From 6c6d79cbe363a927e9d8bc2d069dcd4ca70b6a62 Mon Sep 17 00:00:00 2001
From: Mariano Lizarraga <malife@gmail.com>
Date: Tue, 28 Dec 2010 14:27:35 -0600
Subject: [PATCH] Minor changes. Looking for extreme processor overload on OSX

---
 src/ui/MainWindow.cc       | 38 ++++++++++----------------------------
 src/ui/SlugsPIDControl.cpp | 13 ++++++-------
 2 files changed, 16 insertions(+), 35 deletions(-)

diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index 5bc657a0b..a57150e1b 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -407,31 +407,22 @@ void MainWindow::buildSlugsWidgets()
 //    linechartWidget   = new Linecharts(this);
 //    addToCentralWidgetsMenu(linechartWidget, "Line Plots", SLOT(showCentralWidget()), CENTRAL_LINECHART);
 
-    // Dock widgets
-    headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
-    headUpDockWidget->setWidget( new HUD(320, 240, this));
-    addToToolsMenu (headUpDockWidget, tr("HUD"), SLOT(showToolWidget()), MENU_HUD, Qt::LeftDockWidgetArea);
+//    // Dock widgets
+//    headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
+//    headUpDockWidget->setWidget( new HUD(320, 240, this));
+//    addToToolsMenu (headUpDockWidget, tr("HUD"), SLOT(showToolWidget()), MENU_HUD, Qt::LeftDockWidgetArea);
 
 
-    rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
-    rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
-    addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget()), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
-
-
-    // Dialog widgets
-    slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
-    slugsDataWidget->setWidget( new SlugsDataSensorView(this));
-    addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget()), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
+//    rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
+//    rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
+//    addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget()), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
 
-//=======
-//    this->addDockWidget(Qt::LeftDockWidgetArea, headUpDockWidget);
 
-//    // SLUGS
+//    // Dialog widgets
 //    slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
 //    slugsDataWidget->setWidget( new SlugsDataSensorView(this));
-//    addDockWidget(Qt::LeftDockWidgetArea, slugsDataWidget);
-//    slugsDataWidget->hide();
-//>>>>>>> master
+//    addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget()), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
+
 
     slugsPIDControlWidget = new QDockWidget(tr("Slugs PID Control"), this);
     slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));
@@ -440,15 +431,6 @@ void MainWindow::buildSlugsWidgets()
     slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
     slugsHilSimWidget->setWidget( new SlugsHilSim(this));
     addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget()), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
-//=======
-//    addDockWidget(Qt::BottomDockWidgetArea, slugsPIDControlWidget);
-//    slugsPIDControlWidget->hide();
-
-//    slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
-//    slugsHilSimWidget->setWidget( new SlugsHilSim(this));
-//    addDockWidget(Qt::BottomDockWidgetArea, slugsHilSimWidget);
-//    slugsHilSimWidget->hide();
-//>>>>>>> master
 
     slugsCamControlWidget = new QDockWidget(tr("Slugs Video Camera Control"), this);
     slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));
diff --git a/src/ui/SlugsPIDControl.cpp b/src/ui/SlugsPIDControl.cpp
index 214c55477..69ed4fb1e 100644
--- a/src/ui/SlugsPIDControl.cpp
+++ b/src/ui/SlugsPIDControl.cpp
@@ -23,7 +23,7 @@ SlugsPIDControl::SlugsPIDControl(QWidget *parent) :
     setGreenColorStyle();
 
     refreshTimerGet = new QTimer(this);
-    refreshTimerGet->setInterval(100); // 20 Hz
+    refreshTimerGet->setInterval(100); // 10 Hz
     connect(refreshTimerGet, SIGNAL(timeout()), this, SLOT(slugsGetGeneral()));
 
 
@@ -47,9 +47,9 @@ SlugsPIDControl::SlugsPIDControl(QWidget *parent) :
 void SlugsPIDControl::activeUasSet(UASInterface* uas)
 {
     #ifdef MAVLINK_ENABLED_SLUGS
-    SlugsMAV* slugsMav = dynamic_cast<SlugsMAV*>(uas);
+    SlugsMAV* slugsMav = qobject_cast<SlugsMAV*>(uas);
 
-    if (slugsMav != NULL)
+    if (slugsMav)
     {
         connect(slugsMav,SIGNAL(slugsActionAck(int,const mavlink_action_ack_t&)),this,SLOT(recibeMensaje(int,mavlink_action_ack_t)));
         connect(slugsMav,SIGNAL(slugsPidValues(int,mavlink_pid_t)),this, SLOT(receivePidValues(int,mavlink_pid_t)) );
@@ -58,15 +58,14 @@ void SlugsPIDControl::activeUasSet(UASInterface* uas)
         connect(ui->getGeneral_pushButton,SIGNAL(clicked()),this,SLOT(slugsTimerStartGet()));
     }
 
-#endif // MAVLINK_ENABLED_SLUG
+    #endif // MAVLINK_ENABLED_SLUG
+
     // Set this UAS as active if it is the first one
-        if(activeUAS == 0)
+        if(!activeUAS)
         {
             activeUAS = uas;
             systemId = activeUAS->getUASID();
             connect_editLinesPDIvalues();
-
-            //qDebug()<<"------------------->Active UAS ID: "<<uas->getUASID();
         }
 
 }
-- 
2.22.0