 
     // Dock widgets
     controlDockWidget = new QDockWidget(tr("Control"), this);
@@ -216,6 +217,7 @@ void MainWindow::arrangeCenterStack()
     if (linechartWidget) centerStack->addWidget(linechartWidget);
     if (protocolWidget) centerStack->addWidget(protocolWidget);
     if (mapWidget) centerStack->addWidget(mapWidget);
+    if (map3DWidget) centerStack->addWidget(map3DWidget);
     if (hudWidget) centerStack->addWidget(hudWidget);
     if (dataplotWidget) centerStack->addWidget(dataplotWidget);
 
@@ -655,14 +657,14 @@ void MainWindow::loadPixhawkView()
     clearView();
     // Engineer view, used in EMAV2009
 
-    // LINE CHART
-    if (linechartWidget)
+    // 3D map
+    if (map3DWidget)
     {
         QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
         if (centerStack)
         {
-            linechartWidget->setActive(true);
-            centerStack->setCurrentWidget(linechartWidget);
+            //map3DWidget->setActive(true);
+            centerStack->setCurrentWidget(map3DWidget);
         }
     }
 
@@ -673,6 +675,18 @@ void MainWindow::loadPixhawkView()
         controlDockWidget->show();
     }
 
+    // HORIZONTAL SITUATION INDICATOR
+    if (hsiDockWidget)
+    {
+        HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
+        if (hsi)
+        {
+            hsi->start();
+            addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
+            hsiDockWidget->show();
+        }
+    }
+
     // UAS LIST
     if (listDockWidget)
     {
@@ -694,18 +708,6 @@ void MainWindow::loadPixhawkView()
         waypointsDockWidget->show();
     }
 
-    // HORIZONTAL SITUATION INDICATOR
-    if (hsiDockWidget)
-    {
-        HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
-        if (hsi)
-        {
-            hsi->start();
-            addDockWidget(Qt::BottomDockWidgetArea, hsiDockWidget);
-            hsiDockWidget->show();
-        }
-    }
-
     // DEBUG CONSOLE
     if (debugConsoleDockWidget)
     {
@@ -713,13 +715,6 @@ void MainWindow::loadPixhawkView()
         debugConsoleDockWidget->show();
     }
 
-    // RADIO CONTROL VIEW
-    if (rcViewDockWidget)
-    {
-        addDockWidget(Qt::BottomDockWidgetArea, rcViewDockWidget);
-        rcViewDockWidget->show();
-    }
-
     // ONBOARD PARAMETERS
     if (parametersDockWidget)
     {

src/ui/MainWindow.h

@@ -63,6 +63,7 @@ This file is part of the QGROUNDCONTROL project
 #include "HSIDisplay.h"
 #include "QGCDataPlot2D.h"
 #include "QGCRemoteControlView.h"
+#include "QMap3DWidget.h"
 
 #include "LogCompressor.h"
 
@@ -160,7 +161,7 @@ protected:
     QPointer<MapWidget> mapWidget;
     QPointer<XMLCommProtocolWidget> protocolWidget;
     QPointer<QGCDataPlot2D> dataplotWidget;
-    QPointer<QWidget> map3DWidget;
+    QPointer<QMap3DWidget> map3DWidget;
     // Dock widgets
     QPointer<QDockWidget> controlDockWidget;
     QPointer<QDockWidget> infoDockWidget;

src/ui/MainWindow.ui

@@ -38,7 +38,7 @@
      <x>0</x>
      <y>0</y>
      <width>1000</width>
-     <height>23</height>
+     <height>25</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuMGround">
@@ -113,7 +113,7 @@
   <widget class="QStatusBar" name="statusBar"/>
   <action name="actionExit">
    <property name="icon">
-    <iconset>
+    <iconset resource="../../mavground.qrc">
      <normaloff>:/images/actions/system-log-out.svg</normaloff>:/images/actions/system-log-out.svg</iconset>
    </property>
    <property name="text">
@@ -123,22 +123,9 @@
     <string>Ctrl+Q</string>
    </property>
   </action>
-  <action name="actionSettings">
-   <property name="icon">
-    <iconset>
-     <normaloff>:/images/categories/preferences-system.svg</normaloff>
-     <normalon>:/images/categories/preferences-system.svg</normalon>:/images/categories/preferences-system.svg</iconset>
-   </property>
-   <property name="text">
-    <string>Settings</string>
-   </property>
-   <property name="shortcut">
-    <string>Ctrl+P</string>
-   </property>
-  </action>
   <action name="actionLiftoff">
    <property name="icon">
-    <iconset>
+    <iconset resource="../../mavground.qrc">
      <normaloff>:/images/control/launch.svg</normaloff>
      <normalon>:/images/control/launch.svg</normalon>:/images/control/launch.svg</iconset>
    </property>
@@ -148,7 +135,7 @@
   </action>
   <action name="actionLand">
    <property name="icon">
-    <iconset>
+    <iconset resource="../../mavground.qrc">
      <normaloff>:/images/control/land.svg</normaloff>:/images/control/land.svg</iconset>
    </property>
    <property name="text">
@@ -173,7 +160,7 @@
   </action>
   <action name="actionAdd_Link">
    <property name="icon">
-    <iconset>
+    <iconset resource="../../mavground.qrc">
      <normaloff>:/images/actions/list-add.svg</normaloff>:/images/actions/list-add.svg</iconset>
    </property>
    <property name="text">
@@ -182,7 +169,7 @@
   </action>
   <action name="actionConfiguration">
    <property name="icon">
-    <iconset>
+    <iconset resource="../../mavground.qrc">
      <normaloff>:/images/categories/applications-system.svg</normaloff>:/images/categories/applications-system.svg</iconset>
    </property>
    <property name="text">
@@ -194,7 +181,7 @@
   </action>
   <action name="actionEngineerView">
    <property name="icon">
-    <iconset>
+    <iconset resource="../../mavground.qrc">
      <normaloff>:/images/apps/utilities-system-monitor.svg</normaloff>:/images/apps/utilities-system-monitor.svg</iconset>
    </property>
    <property name="text">
@@ -203,7 +190,7 @@
   </action>
   <action name="actionPilotView">
    <property name="icon">
-    <iconset>
+    <iconset resource="../../mavground.qrc">
      <normaloff>:/images/status/weather-overcast.svg</normaloff>:/images/status/weather-overcast.svg</iconset>
    </property>
    <property name="text">
@@ -212,7 +199,7 @@
   </action>
   <action name="actionStyleConfig">
    <property name="icon">
-    <iconset>
+    <iconset resource="../../mavground.qrc">
      <normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
    </property>
    <property name="text">
@@ -221,7 +208,7 @@
   </action>
   <action name="actionJoystickSettings">
    <property name="icon">
-    <iconset>
+    <iconset resource="../../mavground.qrc">
      <normaloff>:/images/devices/input-gaming.svg</normaloff>:/images/devices/input-gaming.svg</iconset>
    </property>
    <property name="text">
@@ -230,7 +217,7 @@
   </action>
   <action name="actionOperatorView">
    <property name="icon">
-    <iconset>
+    <iconset resource="../../mavground.qrc">
      <normaloff>:/images/status/network-wireless-encrypted.svg</normaloff>:/images/status/network-wireless-encrypted.svg</iconset>
    </property>
    <property name="text">
@@ -242,7 +229,7 @@
   </action>
   <action name="action3DView">
    <property name="icon">
-    <iconset>
+    <iconset resource="../../mavground.qrc">
      <normaloff>:/images/categories/preferences-system.svg</normaloff>:/images/categories/preferences-system.svg</iconset>
    </property>
    <property name="text">
@@ -257,7 +244,7 @@
     <bool>true</bool>
    </property>
    <property name="icon">
-    <iconset>
+    <iconset resource="../../mavground.qrc">
      <normaloff>:/images/control/launch.svg</normaloff>:/images/control/launch.svg</iconset>
    </property>
    <property name="text">
@@ -269,7 +256,7 @@
   </action>
   <action name="actionShow_full_view">
    <property name="icon">
-    <iconset>
+    <iconset resource="../../mavground.qrc">
      <normaloff>:/images/status/network-transmit-receive.svg</normaloff>:/images/status/network-transmit-receive.svg</iconset>
    </property>
    <property name="text">
@@ -278,7 +265,7 @@
   </action>
   <action name="actionShow_MAVLink_view">
    <property name="icon">
-    <iconset>
+    <iconset resource="../../mavground.qrc">
      <normaloff>:/images/devices/network-wired.svg</normaloff>:/images/devices/network-wired.svg</iconset>
    </property>
    <property name="text">
@@ -287,7 +274,7 @@
   </action>
   <action name="actionOnline_documentation">
    <property name="icon">
-    <iconset>
+    <iconset resource="../../mavground.qrc">
      <normaloff>:/images/categories/applications-internet.svg</normaloff>:/images/categories/applications-internet.svg</iconset>
    </property>
    <property name="text">
@@ -296,7 +283,7 @@
   </action>
   <action name="actionShow_data_analysis_view">
    <property name="icon">
-    <iconset>
+    <iconset resource="../../mavground.qrc">
      <normaloff>:/images/apps/utilities-system-monitor.svg</normaloff>:/images/apps/utilities-system-monitor.svg</iconset>
    </property>
    <property name="text">
@@ -305,7 +292,7 @@
   </action>
   <action name="actionProject_Roadmap">
    <property name="icon">
-    <iconset>
+    <iconset resource="../../mavground.qrc">
      <normaloff>:/images/status/software-update-available.svg</normaloff>:/images/status/software-update-available.svg</iconset>
    </property>
    <property name="text">
@@ -314,7 +301,7 @@
   </action>
   <action name="actionCredits_Developers">
    <property name="icon">
-    <iconset>
+    <iconset resource="../../mavground.qrc">
      <normaloff>:/images/categories/preferences-system.svg</normaloff>:/images/categories/preferences-system.svg</iconset>
    </property>
    <property name="text">
@@ -323,7 +310,9 @@
   </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
- <resources/>
+ <resources>
+  <include location="../../mavground.qrc"/>
+ </resources>
  <connections>
   <connection>
    <sender>actionExit</sender>

src/ui/MapWidget.cc

@@ -37,6 +37,8 @@ This file is part of the QGROUNDCONTROL project
 #include "ui_MapWidget.h"
 #include "UASInterface.h"
 #include "UASManager.h"
+#include "MAV2DIcon.h"
+#include "Waypoint2DIcon.h"
 
 #include "MG.h"
 
@@ -53,7 +55,7 @@ MapWidget::MapWidget(QWidget *parent) :
     this->setFocusPolicy(Qt::StrongFocus);
 
     // create MapControl
-    mc = new MapControl(QSize(320, 240));
+    mc = new qmapcontrol::MapControl(QSize(320, 240));
     mc->showScale(true);
     mc->showCoord(true);
     mc->enablePersistentCache();
@@ -62,21 +64,21 @@ MapWidget::MapWidget(QWidget *parent) :
     // create MapAdapter to get maps from
     //TileMapAdapter* osmAdapter = new TileMapAdapter("tile.openstreetmap.org", "/%1/%2/%3.png", 256, 0, 17);
 
-    MapAdapter* mapadapter_overlay = new YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=2.2&t=h&s=256&x=%2&y=%3&z=%1");
+    qmapcontrol::MapAdapter* mapadapter_overlay = new qmapcontrol::YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=2.2&t=h&s=256&x=%2&y=%3&z=%1");
 
     // MAP BACKGROUND
-    mapadapter = new GoogleSatMapAdapter();
-    l = new MapLayer("Google Satellite", mapadapter);
+    mapadapter = new qmapcontrol::GoogleSatMapAdapter();
+    l = new qmapcontrol::MapLayer("Google Satellite", mapadapter);
     mc->addLayer(l);
 
     // STREET OVERLAY
-    overlay = new MapLayer("Overlay", mapadapter_overlay);
+    overlay = new qmapcontrol::MapLayer("Overlay", mapadapter_overlay);
     overlay->setVisible(false);
     mc->addLayer(overlay);
 
     // WAYPOINT LAYER
     // create a layer with the mapadapter and type GeometryLayer (for waypoints)
-    geomLayer = new GeometryLayer("Waypoints", mapadapter);
+    geomLayer = new qmapcontrol::GeometryLayer("Waypoints", mapadapter);
     mc->addLayer(geomLayer);
 
 //
@@ -188,6 +190,7 @@ MapWidget::MapWidget(QWidget *parent) :
 
     connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
             this, SLOT(addUAS(UASInterface*)));
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(activeUASSet(UASInterface*)));