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*)));
 
     connect(mc, SIGNAL(mouseEventCoordinate(const QMouseEvent*, const QPointF)),
             this, SLOT(captureMapClick(const QMouseEvent*, const QPointF)));
@@ -208,7 +211,7 @@ MapWidget::MapWidget(QWidget *parent) :
     pointPen = new QPen(QColor(0, 255,0));
     pointPen->setWidth(3);
 
-    path = new LineString (wps, "UAV Path", pointPen);
+    path = new qmapcontrol::LineString (wps, "UAV Path", pointPen);
     mc->layer("Waypoints")->addGeometry(path);
 
     this->setVisible(false);
@@ -224,7 +227,7 @@ void MapWidget::mapproviderSelected(QAction* action)
         int zoom = mapadapter->adaptedZoom();
         mc->setZoom(0);
 
-        mapadapter = new OSMMapAdapter();
+        mapadapter = new qmapcontrol::OSMMapAdapter();
         l->setMapAdapter(mapadapter);
         geomLayer->setMapAdapter(mapadapter);
 
@@ -240,7 +243,7 @@ void MapWidget::mapproviderSelected(QAction* action)
         int zoom = mapadapter->adaptedZoom();
         mc->setZoom(0);
 
-        mapadapter = new YahooMapAdapter();
+        mapadapter = new qmapcontrol::YahooMapAdapter();
         l->setMapAdapter(mapadapter);
         geomLayer->setMapAdapter(mapadapter);
 
@@ -256,7 +259,7 @@ void MapWidget::mapproviderSelected(QAction* action)
         QPointF a = mc->currentCoordinate();
         mc->setZoom(0);
 
-        mapadapter = new YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=1.7&t=a&s=256&x=%2&y=%3&z=%1");
+        mapadapter = new qmapcontrol::YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=1.7&t=a&s=256&x=%2&y=%3&z=%1");
         l->setMapAdapter(mapadapter);
 
         mc->updateRequestNew();
@@ -267,7 +270,7 @@ void MapWidget::mapproviderSelected(QAction* action)
     {
         int zoom = mapadapter->adaptedZoom();
         mc->setZoom(0);
-        mapadapter = new GoogleMapAdapter();
+        mapadapter = new qmapcontrol::GoogleMapAdapter();
         l->setMapAdapter(mapadapter);
         geomLayer->setMapAdapter(mapadapter);
 
@@ -281,7 +284,7 @@ void MapWidget::mapproviderSelected(QAction* action)
     {
         int zoom = mapadapter->adaptedZoom();
         mc->setZoom(0);
-        mapadapter = new GoogleSatMapAdapter();
+        mapadapter = new qmapcontrol::GoogleSatMapAdapter();
         l->setMapAdapter(mapadapter);
         geomLayer->setMapAdapter(mapadapter); 
 
@@ -342,10 +345,19 @@ void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordina
     str = QString("%1").arg(path->numberOfPoints());
 
     // create the WP and set everything in the LineString to display the path
-    CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
+    Waypoint2DIcon* tempCirclePoint;
+
+    if (mav)
+    {
+        tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor()));
+    }
+    else
+    {
+        tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
+    }
     mc->layer("Waypoints")->addGeometry(tempCirclePoint);
 
-    Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str);
+    qmapcontrol::Point* tempPoint = new qmapcontrol::Point(coordinate.x(), coordinate.y(),str);
     wps.append(tempPoint);
     path->addPoint(tempPoint);
 
@@ -360,7 +372,7 @@ void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordina
   }
 }
 
-void MapWidget::captureGeometryClick(Geometry* geom, QPoint point){
+void MapWidget::captureGeometryClick(qmapcontrol::Geometry* geom, QPoint point){
   Q_UNUSED(geom);
   Q_UNUSED(point);
 
@@ -369,29 +381,35 @@ void MapWidget::captureGeometryClick(Geometry* geom, QPoint point){
 
 }
 
-void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate){
+void MapWidget::captureGeometryDrag(qmapcontrol::Geometry* geom, QPointF coordinate){
   Q_UNUSED(coordinate);
 
   // Refresh the screen
   mc->updateRequestNew();
 
   int temp = 0;
-  Point* point2Find;
+  qmapcontrol::Point* point2Find;
   point2Find = wpIndex[geom->name()];
-  point2Find->setCoordinate(coordinate);
 
-  point2Find = dynamic_cast <Point*> (geom);
-  point2Find->setCoordinate(coordinate);
+  if (point2Find)
+  {
+      point2Find->setCoordinate(coordinate);
 
- // qDebug() << geom->name();
-  temp = geom->get_myIndex();
-  //qDebug() << temp;
-  emit sendGeometryEndDrag(coordinate,temp);
+      point2Find = dynamic_cast <qmapcontrol::Point*> (geom);
+      if (point2Find)
+      {
+          point2Find->setCoordinate(coordinate);
 
+          // qDebug() << geom->name();
+          temp = geom->get_myIndex();
+          //qDebug() << temp;
+          emit sendGeometryEndDrag(coordinate,temp);
+      }
+  }
 
 }
 
-void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate)
+void MapWidget::captureGeometryEndDrag(qmapcontrol::Geometry* geom, QPointF coordinate)
 {
 
     mc->setMouseMode(qmapcontrol::MapControl::Panning);
@@ -411,10 +429,18 @@ MapWidget::~MapWidget()
  */
 void MapWidget::addUAS(UASInterface* uas)
 {
-    mav = uas;
     connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
 }
 
+void MapWidget::activeUASSet(UASInterface* uas)
+{
+    if (uas)
+    {
+        mav = uas;
+        path->setPen(new QPen(mav->getColor()));
+    }
+}
+
 /**
  * Updates the global position of one MAV and append the last movement to the trail
  *
@@ -446,19 +472,19 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
 
             // Icon
             QPen* pointpen = new QPen(uasColor);
-            CirclePoint* p = new CirclePoint(lat, lon, 10, uas->getUASName(), Point::Middle, pointpen);
+            MAV2DIcon* p = new MAV2DIcon(lat, lon, 20, uas->getUASName(), qmapcontrol::Point::Middle, pointpen);
             uasIcons.insert(uas->getUASID(), p);
             geomLayer->addGeometry(p);
 
             // Line
             // A QPen also can use transparency
 
-            QList<Point*> points;
-            points.append(new Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon)));
+            QList<qmapcontrol::Point*> points;
+            points.append(new qmapcontrol::Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon)));
             QPen* linepen = new QPen(uasColor.darker());
             linepen->setWidth(2);
             // Add the Points and the QPen to a LineString
-            LineString* ls = new LineString(points, uas->getUASName(), linepen);
+            qmapcontrol::LineString* ls = new qmapcontrol::LineString(points, uas->getUASName(), linepen);
             uasTrails.insert(uas->getUASID(), ls);
 
             // Add the LineString to the layer
@@ -466,10 +492,14 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
         }
         else
         {
-            CirclePoint* p = uasIcons.value(uas->getUASID());
-            p->setCoordinate(QPointF(lat, lon));
+            MAV2DIcon* p = dynamic_cast<MAV2DIcon*>(uasIcons.value(uas->getUASID()));
+            if (p)
+            {
+                p->setCoordinate(QPointF(lat, lon));
+                p->setYaw(uas->getYaw());
+            }
             // Extend trail
-            uasTrails.value(uas->getUASID())->addPoint(new Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon)));
+            uasTrails.value(uas->getUASID())->addPoint(new qmapcontrol::Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon)));
         }
 
         //    points.append(new CirclePoint(8.275145, 50.016992, 15, "Wiesbaden-Mainz-Kastel, Johannes-Goßner-Straße", Point::Middle, pointpen));

src/ui/MapWidget.h

@@ -44,8 +44,6 @@ namespace Ui {
     class MapWidget;
 }
 
-using namespace qmapcontrol;
-
 /**
  * @brief 2D Moving map
  *
@@ -60,6 +58,7 @@ public:
 
 public slots:
     void addUAS(UASInterface* uas);
+    void activeUASSet(UASInterface* uas);
     void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
     void updatePosition(float time, double lat, double lon);
 
@@ -86,8 +85,8 @@ protected:
     QMenu* mapMenu;
     QPushButton* mapButton;
 
-    MapControl* mc;                   ///< QMapControl widget
-    MapAdapter* mapadapter;           ///< Adapter to load the map data
+    qmapcontrol::MapControl* mc;                   ///< QMapControl widget
+    qmapcontrol::MapAdapter* mapadapter;           ///< Adapter to load the map data
     qmapcontrol::Layer* l;            ///< Current map layer (background)
     qmapcontrol::Layer* overlay;      ///< Street overlay (foreground)
     qmapcontrol::GeometryLayer* geomLayer; ///< Layer for waypoints
@@ -98,18 +97,18 @@ protected:
 
     //Layer* gSatLayer;
 
-    QMap<int, CirclePoint*> uasIcons;
-    QMap<int, LineString*> uasTrails;
+    QMap<int, qmapcontrol::Point*> uasIcons;
+    QMap<int, qmapcontrol::LineString*> uasTrails;
     UASInterface* mav;
     quint64 lastUpdate;
 
   protected slots:
     void captureMapClick (const QMouseEvent* event, const QPointF coordinate);
     void createPathButtonClicked(bool checked);
-    void captureGeometryClick(Geometry*, QPoint);
+    void captureGeometryClick(qmapcontrol::Geometry*, QPoint);
     void mapproviderSelected(QAction* action);
-    void captureGeometryDrag(Geometry* geom, QPointF coordinate);
-    void captureGeometryEndDrag(Geometry* geom, QPointF coordinate);
+    void captureGeometryDrag(qmapcontrol::Geometry* geom, QPointF coordinate);
+    void captureGeometryEndDrag(qmapcontrol::Geometry* geom, QPointF coordinate);
 
 
 
@@ -122,9 +121,9 @@ protected:
 
 private:
     Ui::MapWidget *m_ui;
-    QList<Point*> wps;
-    QHash <QString, Point*> wpIndex;
-    LineString* path;
+    QList<qmapcontrol::Point*> wps;
+    QHash <QString, qmapcontrol::Point*> wpIndex;
+    qmapcontrol::LineString* path;
     QPen* pointPen;
 };
 

src/ui/linechart/LinechartPlot.h

@@ -213,8 +213,8 @@ public:
     static const int SCALE_BEST_FIT = 1;
     static const int SCALE_LOGARITHMIC = 2;
 
-    static const int DEFAULT_REFRESH_RATE = 40; ///< The default refresh rate is 25 Hz / every 100 ms
-    static const int DEFAULT_PLOT_INTERVAL = 1000 * 15; ///< The default plot interval is 15 seconds
+    static const int DEFAULT_REFRESH_RATE = 50; ///< The default refresh rate is 25 Hz / every 100 ms
+    static const int DEFAULT_PLOT_INTERVAL = 1000 * 12; ///< The default plot interval is 15 seconds
     static const int DEFAULT_SCALE_INTERVAL = 1000 * 5;
 
 public slots:

src/ui/linechart/LinechartWidget.cc

@@ -90,7 +90,7 @@ updateTimer(new QTimer())
     connect(this, SIGNAL(plotWindowPositionUpdated(int)), scrollbar, SLOT(setValue(int)));
     connect(scrollbar, SIGNAL(sliderMoved(int)), this, SLOT(setPlotWindowPosition(int)));
 
-    updateTimer->setInterval(100);
+    updateTimer->setInterval(300);
     connect(updateTimer, SIGNAL(timeout()), this, SLOT(refresh()));
     updateTimer->start();
 }
@@ -247,13 +247,13 @@ void LinechartWidget::refresh()
         str.sprintf("%+.2f", activePlot->getMean(j.key()));
         j.value()->setText(str);
     }
-    QMap<QString, QLabel*>::iterator k;
-    for (k = curveMedians->begin(); k != curveMedians->end(); ++k)
-    {
-        // Median
-        str.sprintf("%+.2f", activePlot->getMedian(k.key()));
-        k.value()->setText(str);
-    }
+//    QMap<QString, QLabel*>::iterator k;
+//    for (k = curveMedians->begin(); k != curveMedians->end(); ++k)
+//    {
+//        // Median
+//        str.sprintf("%+.2f", activePlot->getMedian(k.key()));
+//        k.value()->setText(str);
+//    }
 }
 
 
@@ -397,11 +397,11 @@ QWidget* LinechartWidget::createCurveItem(QString curve)
     curveMeans->insert(curve, mean);
     horizontalLayout->addWidget(mean);
 
-    // Median
-    median = new QLabel(form);
-    value->setNum(0.00);
-    curveMedians->insert(curve, median);
-    horizontalLayout->addWidget(median);
+//    // Median
+//    median = new QLabel(form);
+//    value->setNum(0.00);
+//    curveMedians->insert(curve, median);
+//    horizontalLayout->addWidget(median);
 
     /* Color picker
     QColor color = QColorDialog::getColor(Qt::green, this);
@@ -418,7 +418,7 @@ QWidget* LinechartWidget::createCurveItem(QString curve)
     horizontalLayout->setStretchFactor(label, 80);
     horizontalLayout->setStretchFactor(value, 50);
     horizontalLayout->setStretchFactor(mean, 50);
-    horizontalLayout->setStretchFactor(median, 50);
+//    horizontalLayout->setStretchFactor(median, 50);
 
     // Connect actions
     QObject::connect(checkBox, SIGNAL(clicked(bool)), this, SLOT(takeButtonClick(bool)));

src/ui/map/MAV2DIcon.cc

 #include "MAV2DIcon.h"
 #include <QPainter>
 
-MAV2DIcon::MAV2DIcon(QGraphicsItem* parent) :
-    QGC2DIcon(parent)
+MAV2DIcon::MAV2DIcon(qreal x, qreal y, int radius, QString name, Alignment alignment, QPen* pen)
+    : Point(x, y, name, alignment),
+    yaw(0.0f)
 {
+    size = QSize(radius, radius);
+    drawIcon(pen);
 }
 
-/**
- * @return the bounding rectangle of the icon
- */
-QRectF MAV2DIcon::boundingRect() const
+MAV2DIcon::MAV2DIcon(qreal x, qreal y, QString name, Alignment alignment, QPen* pen)
+    : Point(x, y, name, alignment)
+{
+    int radius = 10;
+    size = QSize(radius, radius);
+    drawIcon(pen);
+}
+
+MAV2DIcon::~MAV2DIcon()
+{
+    delete mypixmap;
+}
+
+void MAV2DIcon::setPen(QPen* pen)
 {
-    qreal penWidth = 1;
-    return QRectF(-10 - penWidth / 2, -10 - penWidth / 2,
-                  20 + penWidth, 20 + penWidth);
+    mypen = pen;
+    drawIcon(pen);
 }
 
 /**
- * @param painter QPainter to draw with
- * @param option Visual style
- * @param widget Parent widget
+ * @param yaw in radians, 0 = north, positive = clockwise
  */
-void MAV2DIcon::paint(QPainter* painter, const QStyleOptionGraphicsItem* option, QWidget* widget)
+void MAV2DIcon::setYaw(float yaw)
 {
-    painter->drawRoundedRect(-10, -10, 20, 20, 5, 5);
+    this->yaw = yaw;
+}
+
+void MAV2DIcon::drawIcon(QPen* pen)
+{
+    mypixmap = new QPixmap(radius+1, radius+1);
+    mypixmap->fill(Qt::transparent);
+    QPainter painter(mypixmap);
+
+    // DRAW MICRO AIR VEHICLE
+    QPointF p(radius/2, radius/2);
+
+    float waypointSize = radius;
+    QPolygonF poly(3);
+    // Top point
+    poly.replace(0, QPointF(p.x(), p.y()+waypointSize/2.0f));
+    // Right point
+    poly.replace(1, QPointF(p.x()-waypointSize/2.0f, p.y()-waypointSize/2.0f));
+    // Left point
+    poly.replace(2, QPointF(p.x()+waypointSize/2.0f, p.y() + waypointSize/2.0f));
+
+//    // Select color based on if this is the current waypoint
+//    if (list.at(i)->getCurrent())
+//    {
+//        color = QGC::colorCyan;//uas->getColor();
+//        pen.setWidthF(refLineWidthToPen(0.8f));
+//    }
+//    else
+//    {
+//        color = uas->getColor();
+//        pen.setWidthF(refLineWidthToPen(0.4f));
+//    }
+
+    //pen.setColor(color);
+    if (pen)
+    {
+        pen->setWidthF(2);
+        painter.setPen(*pen);
+    }
+    else
+    {
+        QPen pen2(Qt::yellow);
+        pen2.setWidth(2);
+        painter.setPen(pen2);
+    }
+    painter.setBrush(Qt::NoBrush);
+    painter.drawPolygon(poly);
 }

src/ui/map/MAV2DIcon.h

 #ifndef MAV2DICON_H
 #define MAV2DICON_H
 
-#include "QGC2DIcon.h"
+#include "qmapcontrol.h"
 
-class MAV2DIcon : public QGC2DIcon
+class MAV2DIcon : public qmapcontrol::Point
 {
 public:
-    explicit MAV2DIcon(QGraphicsItem* parent = 0);
+    /*!
+     *
+     * @param x longitude
+     * @param y latitude
+     * @param name name of the circle point
+     * @param alignment alignment (Middle or TopLeft)
+     * @param pen QPen for drawing
+     */
+    MAV2DIcon(qreal x, qreal y, QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
+
+    //!
+    /*!
+     *
+     * @param x longitude
+     * @param y latitude
+     * @param radius the radius of the circle
+     * @param name name of the circle point
+     * @param alignment alignment (Middle or TopLeft)
+     * @param pen QPen for drawing
+     */
+    MAV2DIcon(qreal x, qreal y, int radius = 10, QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
+    virtual ~MAV2DIcon();
+
+    //! sets the QPen which is used for drawing the circle
+    /*!
+     * A QPen can be used to modify the look of the drawn circle
+     * @param pen the QPen which should be used for drawing
+     * @see http://doc.trolltech.com/4.3/qpen.html
+     */
+    virtual void setPen(QPen* pen);
+
+    void setYaw(float yaw);
+    void drawIcon(QPen* pen);
+
+protected:
+    float yaw;  ///< Yaw angle of the MAV
+    int radius; ///< Maximum dimension of the MAV icon
 
-    QRectF boundingRect() const;
-    void paint(QPainter*, const QStyleOptionGraphicsItem*, QWidget*);
 
 };
 

src/ui/map/QGC2DIcon.cc

-#include "QGC2DIcon.h"
-
-QGC2DIcon::QGC2DIcon(QPointF localOriginInGlobalCoords, bool onlyLocal, QGraphicsItem* parent) :
-    QGraphicsItem(parent),
-    localOriginInGlobalCoords(localOriginInGlobalCoords),
-    local(onlyLocal)
-{
-}
-
-QGC2DIcon::QGC2DIcon(bool onlyLocal, QGraphicsItem* parent) :
-    QGraphicsItem(parent),
-    localOriginInGlobalCoords(QPointF(0, 0)),
-    local(onlyLocal)
-{
-}
-
-QGC2DIcon::QGC2DIcon(QGraphicsItem* parent) :
-        QGraphicsItem(parent),
-        localOriginInGlobalCoords(QPointF(0, 0)),
-        local(false)
-{
-
-}
-
-QGC2DIcon::~QGC2DIcon()
-{
-
-}
-
-QPointF QGC2DIcon::getGlobalPosition()
-{
-
-}
-
-QPointF QGC2DIcon::getLocalPosition()
-{
-
-}
-
-void QGC2DIcon::setGlobalPosition(QPointF pos)
-{
-
-}
-
-void QGC2DIcon::setLocalPosition(QPointF pos)
-{
-
-}
-
-void QGC2DIcon::setLocalPosition(float x, float y)
-{
-
-}
-
-bool QGC2DIcon::isLocal()
-{
-    return local;
-}

src/ui/map/QGC2DIcon.h

-#ifndef QGC2DICON_H
-#define QGC2DICON_H
-
-#include <QGraphicsItem>
-#include <QPointF>
-
-class QGC2DIcon : public QGraphicsItem
-{
-public:
-    QGC2DIcon(QPointF localOriginInGlobalCoords, bool onlyLocal=false, QGraphicsItem* parent = 0);
-    QGC2DIcon(bool onlyLocal=false, QGraphicsItem* parent = 0);
-    explicit QGC2DIcon(QGraphicsItem* parent = 0);
-    ~QGC2DIcon();
-
-    QPointF getGlobalPosition();
-    QPointF getLocalPosition();
-
-    void setGlobalPosition(QPointF pos);
-    void setLocalPosition(QPointF pos);
-    void setLocalPosition(float x, float y);
-
-    bool isLocal();
-    virtual QRectF boundingRect() const = 0;
-    virtual void paint(QPainter*, const QStyleOptionGraphicsItem*, QWidget*) = 0;
-
-signals:
-
-public slots:
-
-protected:
-    QPointF localOriginInGlobalCoords;
-    QPointF globalPosition;
-    QPointF localPosition;
-    bool local;
-
-};
-
-#endif // QGC2DICON_H

src/ui/map/Waypoint2DIcon.cc

 #include "Waypoint2DIcon.h"
 #include <QPainter>
 
-#include <QDebug>
+Waypoint2DIcon::Waypoint2DIcon(qreal x, qreal y, int radius, QString name, Alignment alignment, QPen* pen)
+    : Point(x, y, name, alignment),
+    yaw(0.0f),
+    radius(radius)
+{
+    size = QSize(radius, radius);
+    drawIcon(pen);
+}
 
-Waypoint2DIcon::Waypoint2DIcon(QGraphicsItem* parent) :
-        QGC2DIcon(parent)
+Waypoint2DIcon::Waypoint2DIcon(qreal x, qreal y, QString name, Alignment alignment, QPen* pen)
+    : Point(x, y, name, alignment)
 {
+    int radius = 10;
+    size = QSize(radius, radius);
+    drawIcon(pen);
 }
 
-/**
- * @return the bounding rectangle of the icon
- */
-QRectF Waypoint2DIcon::boundingRect() const
+Waypoint2DIcon::~Waypoint2DIcon()
 {
-    qreal penWidth = 1;
-    return QRectF(-10 - penWidth / 2, -10 - penWidth / 2,
-                  20 + penWidth, 20 + penWidth);
+    delete mypixmap;
+}
+
+void Waypoint2DIcon::setPen(QPen* pen)
+{
+    mypen = pen;
+    drawIcon(pen);
 }
 
 /**
- * @param painter QPainter to draw with
- * @param option Visual style
- * @param widget Parent widget
+ * @param yaw in radians, 0 = north, positive = clockwise
  */
-void Waypoint2DIcon::paint(QPainter* painter, const QStyleOptionGraphicsItem* option, QWidget* widget)
+void Waypoint2DIcon::setYaw(float yaw)
 {
-    qDebug() << __FILE__ << __LINE__ << "DRAWING";
-    painter->setPen(QPen(Qt::red));
-    painter->drawRoundedRect(-10, -10, 20, 20, 5, 5);
+    this->yaw = yaw;
+}
+
+void Waypoint2DIcon::drawIcon(QPen* pen)
+{
+    mypixmap = new QPixmap(radius+1, radius+1);
+    mypixmap->fill(Qt::transparent);
+    QPainter painter(mypixmap);
+
+    // DRAW WAYPOINT
+    QPointF p(radius/2, radius/2);
+
+    float waypointSize = radius;
+    QPolygonF poly(4);
+    // Top point
+    poly.replace(0, QPointF(p.x(), p.y()-waypointSize/2.0f));
+    // Right point
+    poly.replace(1, QPointF(p.x()+waypointSize/2.0f, p.y()));
+    // Bottom point
+    poly.replace(2, QPointF(p.x(), p.y() + waypointSize/2.0f));
+    poly.replace(3, QPointF(p.x() - waypointSize/2.0f, p.y()));
+
+//    // Select color based on if this is the current waypoint
+//    if (list.at(i)->getCurrent())
+//    {
+//        color = QGC::colorCyan;//uas->getColor();
+//        pen.setWidthF(refLineWidthToPen(0.8f));
+//    }
+//    else
+//    {
+//        color = uas->getColor();
+//        pen.setWidthF(refLineWidthToPen(0.4f));
+//    }
+
+    //pen.setColor(color);
+    if (pen)
+    {
+        pen->setWidthF(2);
+        painter.setPen(*pen);
+    }
+    else
+    {
+        QPen pen2(Qt::red);
+        pen2.setWidth(2);
+        painter.setPen(pen2);
+    }
+    painter.setBrush(Qt::NoBrush);
+
+    float rad = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f));
+    painter.drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * rad);
+    painter.drawPolygon(poly);
 }

src/ui/map/Waypoint2DIcon.h

@@ -2,16 +2,49 @@
 #define WAYPOINT2DICON_H
 
 #include <QGraphicsItem>
-#include "QGC2DIcon.h"
+#include "qmapcontrol.h"
 
-class Waypoint2DIcon : public QGC2DIcon
+class Waypoint2DIcon : public qmapcontrol::Point
 {
 public:
-    explicit Waypoint2DIcon(QGraphicsItem* parent = 0);
+    /*!
+     *
+     * @param x longitude
+     * @param y latitude
+     * @param name name of the circle point
+     * @param alignment alignment (Middle or TopLeft)
+     * @param pen QPen for drawing
+     */
+    Waypoint2DIcon(qreal x, qreal y, QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
 
-    QRectF boundingRect() const;
-    void paint(QPainter*, const QStyleOptionGraphicsItem*, QWidget*);
+    //!
+    /*!
+     *
+     * @param x longitude
+     * @param y latitude
+     * @param radius the radius of the circle
+     * @param name name of the circle point
+     * @param alignment alignment (Middle or TopLeft)
+     * @param pen QPen for drawing
+     */
+    Waypoint2DIcon(qreal x, qreal y, int radius = 10, QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
+    virtual ~Waypoint2DIcon();
 
+    //! sets the QPen which is used for drawing the circle
+    /*!
+     * A QPen can be used to modify the look of the drawn circle
+     * @param pen the QPen which should be used for drawing
+     * @see http://doc.trolltech.com/4.3/qpen.html
+     */
+    virtual void setPen(QPen* pen);
+
+    void setYaw(float yaw);
+
+    void drawIcon(QPen* pen);
+
+protected:
+    float yaw;      ///< Yaw angle of the MAV
+    int radius;     ///<
 
 };
 

src/ui/map3D/CheetahGL.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 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
+ *   @brief Generates a display list which renders a Pixhawk Cheetah MAV.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
+#ifndef CHEETAHGL_H_
+#define CHEETAHGL_H_
+
+#if (defined __APPLE__) & (defined __MACH__)
+#include <OpenGL/gl.h>
+#else
+#include <GL/gl.h>
+#endif
+
+/**
+ * @brief Creates a display list which renders a Pixhawk Cheetah MAV.
+ * @param red Red intensity of the MAV model
+ * @param green Green intensity of the MAV model
+ * @param blue Blue intensity of the MAV model
+ *
+ * @return The index of the display list.
+ **/
+GLint generatePixhawkCheetah(float red, float green, float blue);
+
+#endif

src/ui/map3D/CheetahModel.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 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
+ *   @brief Definition of the class CheetahModel.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
+#include "CheetahModel.h"
+
+#include "CheetahGL.h"
+
+CheetahModel::CheetahModel()
+ : cheetah_dl(-1)
+{
+
+}
+
+void
+CheetahModel::init(float red, float green, float blue)
+{
+    cheetah_dl = generatePixhawkCheetah(red, green, blue);
+}
+
+void
+CheetahModel::draw(void)
+{
+    glPushMatrix();
+    glScalef(0.5f, 0.5f, -0.5f);
+    glCallList(cheetah_dl);
+    glPopMatrix();
+}

src/ui/map3D/CheetahModel.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 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
+ *   @brief Definition of the class CheetahModel.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
+#ifndef CHEETAHMODEL_H_
+#define CHEETAHMODEL_H_
+
+#if (defined __APPLE__) & (defined __MACH__)
+#include <OpenGL/gl.h>
+#else
+#include <GL/gl.h>
+#endif
+
+/**
+ * @brief Container for display list which renders the Pixhawk Cheetah MAV.
+ **/
+class CheetahModel
+{
+public:
+    CheetahModel();
+
+    /**
+     * @brief Initializes the display list.
+     * @param red Red intensity of the MAV model
+     * @param green Green intensity of the MAV model
+     * @param blue Blue intensity of the MAV model
+     **/
+    void init(float red, float green, float blue);
+
+    /**
+     * @brief Executes the display list.
+     **/
+    void draw(void);
+
+private:
+    GLint cheetah_dl;
+};
+
+#endif /* CHEETAHMODEL_H_ */

src/ui/map3D/Q3DWidget.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 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
+ *   @brief Definition of the class Q3DWidget.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
+#ifndef Q3DWIDGET_H_
+#define Q3DWIDGET_H_
+
+#include <inttypes.h>
+#include <string>
+#include <QtOpenGL>
+#include <QtGui>
+
+//class GLUquadricObj;
+
+enum CameraState
+{
+    IDLE = 0,
+    ROTATING = 1,
+    MOVING = 2,
+    ZOOMING = 3
+};
+
+struct CameraPose
+{
+    CameraState state;
+    float pan, tilt, distance;
+    float xOffset, yOffset, zOffset;
+    float xOffset2D, yOffset2D, rotation2D, zoom, warpX, warpY;
+};
+
+struct CameraParams
+{
+    float zoomSensitivity;
+    float rotateSensitivity;
+    float moveSensitivity;
+
+    float minZoomRange;
+    float cameraFov;
+    float minClipRange;
+    float maxClipRange;
+
+    float zoomSensitivity2D;
+    float rotateSensitivity2D;
+    float moveSensitivity2D;
+};
+
+enum MouseState
+{
+    MOUSE_STATE_UP = 0,
+    MOUSE_STATE_DOWN = 1
+};
+
+typedef void (*DisplayFunc)(void *);
+typedef void (*KeyboardFunc)(char, void *);
+typedef void (*MouseFunc)(Qt::MouseButton, MouseState, int32_t, int32_t, void *);
+typedef void (*MotionFunc)(int32_t, int32_t, void *);
+
+/**
+ * @brief A base 3D widget which executes OpenGL commands.
+ **/
+class Q3DWidget: public QGLWidget
+{
+    Q_OBJECT
+
+public:
+    explicit Q3DWidget(QWidget* parent);
+    ~Q3DWidget();
+
+    void initialize(int32_t windowX, int32_t windowY,
+                    int32_t windowWidth, int32_t windowHeight, float fps);
+
+    void setCameraParams(float zoomSensitivity, float rotateSensitivity,
+                         float moveSensitivity, float minZoomRange,
+                         float cameraFov, float minClipRange,
+                         float maxClipRange);
+
+    void setCameraLimit(bool onoff);
+
+    void set2DCameraParams(float zoomSensitivity,
+                           float rotateSensitivity,
+                           float moveSensitivity);
+
+    void set3D(bool onoff);
+    bool is3D(void) const;
+
+    void setInitialCameraPos(float pan, float tilt, float range,
+                             float xOffset, float yOffset, float zOffset);
+    void setInitial2DCameraPos(float xOffset, float yOffset,
+                               float rotation, float zoom);
+    void setCameraPose(const CameraPose& cameraPose);
+    CameraPose getCameraPose(void) const;
+
+    void setDisplayFunc(DisplayFunc func, void* clientData);
+    void setKeyboardFunc(KeyboardFunc func, void* clientData);
+    void setMouseFunc(MouseFunc func, void* clientData);
+    void setMotionFunc(MotionFunc func, void* clientData);
+    void addTimerFunc(uint32_t msecs, void(*func)(void *),
+                      void* clientData);
+
+    void forceRedraw(void);
+
+    void set2DWarping(float warpX, float warpY);
+
+    void recenter(void);
+    void recenter2D(void);
+
+    void set2DRotation(bool onoff);
+
+    void setDisplayMode2D(void);
+
+    std::pair<float,float> getPositionIn3DMode(int32_t mouseX,
+                                               int32_t mouseY);
+
+    std::pair<float,float> getPositionIn2DMode(int32_t mouseX,
+                                               int32_t mouseY);
+
+    int32_t getWindowWidth(void);
+    int32_t getWindowHeight(void);
+    int32_t getLastMouseX(void);
+    int32_t getLastMouseY(void);
+    int32_t getMouseX(void);
+    int32_t getMouseY(void);
+
+private Q_SLOTS:
+    void userTimer(void);
+
+protected:
+    void rotateCamera(float dx, float dy);
+    void zoomCamera(float dy);
+    void moveCamera(float dx, float dy);
+    void rotateCamera2D(float dx);
+    void zoomCamera2D(float dx);
+    void moveCamera2D(float dx, float dy);
+
+    void switchTo3DMode(void);
+    void setDisplayMode3D(void);
+
+    float r2d(float angle);
+    float d2r(float angle);
+
+    void Q3DWidget::wireSphere(double radius, int slices, int stacks);
+    void solidSphere(double radius, int slices, int stacks);
+    void wireCone(double base, double height, int slices, int stacks);
+    void solidCone(double base, double height, int slices, int stacks);
+    void drawBox(float size, GLenum type);
+    void wireCube(double size);
+    void solidCube(double size);
+    void doughnut(float r, float R, int nsides, int rings);
+    void wireTorus(double innerRadius, double outerRadius, int nsides, int rings);
+    void solidTorus(double innerRadius, double outerRadius, int nsides, int rings);
+
+    GLUquadricObj* quadObj;
+
+private:
+    // QGLWidget events
+    void initializeGL(void);
+    void paintGL(void);
+    void resizeGL(int32_t width, int32_t height);
+
+    // Qt events
+    void keyPressEvent(QKeyEvent* event);
+    void mousePressEvent(QMouseEvent* event);
+    void mouseReleaseEvent(QMouseEvent* event);
+    void mouseMoveEvent(QMouseEvent* event);
+    void wheelEvent(QWheelEvent *wheel);
+    void timerEvent(QTimerEvent* event);
+    void closeEvent(QCloseEvent* event);
+
+    DisplayFunc userDisplayFunc;
+    KeyboardFunc userKeyboardFunc;
+    MouseFunc userMouseFunc;
+    MotionFunc userMotionFunc;
+
+    void* userDisplayFuncData;
+    void* userKeyboardFuncData;
+    void* userMouseFuncData;
+    void* userMotionFuncData;
+
+    int32_t windowWidth, windowHeight;
+    float requestedFps;
+    CameraPose cameraPose;
+    int32_t lastMouseX, lastMouseY;
+
+    bool _is3D;
+
+    bool _forceRedraw;
+    bool allow2DRotation;
+    bool limitCamera;
+
+    CameraParams cameraParams;
+
+    QBasicTimer timer;
+
+    void (*timerFunc)(void *);
+    void* timerFuncData;
+};
+
+#endif

src/ui/map3D/QMap3DWidget.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 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
+ *   @brief Definition of the class QMap3DWidget.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
+#ifndef QMAP3DWIDGET_H
+#define QMAP3DWIDGET_H
+
+#include <QLabel>
+
+#include "Q3DWidget.h"
+
+class CheetahModel;
+class UASInterface;
+
+/**
+ * @brief A 3D View widget which displays vehicle-centric information.
+ **/
+class QMap3DWidget : public Q3DWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QMap3DWidget(QWidget* parent);
+    ~QMap3DWidget();
+
+    void buildLayout(void);
+
+    static void display(void* clientData);
+    void displayHandler(void);
+
+    static void mouse(Qt::MouseButton button, MouseState state,
+                      int32_t x, int32_t y, void* clientData);
+    void mouseHandler(Qt::MouseButton button, MouseState state,
+                      int32_t x, int32_t y);
+
+    static void timer(void* clientData);
+    void timerHandler(void);
+
+    double getTime(void) const;
+
+public slots:
+    void setActiveUAS(UASInterface* uas);
+    void markTarget(void);
+
+private slots:
+    void showGrid(int state);
+    void showTrail(int state);
+    void recenterCamera(void);
+    void toggleLockCamera(int state);
+
+protected:
+    UASInterface* uas;
+    void paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter);
+
+private:
+    void drawPlatform(float roll, float pitch, float yaw);
+    void drawGrid(void);
+    void drawTrail(float x, float y, float z);
+    void drawTarget(float x, float y, float z);
+
+    double lastRedrawTime;
+
+    bool displayGrid;
+    bool displayTrail;
+
+    typedef struct
+    {
+        float x;
+        float y;
+        float z;
+    } Pose3D;
+
+    bool lockCamera;
+    Pose3D lastUnlockedPose;
+    bool updateLastUnlockedPose;
+    Pose3D camOffset;
+
+    QVarLengthArray<Pose3D, 10000> trail;
+
+    bool displayTarget;
+    Pose3D targetPosition;
+
+    QScopedPointer<CheetahModel> cheetahModel;
+};
+
+#endif // QMAP3DWIDGET_H

src/ui/uas/UASView.cc

@@ -109,7 +109,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     // Heartbeat fade
     refreshTimer = new QTimer(this);
     connect(refreshTimer, SIGNAL(timeout()), this, SLOT(refresh()));
-    refreshTimer->start(180);
+    refreshTimer->start(updateInterval);
 }
 
 UASView::~UASView()
@@ -195,7 +195,7 @@ void UASView::receiveHeartbeat(UASInterface* uas)
         m_ui->heartbeatIcon->setStyleSheet(colorstyle);
         m_ui->heartbeatIcon->setAutoFillBackground(true);
         refreshTimer->stop();
-        refreshTimer->start(100);
+        refreshTimer->start(updateInterval);
     }
 }
 
@@ -330,6 +330,21 @@ void UASView::updateLoad(UASInterface* uas, double load)
 
 void UASView::refresh()
 {
+    //setUpdatesEnabled(false);
+    //setUpdatesEnabled(true);
+    //repaint();
+
+    static quint64 lastupdate = 0;
+    qDebug() << "UASVIEW update diff: " << MG::TIME::getGroundTimeNow() - lastupdate;
+    lastupdate = MG::TIME::getGroundTimeNow();
+
+    // FIXME
+    static int generalUpdateCount = 0;
+
+    if (generalUpdateCount == 4)
+    {
+        generalUpdateCount = 0;
+        qDebug() << "UPDATING EVERYTHING";
     // State
     m_ui->stateLabel->setText(state);
     m_ui->statusTextLabel->setText(stateDesc);
@@ -411,6 +426,8 @@ void UASView::refresh()
     QString timeText;
     timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
     m_ui->timeElapsedLabel->setText(timeText);
+}
+    generalUpdateCount++;
 
     // Fade heartbeat icon
     // Make color darker
@@ -421,6 +438,9 @@ void UASView::refresh()
                                     heartbeatColor.red(), heartbeatColor.green(), heartbeatColor.blue());
     m_ui->heartbeatIcon->setStyleSheet(colorstyle);
     m_ui->heartbeatIcon->setAutoFillBackground(true);
+    //setUpdatesEnabled(true);
+
+    //setUpdatesEnabled(false);
 }
 
 void UASView::changeEvent(QEvent *e)

src/ui/uas/UASView.h

@@ -99,6 +99,7 @@ protected:
     float lon;
     float alt;
     float groundDistance;
+    static const int updateInterval = 300;
 
 
     void mouseDoubleClickEvent (QMouseEvent * event);