Merge branch 'experimental' of git://github.com/amolinap/qgroundcontrol into mergeRemote

Conflicts:
	qgcunittest/UASUnitTest.cc
	qgcunittest/UASUnitTest.h
	qgroundcontrol.pro
	src/uas/SlugsMAV.cc
	src/uas/UAS.cc
	src/uas/UAS.h
	src/uas/UASManager.cc
	src/ui/MainWindow.cc
	src/ui/MapWidget.cc
	src/ui/QGCRemoteControlView.cc
	src/ui/WaypointList.cc
	src/ui/uas/UASView.cc

lib/QMapControl/src/mapcontrol.cpp

@@ -368,11 +368,13 @@ namespace qmapcontrol
         layermanager->zoomIn();
         update();
     }
+
     void MapControl::zoomOut()
     {
         layermanager->zoomOut();
         update();
     }
+
     void MapControl::setZoom(int zoomlevel)
     {
         layermanager->setZoom(zoomlevel);

qgcunittest/SlugsMavUnitTest.cc

-#include "SlugsMavUnitTest.h"
-
-SlugsMavUnitTest::SlugsMavUnitTest()
-{
-}
-
-void SlugsMavUnitTest::initTestCase()
-{
-
-}
-
-void SlugsMavUnitTest::cleanupTestCase()
-{
-
-}
-
-void SlugsMavUnitTest::first_test()
-{
-  QCOMPARE(1,2);
-}
+#include "SlugsMavUnitTest.h"
+
+SlugsMavUnitTest::SlugsMavUnitTest()
+{
+}
+
+void SlugsMavUnitTest::initTestCase()
+{
+    mav = new MAVLinkProtocol();
+    slugsMav = new SlugsMAV(mav, UASID);
+}
+
+void SlugsMavUnitTest::cleanupTestCase()
+{
+    delete slugsMav;
+    delete mav;
+}
+
+void SlugsMavUnitTest::first_test()
+{
+  QCOMPARE(1,1);
+}
+
+void SlugsMavUnitTest::getPwmCommands_test()
+{
+    mavlink_pwm_commands_t* k = slugsMav->getPwmCommands();
+    k->aux1=80;
+
+    mavlink_pwm_commands_t* k2 = slugsMav->getPwmCommands();
+    k2->aux1=81;
+
+    QCOMPARE(k->aux1, k2->aux1);
+}
+

qgcunittest/SlugsMavUnitTest.h

-#ifndef SLUGSMAVUNITTEST_H
-#define SLUGSMAVUNITTEST_H
-
-#include <QObject>
-#include <QtCore/QString>
-#include <QtTest/QtTest>
-#include "UAS.h"
-#include "MAVLinkProtocol.h"
-#include "UASInterface.h"
-#include "AutoTest.h"
-
-class SlugsMavUnitTest : public QObject
-{
-    Q_OBJECT
-public:
-  SlugsMavUnitTest();
-signals:
-
-private slots:
-  void initTestCase();
-  void cleanupTestCase();
-  void first_test();
-};
-
-DECLARE_TEST(SlugsMavUnitTest)
-
-#endif // SLUGSMAVUNITTEST_H
+#ifndef SLUGSMAVUNITTEST_H
+#define SLUGSMAVUNITTEST_H
+
+#include <QObject>
+#include <QtCore/QString>
+#include <QtTest/QtTest>
+
+#include "UAS.h"
+#include "MAVLinkProtocol.h"
+#include "UASInterface.h"
+#include "AutoTest.h"
+#include "SlugsMAV.h"
+
+class SlugsMavUnitTest : public QObject
+{
+    Q_OBJECT
+public:
+#define UASID 5
+    MAVLinkProtocol* mav;
+    SlugsMAV* slugsMav;
+  SlugsMavUnitTest();
+signals:
+
+private slots:
+  void initTestCase();
+  void cleanupTestCase();
+  void first_test();
+
+  void getPwmCommands_test();
+
+};
+
+DECLARE_TEST(SlugsMavUnitTest)
+
+#endif // SLUGSMAVUNITTEST_H

qgcunittest/UASUnitTest.h

@@ -4,51 +4,63 @@
 #include <QObject>
 #include <QtCore/QString>
 #include <QtTest/QtTest>
+#include <QApplication>
+
 #include "UAS.h"
 #include "MAVLinkProtocol.h"
 #include "SerialLink.h"
 #include "UASInterface.h"
 #include "AutoTest.h"
+#include "LinkManager.h"
+#include "UASWaypointManager.h"
+#include "SerialLink.h"
+#include "LinkInterface.h"
 
 class UASUnitTest : public QObject
 {
     Q_OBJECT
 public:
-#define  UASID  50
-    MAVLinkProtocol* mav;
-    UAS* uas;
-    SerialLink* link;
-    UASUnitTest();
+  #define  UASID  100
+  MAVLinkProtocol* mav;
+  UAS* uas;
+  UASUnitTest();
 
 signals:
 
 private slots:
-    void initTestCase();
-    void cleanupTestCase();
-    void getUASID_test();
-    void getUASName_test();
-    void getUpTime_test();
-    void getCommunicationStatus_test();
-    void filterVoltage_test();
-    void getAutopilotType_test();
-    void setAutopilotType_test();
-    void getStatusForCode_test();
-    void getLocalX_test();
-    void getLocalY_test();
-    void getLocalZ_test();
-    void getLatitude_test();
-    void getLongitude_test();
-    void getAltitude_test();
-    void getRoll_test();
-    void getPitch_test();
-    void getYaw_test();
-    void attitudeLimitsZero_test();
-    void attitudeLimitsPi_test();
-    void attitudeLimitsMinusPi_test();
-    void attitudeLimitsTwoPi_test();
-    void attitudeLimitsMinusTwoPi_test();
-    void attitudeLimitsTwoPiOne_test();
-    void attitudeLimitsMinusTwoPiOne_test();
+  void initTestCase();
+  void cleanupTestCase();
+
+
+  void getUASID_test();
+  void getUASName_test();
+  void getUpTime_test();
+  void getCommunicationStatus_test();
+  void filterVoltage_test();
+  void getAutopilotType_test();
+  void setAutopilotType_test();
+  void getStatusForCode_test();
+  void getLocalX_test();
+  void getLocalY_test();
+  void getLocalZ_test();
+  void getLatitude_test();
+  void getLongitude_test();
+  void getAltitude_test();
+  void getRoll_test();
+  void getPitch_test();
+  void getYaw_test();
+
+  void getSelected_test();
+  void getSystemType_test();
+  void getAirframe_test();
+
+
+  void getWaypointList_test();
+  void getWaypoint_test();
+
+  void signalWayPoint_test();
+  void signalUASLink_test();
+  void signalIdUASLink_test();
 
 protected:
     UAS *prueba;

qgroundcontrol.pro

@@ -458,3 +458,6 @@ win32:exists(src/lib/opalrt/OpalApi.h):exists(C:/OPAL-RT/RT-LAB7.2.4/Common/bin)
     FORMS += src/ui/OpalLinkSettings.ui
     DEFINES += OPAL_RT
 }
+
+TRANSLATIONS  += es-MX.ts \
+    en-US.ts

src/uas/SlugsMAV.cc

@@ -7,7 +7,8 @@ SlugsMAV::SlugsMAV(MAVLinkProtocol* mavlink, int id) :
         // Place other initializers here
 {
   widgetTimer = new QTimer (this);
-  widgetTimer->setInterval(SLUGS_UPDATE_RATE);
+  widgetTimer->setInterval(200);//SLUGS_UPDATE_RATE);
+  qDebug() << "SLUGS_UPDATE_RATE: " << SLUGS_UPDATE_RATE;
 
   connect (widgetTimer, SIGNAL(timeout()),
            this, SLOT(emitSignals()));
@@ -72,6 +73,7 @@ void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
 
       case MAVLINK_MSG_ID_RAW_IMU:
+        //mavlink_raw_imu_t t;
         mavlink_msg_raw_imu_decode(&message, &mlRawImuData);
       break;
 

src/uas/SlugsMAV.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/>.
-
-======================================================================*/
-
-#ifndef SLUGSMAV_H
-#define SLUGSMAV_H
-
-#include "UAS.h"
-#include "mavlink.h"
-#include <QTimer>
-
-#define SLUGS_UPDATE_RATE   100   // in ms
-class SlugsMAV : public UAS
-{
-    Q_OBJECT
-    Q_INTERFACES(UASInterface)
-public:
-    SlugsMAV(MAVLinkProtocol* mavlink, int id = 0);
-
-public slots:
-    /** @brief Receive a MAVLink message from this MAV */
-    void receiveMessage(LinkInterface* link, mavlink_message_t message);
-
-    void emitSignals (void);
-
-#ifdef MAVLINK_ENABLED_SLUGS
-    mavlink_pwm_commands_t* getPwmCommands();
-#endif
-
-signals:
-
-    void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData);
-    void slugsGPSCogSog(int uasId, double cog, double sog);
-
-#ifdef MAVLINK_ENABLED_SLUGS
-
-    void slugsCPULoad(int systemId, const mavlink_cpu_load_t& cpuLoad);
-    void slugsAirData(int systemId, const mavlink_air_data_t& airData);
-    void slugsSensorBias(int systemId, const mavlink_sensor_bias_t& sensorBias);
-    void slugsDiagnostic(int systemId, const mavlink_diagnostic_t& diagnostic);
-    void slugsPilotConsolePWM(int systemId, const mavlink_pilot_console_t& pilotConsole);
-    void slugsPWM(int systemId, const mavlink_pwm_commands_t& pwmCommands);
-    void slugsNavegation(int systemId, const mavlink_slugs_navigation_t& slugsNavigation);
-    void slugsDataLog(int systemId, const mavlink_data_log_t& dataLog);
-    void slugsFilteredData(int systemId, const mavlink_filtered_data_t& filteredData);
-    void slugsGPSDateTime(int systemId, const mavlink_gps_date_time_t& gpsDateTime);
-    void slugsActionAck(int systemId, const mavlink_action_ack_t& actionAck);
-
-    void slugsPidValues(int systemId, const mavlink_pid_t& pidValues);
-
-    void slugsBootMsg(int uasId, mavlink_boot_t& boot);
-    void slugsAttitude(int uasId, mavlink_attitude_t& attitude);
-
-
-
-
-
-#endif
-
-protected:
-
-   typedef struct _mavlink_pid_values_t {
-         float P[11];
-         float I[11];
-         float D[11];
-     }mavlink_pid_values_t;
-
-   unsigned char updateRoundRobin;
-   QTimer* widgetTimer;
-
-
-   mavlink_raw_imu_t 			mlRawImuData;
-
-#ifdef MAVLINK_ENABLED_SLUGS
-   mavlink_gps_raw_t			mlGpsData;
-   mavlink_attitude_t           mlAttitude;
-   mavlink_cpu_load_t 			mlCpuLoadData;
-   mavlink_air_data_t 			mlAirData;
-   mavlink_sensor_bias_t 		mlSensorBiasData;
-   mavlink_diagnostic_t 		mlDiagnosticData;
-   mavlink_pilot_console_t 		mlPilotConsoleData;
-   mavlink_filtered_data_t 		mlFilteredData;
-   mavlink_boot_t 				mlBoot;
-   mavlink_gps_date_time_t 		mlGpsDateTime;
-   mavlink_mid_lvl_cmds_t 		mlMidLevelCommands;
-   mavlink_set_mode_t 			mlApMode;
-   mavlink_pwm_commands_t		mlPwmCommands;
-   mavlink_pid_values_t			mlPidValues;
-   mavlink_pid_t			mlSinglePid;
-
-   mavlink_slugs_navigation_t	mlNavigation;
-   mavlink_data_log_t			mlDataLog;
-   mavlink_ctrl_srfc_pt_t		mlPassthrough;
-   mavlink_action_ack_t			mlActionAck;
-
-   mavlink_slugs_action_t		mlAction;
-
-
-
-
-   // Standart messages MAVLINK used by SLUGS
-private:
-
-
-   void emitGpsSignals (void);
-   void emitPidSignal(void);
-
-   int uasId;
-
-#endif // if SLUGS
-
-};
-
-#endif // SLUGSMAV_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/>.
+
+======================================================================*/
+
+#ifndef SLUGSMAV_H
+#define SLUGSMAV_H
+
+#include "UAS.h"
+#include "mavlink.h"
+#include <QTimer>
+
+#define SLUGS_UPDATE_RATE   100   // in ms
+class SlugsMAV : public UAS
+{
+    Q_OBJECT
+    Q_INTERFACES(UASInterface)
+public:
+    SlugsMAV(MAVLinkProtocol* mavlink, int id = 0);
+
+public slots:
+    /** @brief Receive a MAVLink message from this MAV */
+    void receiveMessage(LinkInterface* link, mavlink_message_t message);
+
+    void emitSignals (void);
+
+#ifdef MAVLINK_ENABLED_SLUGS
+    mavlink_pwm_commands_t* getPwmCommands();
+#endif
+
+signals:
+
+    void slugsRawImu(int uasId, const mavlink_raw_imu_t& rawData);
+    void slugsGPSCogSog(int uasId, double cog, double sog);
+
+#ifdef MAVLINK_ENABLED_SLUGS
+
+    void slugsCPULoad(int systemId, const mavlink_cpu_load_t& cpuLoad);
+    void slugsAirData(int systemId, const mavlink_air_data_t& airData);
+    void slugsSensorBias(int systemId, const mavlink_sensor_bias_t& sensorBias);
+    void slugsDiagnostic(int systemId, const mavlink_diagnostic_t& diagnostic);
+    void slugsPilotConsolePWM(int systemId, const mavlink_pilot_console_t& pilotConsole);
+    void slugsPWM(int systemId, const mavlink_pwm_commands_t& pwmCommands);
+    void slugsNavegation(int systemId, const mavlink_slugs_navigation_t& slugsNavigation);
+    void slugsDataLog(int systemId, const mavlink_data_log_t& dataLog);
+    void slugsFilteredData(int systemId, const mavlink_filtered_data_t& filteredData);
+    void slugsGPSDateTime(int systemId, const mavlink_gps_date_time_t& gpsDateTime);
+    void slugsActionAck(int systemId, const mavlink_action_ack_t& actionAck);
+
+    void slugsPidValues(int systemId, const mavlink_pid_t& pidValues);
+
+    void slugsBootMsg(int uasId, mavlink_boot_t& boot);
+    void slugsAttitude(int uasId, mavlink_attitude_t& attitude);
+
+
+
+
+
+#endif
+
+protected:
+
+   typedef struct _mavlink_pid_values_t {
+         float P[11];
+         float I[11];
+         float D[11];
+     }mavlink_pid_values_t;
+
+   unsigned char updateRoundRobin;
+   QTimer* widgetTimer;
+
+
+   mavlink_raw_imu_t 			mlRawImuData;
+
+#ifdef MAVLINK_ENABLED_SLUGS
+   mavlink_gps_raw_t			mlGpsData;
+   mavlink_attitude_t           mlAttitude;
+   mavlink_cpu_load_t 			mlCpuLoadData;
+   mavlink_air_data_t 			mlAirData;
+   mavlink_sensor_bias_t 		mlSensorBiasData;
+   mavlink_diagnostic_t 		mlDiagnosticData;
+   mavlink_pilot_console_t 		mlPilotConsoleData;
+   mavlink_filtered_data_t 		mlFilteredData;
+   mavlink_boot_t 			mlBoot;
+   mavlink_gps_date_time_t 		mlGpsDateTime;
+   mavlink_mid_lvl_cmds_t 		mlMidLevelCommands;
+   mavlink_set_mode_t 			mlApMode;
+   mavlink_pwm_commands_t		mlPwmCommands;
+   mavlink_pid_values_t			mlPidValues;
+   mavlink_pid_t			mlSinglePid;
+
+   mavlink_slugs_navigation_t	mlNavigation;
+   mavlink_data_log_t			mlDataLog;
+   mavlink_ctrl_srfc_pt_t		mlPassthrough;
+   mavlink_action_ack_t			mlActionAck;
+
+   mavlink_slugs_action_t		mlAction;
+
+
+
+
+   // Standart messages MAVLINK used by SLUGS
+private:
+
+
+   void emitGpsSignals (void);
+   void emitPidSignal(void);
+
+   int uasId;
+
+#endif // if SLUGS
+
+};
+
+#endif // SLUGSMAV_H

src/uas/UAS.cc

@@ -243,13 +243,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_sys_status_decode(&message, &state);
 
                 // FIXME
-                //qDebug() << "SYSTEM NAV MODE:" << state.nav_mode;
+                //qDebug() << "1 SYSTEM STATUS:" << state.status;
 
                 QString audiostring = "System " + getUASName();
                 QString stateAudio = "";
                 QString modeAudio = "";
                 bool statechanged = false;
-                bool modechanged = false;
+                bool modechanged = false;         
 
                 if (state.status != this->status)
                 {
@@ -258,6 +258,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     getStatusForCode((int)state.status, uasState, stateDescription);
                     emit statusChanged(this, uasState, stateDescription);
                     emit statusChanged(this->status);
+
                     stateAudio = " changed status to " + uasState;
                 }
 
@@ -311,6 +312,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     }
 
                     emit modeChanged(this->getUASID(), mode, "");
+
+                    //qDebug() << "2 SYSTEM MODE:" << mode;
+
                     modeAudio = " is now in " + mode;
                 }
                 currentVoltage = state.vbat/1000.0f;
@@ -337,6 +341,16 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
                 // COMMUNICATIONS DROP RATE
                 emit dropRateChanged(this->getUASID(), state.packet_drop/1000.0f);
+
+
+                //add for development
+                emit remoteControlRSSIChanged(state.packet_drop/1000.0f);
+
+                float en = state.packet_drop/1000.0f;
+                emit remoteControlChannelRawChanged(0, en);//MAVLINK_MSG_ID_RC_CHANNELS_RAW
+                emit remoteControlChannelScaledChanged(0, en/100.0f);//MAVLINK_MSG_ID_RC_CHANNELS_SCALED
+
+
                 //qDebug() << __FILE__ << __LINE__ << "RCV LOSS: " << state.packet_drop;
 
                 // AUDIO
@@ -427,11 +441,9 @@ 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 = QGC::limitAngleToPMPIf(attitude.roll);
                 pitch = QGC::limitAngleToPMPIf(attitude.pitch);
                 yaw = QGC::limitAngleToPMPIf(attitude.yaw);
-
                 emit valueChanged(uasId, "roll", "rad", roll, time);
                 emit valueChanged(uasId, "pitch", "rad", pitch, time);
                 emit valueChanged(uasId, "yaw", "rad", yaw, time);
@@ -1226,12 +1238,16 @@ void UAS::setMode(int mode)
 {
     if ((uint8_t)mode >= MAV_MODE_LOCKED && (uint8_t)mode <= MAV_MODE_RC_TRAINING)
     {
-        this->mode = mode;
+        //this->mode = mode; //no call assignament, update receive message from UAS
         mavlink_message_t msg;
         mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, (uint8_t)uasId, (uint8_t)mode);
         sendMessage(msg);
         qDebug() << "SENDING REQUEST TO SET MODE TO SYSTEM" << uasId << ", REQUEST TO SET MODE " << (uint8_t)mode;
     }
+    else
+    {
+        qDebug() << "uas Mode not assign: " << mode;
+    }
 }
 
 void UAS::sendMessage(mavlink_message_t message)

src/uas/UAS.h

@@ -355,6 +355,9 @@ protected slots:
     // MESSAGE RECEPTION
     /** @brief Receive a named value message */
     void receiveMessageNamedValue(const mavlink_message_t& message);
+
+private:
+    unsigned int mode;          ///< The current mode of the MAV
 };
 
 

src/uas/UASWaypointManager.cc

@@ -351,6 +351,7 @@ int UASWaypointManager::removeWaypoint(quint16 seq)
         {
             waypoints[i]->setId(i);
         }
+
         emit waypointListChanged();
         emit waypointListChanged(uas.getUASID());
         return 0;

src/ui/MainWindow.cc

@@ -592,30 +592,30 @@ void MainWindow::buildSlugsWidgets()
         addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
     }
 
-//    if (!slugsDataWidget)
-//    {
-//        // Dialog widgets
-//        slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
-//        slugsDataWidget->setWidget( new SlugsDataSensorView(this));
-//        slugsDataWidget->setObjectName("SLUGS_DATA_DOCK_WIDGET");
-//        addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget()), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
-//    }
+    if (!slugsDataWidget)
+    {
+        // Dialog widgets
+        slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
+        slugsDataWidget->setWidget( new SlugsDataSensorView(this));
+        slugsDataWidget->setObjectName("SLUGS_DATA_DOCK_WIDGET");
+        addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget(bool)), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
+    }
 
-//    if (!slugsPIDControlWidget)
-//    {
-//        slugsPIDControlWidget = new QDockWidget(tr("Slugs PID Control"), this);
-//        slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));
-//        slugsPIDControlWidget->setObjectName("SLUGS_PID_CONTROL_DOCK_WIDGET");
-//        addToToolsMenu (slugsPIDControlWidget, tr("PID Configuration"), SLOT(showToolWidget()), MENU_SLUGS_PID, Qt::LeftDockWidgetArea);
-//    }
+    if (!slugsPIDControlWidget)
+    {
+        slugsPIDControlWidget = new QDockWidget(tr("Slugs PID Control"), this);
+        slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));
+        slugsPIDControlWidget->setObjectName("SLUGS_PID_CONTROL_DOCK_WIDGET");
+        addToToolsMenu (slugsPIDControlWidget, tr("PID Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_PID, Qt::LeftDockWidgetArea);
+    }
 
-//    if (!slugsHilSimWidget)
-//    {
-//        slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
-//        slugsHilSimWidget->setWidget( new SlugsHilSim(this));
-//        slugsHilSimWidget->setObjectName("SLUGS_HIL_SIM_DOCK_WIDGET");
-//        addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget()), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
-//    }
+    if (!slugsHilSimWidget)
+    {
+        slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
+        slugsHilSimWidget->setWidget( new SlugsHilSim(this));
+        slugsHilSimWidget->setObjectName("SLUGS_HIL_SIM_DOCK_WIDGET");
+        addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
+    }
 
 //    if (!slugsCamControlWidget)
 //    {
@@ -990,6 +990,7 @@ void MainWindow::updateLocationSettings (Qt::DockWidgetArea location)
     }
 }
 
+
 /**
  * Connect the signals and slots of the common window widgets
  */
@@ -1004,6 +1005,12 @@ void MainWindow::connectCommonWidgets()
     if (mapWidget && waypointsDockWidget->widget())
     {
 
+        //
+        connect(waypointsDockWidget->widget(), SIGNAL(changePointList()), mapWidget, SLOT(clearWaypoints()));
+
+
+
+
     }
 
     //TODO temporaly debug
@@ -1026,6 +1033,7 @@ void MainWindow::createCustomWidget()
     QDockWidget* dock = new QDockWidget("Unnamed Tool", this);
     connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
     dock->setWidget(tool);
+
     QAction* showAction = new QAction("Show Unnamed Tool", this);
     connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
     connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
@@ -1052,7 +1060,10 @@ void MainWindow::connectSlugsWidgets()
                 slugsDataWidget->widget(), SLOT(setActiveUAS(UASInterface*)));
     }
 
-
+    if (slugsPIDControlWidget && slugsPIDControlWidget->widget()){
+        connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
+                slugsPIDControlWidget->widget(), SLOT(activeUasSet(UASInterface*)));
+    }
 }
 
 void MainWindow::arrangeCommonCenterStack()
@@ -1682,18 +1693,27 @@ void MainWindow::UASCreated(UASInterface* uas)
                 // Connect Slugs Actions
                 connectSlugsActions();
 
+//                if(slugsDataWidget)
+//                {
+//                    SlugsDataSensorView *mm = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
+//                    if(mm)
+//                    {
+//                        mm->addUAS(uas);
+//                    }
+//                }
+
                 // FIXME: This type checking might be redundant
-                //            if (slugsDataWidget) {
-                //              SlugsDataSensorView* dataWidget = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
-                //              if (dataWidget) {
-                //                SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
-                //                if (mav2) {
-                (dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget()))->addUAS(uas);
-                //                  //loadSlugsView();
-                //                  loadGlobalOperatorView();
-                //                }
-                //              }
-                //            }
+//                //            if (slugsDataWidget) {
+//                //              SlugsDataSensorView* dataWidget = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
+//                //              if (dataWidget) {
+//                //                SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
+//                //                if (mav2) {
+//                (dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget()))->addUAS(uas);
+//                //                  //loadSlugsView();
+//                //                  loadGlobalOperatorView();
+//                //                }
+//                //              }
+//                //            }
 
             }
             break;

src/ui/MainWindow.h

@@ -121,6 +121,7 @@ public slots:
     void configure();
     /** @brief Set the currently controlled UAS */
     void setActiveUAS(UASInterface* uas);
+
     /** @brief Add a new UAS */
     void UASCreated(UASInterface* uas);
     /** @brief Update system specs of a UAS */

src/ui/MapWidget.cc

@@ -430,7 +430,6 @@ void MapWidget::createPathButtonClicked(bool checked)
  * @param coordinate The coordinate in which it occured the mouse event
  * @note  This slot is connected to the mouseEventCoordinate of the QMapControl object
  */
-
 void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordinate)
 {
     if (QEvent::MouseButtonRelease == event->type() && createPath->isChecked())
@@ -468,7 +467,6 @@ void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordina
             // Refresh the screen
             if (isVisible()) mc->updateRequest(tempPoint->boundingBox().toRect());
         }
-
         // emit signal mouse was clicked
         //emit captureMapCoordinateClick(coordinate);
     }
@@ -699,6 +697,7 @@ MapWidget::~MapWidget()
     delete mc;
     delete m_ui;
 }
+
 /**
  *
  * @param uas the UAS/MAV to monitor/display with the HUD

src/ui/QGCRemoteControlView.cc

@@ -43,33 +43,17 @@ QGCRemoteControlView::QGCRemoteControlView(QWidget *parent) :
     uasId(-1),
     rssi(0.0f),
     updated(false),
-    channelLayout(new QVBoxLayout()),
-    ui(new Ui::QGCRemoteControlView)
+    channelLayout(new QVBoxLayout())//,
+    //ui(new Ui::QGCRemoteControlView)
 {
-
-    //ui->setupUi(this);
+    ui->setupUi(this);
     QGridLayout* layout = new QGridLayout(this);
     layout->addLayout(channelLayout, 1, 0, 1, 2);
-    // Name label
     nameLabel = new QLabel(this);
-    nameLabel->setText("No MAV selected yet..");
     layout->addWidget(nameLabel, 0, 0, 1, 2);
 
-    // RSSI bar
-    // Create new layout
-    QHBoxLayout* rssiLayout = new QHBoxLayout();
-    rssiLayout->setSpacing(5);
-    // Add content
-    rssiLayout->addWidget(new QLabel(tr("Signal"), this));
-    // Append raw label
-    // Append progress bar
-    rssiBar = new QProgressBar(this);
-    rssiBar->setMinimum(0);
-    rssiBar->setMaximum(100);
-    rssiBar->setValue(0);
-    rssiLayout->addWidget(rssiBar);
-    layout->addItem(rssiLayout, 2, 0, 1, 2);
-    setVisible(false);
+    this->setVisible(false);
+    //setVisible(false);
 
     calibrate = new QPushButton(tr("Calibrate"), this);
     QHBoxLayout *calibrateButtonLayout = new QHBoxLayout();
@@ -112,10 +96,9 @@ void QGCRemoteControlView::setUASId(int id)
         nameLabel->setText(QString("RC Input of %1").arg(newUAS->getUASName()));
         calibrationWindow->setUASId(id);
         connect(newUAS, SIGNAL(radioCalibrationReceived(const QPointer<RadioCalibrationData>&)), calibrationWindow, SLOT(receive(const QPointer<RadioCalibrationData>&)));
-        connect(newUAS, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float)));
 
+        connect(newUAS, SIGNAL(remoteControlRSSIChanged(float)), this, SLOT(setRemoteRSSI(float)));
         connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), this, SLOT(setChannelRaw(int,float)));
-        connect(newUAS, SIGNAL(remoteControlChannelRawChanged(int,float)), calibrationWindow, SLOT(setChannel(int,float)));
         connect(newUAS, SIGNAL(remoteControlChannelScaledChanged(int,float)), this, SLOT(setChannelScaled(int,float)));
     }
 }
@@ -127,7 +110,7 @@ void QGCRemoteControlView::setChannelRaw(int channelId, float raw)
     {
         // This is a new channel, append it
         this->raw.append(raw);
-        this->normalized.append(0);
+        //this->normalized.append(0);
         appendChannelWidget(channelId);
     }
     else
@@ -141,25 +124,25 @@ void QGCRemoteControlView::setChannelRaw(int channelId, float raw)
     redraw();
 }
 
-void QGCRemoteControlView::setChannelScaled(int channelId, float normalized)
-{
-    if (this->raw.size() <= channelId) // using raw vector as size indicator
-    {
-        // This is a new channel, append it
-        this->normalized.append(normalized);
-        this->raw.append(0);
-        appendChannelWidget(channelId);
-    }
-    else
-    {
-        // This is an existing channel, update it
-        this->normalized[channelId] = normalized;
-    }
-    updated = true;
+//void QGCRemoteControlView::setChannelScaled(int channelId, float normalized)
+//{
+//    if (this->raw.size() <= channelId) // using raw vector as size indicator
+//    {
+//        // This is a new channel, append it
+//        this->normalized.append(normalized);
+//        this->raw.append(0);
+//        appendChannelWidget(channelId);
+//    }
+//    else
+//    {
+//        // This is an existing channel, update it
+//        this->normalized[channelId] = normalized;
+//    }
+//    updated = true;
 
-    // FIXME Will be timer based in the future
-    redraw();
-}
+//    // FIXME Will be timer based in the future
+//    redraw();
+//}
 
 void QGCRemoteControlView::setRemoteRSSI(float rssiNormalized)
 {
@@ -193,15 +176,19 @@ void QGCRemoteControlView::redraw()
     if(isVisible() && updated)
     {
         // Update raw values
-        for(int i = 0; i < rawLabels.count(); i++)
-        {
-            rawLabels.at(i)->setText(QString("%1 us").arg(raw.at(i), 4, 10, QChar('0')));
-        }
+        //for(int i = 0; i < rawLabels.count(); i++)
+        //{
+            //rawLabels.at(i)->setText(QString("%1 us").arg(raw.at(i), 4, 10, QChar('0')));
+        //}
 
         // Update percent bars
         for(int i = 0; i < progressBars.count(); i++)
         {
-            progressBars.at(i)->setValue(normalized.at(i)*100.0f);
+            rawLabels.at(i)->setText(QString("%1 us").arg(raw.at(i), 4, 10, QChar('0')));
+            //int vv = normalized.at(i)*100.0f;
+            //progressBars.at(i)->setValue(vv);
+            int vv = raw.at(i)*1.0f;
+            progressBars.at(i)->setValue(vv);
         }
         // Update RSSI
         rssiBar->setValue(rssi*100);

src/ui/QGCRemoteControlView.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 Declaration of QGCRemoteControlView
- *   @author Lorenz Meier <mail@qgroundcontrol.org>
- */
-
-#ifndef QGCREMOTECONTROLVIEW_H
-#define QGCREMOTECONTROLVIEW_H
-
-#include <QWidget>
-#include <QVector>
-#include <QPushButton>
-
-#include "RadioCalibration/RadioCalibrationWindow.h"
-
-namespace Ui {
-    class QGCRemoteControlView;
-}
-
-class QVBoxLayout;
-class QLabel;
-class QProgressBar;
-
-class QGCRemoteControlView : public QWidget {
-    Q_OBJECT
-public:
-    QGCRemoteControlView(QWidget *parent = 0);
-    ~QGCRemoteControlView();
-
-public slots:
-    void setUASId(int id);
-    void setChannelRaw(int channelId, float raw);
-    void setChannelScaled(int channelId, float normalized);
-    void setRemoteRSSI(float rssiNormalized);
-    void redraw();
-
-protected slots:
-    void appendChannelWidget(int channelId);
-
-protected:
-    void changeEvent(QEvent *e);
-    int uasId;
-    float rssi;
-    bool updated;
-    QVBoxLayout* channelLayout;
-    QVector<int> raw;
-    QVector<float> normalized;
-    QVector<QLabel*> rawLabels;
-    QVector<QProgressBar*> progressBars;
-    QProgressBar* rssiBar;
-    QLabel* nameLabel;
-    QPushButton *calibrate;
-    RadioCalibrationWindow *calibrationWindow;
-
-private:
-    Ui::QGCRemoteControlView *ui;
-};
-
-#endif // QGCREMOTECONTROLVIEW_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 Declaration of QGCRemoteControlView
+ *   @author Lorenz Meier <mail@qgroundcontrol.org>
+ */
+
+#ifndef QGCREMOTECONTROLVIEW_H
+#define QGCREMOTECONTROLVIEW_H
+
+#include <QWidget>
+#include <QVector>
+#include <QPushButton>
+
+#include "RadioCalibration/RadioCalibrationWindow.h"
+
+namespace Ui {
+    class QGCRemoteControlView;
+}
+
+class QVBoxLayout;
+class QLabel;
+class QProgressBar;
+
+class QGCRemoteControlView : public QWidget {
+    Q_OBJECT
+public:
+    QGCRemoteControlView(QWidget *parent = 0);
+    ~QGCRemoteControlView();
+
+public slots:
+    void setUASId(int id);
+    void setChannelRaw(int channelId, float raw);
+    //void setChannelScaled(int channelId, float normalized);
+    void setRemoteRSSI(float rssiNormalized);
+    void redraw();
+
+protected slots:
+    void appendChannelWidget(int channelId);
+
+protected:
+    void changeEvent(QEvent *e);
+    int uasId;
+    float rssi;
+    bool updated;
+    QVBoxLayout* channelLayout;
+    QVector<int> raw;
+    QVector<float> normalized;
+    QVector<QLabel*> rawLabels;
+    QVector<QProgressBar*> progressBars;
+    QProgressBar* rssiBar;
+    QLabel* nameLabel;
+    QPushButton *calibrate;
+    RadioCalibrationWindow *calibrationWindow;
+
+private:
+    Ui::QGCRemoteControlView *ui;
+};
+
+#endif // QGCREMOTECONTROLVIEW_H

src/ui/QGCRemoteControlView.ui

-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>QGCRemoteControlView</class>
- <widget class="QWidget" name="QGCRemoteControlView">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>400</width>
-    <height>300</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <widget class="QPushButton" name="pushButton">
-   <property name="geometry">
-    <rect>
-     <x>300</x>
-     <y>260</y>
-     <width>93</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Calibrate</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>270</y>
-     <width>171</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Remote Control detected</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_2">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>10</y>
-     <width>71</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Channel 1</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_3">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>30</y>
-     <width>71</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Channel 2</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_4">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>50</y>
-     <width>71</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Channel 3</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_5">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>70</y>
-     <width>71</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Channel 4</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_6">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>90</y>
-     <width>71</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Channel 5</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_7">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>110</y>
-     <width>71</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Channel 6</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_8">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>130</y>
-     <width>71</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Channel 7</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_9">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>150</y>
-     <width>71</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Channel 8</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_10">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>170</y>
-     <width>62</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>RSSI</string>
-   </property>
-  </widget>
-  <widget class="QProgressBar" name="chan1ProgressBar">
-   <property name="geometry">
-    <rect>
-     <x>200</x>
-     <y>10</y>
-     <width>118</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="minimum">
-    <number>-100</number>
-   </property>
-   <property name="value">
-    <number>0</number>
-   </property>
-   <property name="textVisible">
-    <bool>true</bool>
-   </property>
-   <property name="invertedAppearance">
-    <bool>false</bool>
-   </property>
-   <property name="format">
-    <string>%v%</string>
-   </property>
-  </widget>
-  <widget class="QProgressBar" name="chan2ProgressBar">
-   <property name="geometry">
-    <rect>
-     <x>200</x>
-     <y>30</y>
-     <width>118</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="minimum">
-    <number>-100</number>
-   </property>
-   <property name="value">
-    <number>0</number>
-   </property>
-   <property name="format">
-    <string>%v%</string>
-   </property>
-  </widget>
-  <widget class="QProgressBar" name="chan3ProgressBar">
-   <property name="geometry">
-    <rect>
-     <x>200</x>
-     <y>50</y>
-     <width>118</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="minimum">
-    <number>-100</number>
-   </property>
-   <property name="value">
-    <number>0</number>
-   </property>
-   <property name="format">
-    <string>%v%</string>
-   </property>
-  </widget>
-  <widget class="QProgressBar" name="chan4ProgressBar">
-   <property name="geometry">
-    <rect>
-     <x>200</x>
-     <y>70</y>
-     <width>118</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="minimum">
-    <number>-100</number>
-   </property>
-   <property name="value">
-    <number>0</number>
-   </property>
-   <property name="format">
-    <string>%v%</string>
-   </property>
-  </widget>
-  <widget class="QProgressBar" name="chan5ProgressBar">
-   <property name="geometry">
-    <rect>
-     <x>200</x>
-     <y>90</y>
-     <width>118</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="minimum">
-    <number>-100</number>
-   </property>
-   <property name="value">
-    <number>0</number>
-   </property>
-   <property name="format">
-    <string>%v%</string>
-   </property>
-  </widget>
-  <widget class="QProgressBar" name="chan6ProgressBar">
-   <property name="geometry">
-    <rect>
-     <x>200</x>
-     <y>110</y>
-     <width>118</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="minimum">
-    <number>-100</number>
-   </property>
-   <property name="value">
-    <number>0</number>
-   </property>
-   <property name="format">
-    <string>%v%</string>
-   </property>
-  </widget>
-  <widget class="QProgressBar" name="chan7ProgressBar">
-   <property name="geometry">
-    <rect>
-     <x>200</x>
-     <y>130</y>
-     <width>118</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="minimum">
-    <number>-100</number>
-   </property>
-   <property name="value">
-    <number>0</number>
-   </property>
-   <property name="format">
-    <string>%v%</string>
-   </property>
-  </widget>
-  <widget class="QProgressBar" name="chan8ProgressBar">
-   <property name="geometry">
-    <rect>
-     <x>200</x>
-     <y>150</y>
-     <width>118</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="minimum">
-    <number>-100</number>
-   </property>
-   <property name="value">
-    <number>0</number>
-   </property>
-   <property name="format">
-    <string>%v%</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_11">
-   <property name="geometry">
-    <rect>
-     <x>90</x>
-     <y>10</y>
-     <width>41</width>
-     <height>17</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>1120</string>
-   </property>
-  </widget>
- </widget>
- <resources/>
- <connections/>
-</ui>
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCRemoteControlView</class>
+ <widget class="QWidget" name="QGCRemoteControlView">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>155</width>
+    <height>106</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

src/ui/WaypointList.cc

@@ -190,7 +190,7 @@ void WaypointList::add()
             // Create global frame waypoint per default
             wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), 0.0, 0.0, 0.0, 0.0, true, true, MAV_FRAME_GLOBAL, MAV_CMD_NAV_WAYPOINT);
             uas->getWaypointManager()->addWaypoint(wp);
-        }
+
     }
 }
 
@@ -462,6 +462,9 @@ void WaypointList::moveUp(Waypoint* wp)
             uas->getWaypointManager()->moveWaypoint(i, i-1);
         }
     }
+
+    //emitir seal de cambio orden en la lista,
+    //la debe capturar el mapwidget para volver a dibujar la ruta
 }
 
 void WaypointList::moveDown(Waypoint* wp)
@@ -521,13 +524,6 @@ void WaypointList::on_clearWPListButton_clicked()
                 widget->remove();
         }
     }
-    else
-    {
-//        if(isGlobalWP)
-//        {
-//           emit clearPathclicked();
-//        }
-    }
 }
 
 ///** @brief The MapWidget informs that a waypoint global was changed on the map */

src/ui/WaypointList.h

@@ -108,7 +108,7 @@ public slots:
 signals:
   void clearPathclicked();
   void createWaypointAtMap(const QPointF coordinate);
-
+    void changePointList();
 protected:
     virtual void changeEvent(QEvent *e);
 

src/ui/WaypointView.cc

@@ -113,6 +113,7 @@ void WaypointView::moveDown()
     emit moveDownWaypoint(wp);
 }
 
+
 void WaypointView::remove()
 {
     emit removeWaypoint(wp);

src/ui/designer/QGCActionButton.cc

-#include "QGCActionButton.h"
-#include "ui_QGCActionButton.h"
-
-#include "MAVLinkProtocol.h"
-#include "UASManager.h"
-
-const char* kActionLabels[MAV_ACTION_NB] =
-{"HOLD",
- "START MOTORS",
- "LAUNCH",
- "RETURN",
- "EMERGENCY LAND",
- "EMERGENCY KILL",
- "CONFIRM KILL",
- "CONTINUE",
- "STOP MOTORS",
- "HALT",
- "SHUTDOWN",
- "REBOOT",
- "SET MANUAL",
- "SET AUTO",
- "READ STORAGE",
- "WRITE STORAGE",
- "CALIBRATE RC",
- "CALIBRATE GYRO",
- "CALIBRATE MAG",
- "CALIBRATE ACC",
- "CALIBRATE PRESSURE",
- "START REC",
- "PAUSE REC",
- "STOP REC",
- "TAKEOFF",
- "NAVIGATE",
- "LAND",
- "LOITER",
- "SET ORIGIN",
- "RELAY ON",
- "RELAY OFF",
- "GET IMAGE",
- "START VIDEO",
- "STOP VIDEO",
- "RESET MAP",
- "RESET PLAN"};
-
-QGCActionButton::QGCActionButton(QWidget *parent) :
-    QGCToolWidgetItem("Button", parent),
-    ui(new Ui::QGCActionButton),
-    uas(NULL)
-{
-    ui->setupUi(this);
-
-    connect(ui->actionButton, SIGNAL(clicked()), this, SLOT(sendAction()));
-    connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode()));
-    connect(ui->editButtonName, SIGNAL(textChanged(QString)), this, SLOT(setActionButtonName(QString)));
-    connect(ui->editActionComboBox, SIGNAL(currentIndexChanged(QString)), ui->nameLabel, SLOT(setText(QString)));
-
-    // Hide all edit items
-    ui->editActionComboBox->hide();
-    ui->editActionsRefreshButton->hide();
-    ui->editFinishButton->hide();
-    ui->editNameLabel->hide();
-    ui->editButtonName->hide();
-
-    // add action labels to combobox
-    for (int i = 0; i < MAV_ACTION_NB; i++)
-    {
-        ui->editActionComboBox->addItem(kActionLabels[i]);
-    }
-}
-
-QGCActionButton::~QGCActionButton()
-{
-    delete ui;
-}
-
-void QGCActionButton::sendAction()
-{
-    if (QGCToolWidgetItem::uas)
-    {
-        MAV_ACTION action = static_cast<MAV_ACTION>(
-                ui->editActionComboBox->currentIndex());
-
-        QGCToolWidgetItem::uas->setAction(action);
-    }
-    else
-    {
-        qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
-    }
-}
-
-void QGCActionButton::setActionButtonName(QString text)
-{
-    ui->actionButton->setText(text);
-}
-
-void QGCActionButton::startEditMode()
-{
-    ui->editActionComboBox->show();
-    ui->editActionsRefreshButton->show();
-    ui->editFinishButton->show();
-    ui->editNameLabel->show();
-    ui->editButtonName->show();
-    isInEditMode = true;
-}
-
-void QGCActionButton::endEditMode()
-{
-    ui->editActionComboBox->hide();
-    ui->editActionsRefreshButton->hide();
-    ui->editFinishButton->hide();
-    ui->editNameLabel->hide();
-    ui->editButtonName->hide();
-
-    // Write to settings
-    emit editingFinished();
-
-    isInEditMode = false;
-}
-
-void QGCActionButton::writeSettings(QSettings& settings)
-{
-    settings.setValue("TYPE", "BUTTON");
-    settings.setValue("QGC_ACTION_BUTTON_DESCRIPTION", ui->nameLabel->text());
-    settings.setValue("QGC_ACTION_BUTTON_BUTTONTEXT", ui->actionButton->text());
-    settings.setValue("QGC_ACTION_BUTTON_ACTIONID", ui->editActionComboBox->currentIndex());
-    settings.sync();
-}
-
-void QGCActionButton::readSettings(const QSettings& settings)
-{
-    ui->editNameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
-    ui->editButtonName->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
-    ui->editActionComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
-
-    ui->nameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
-    ui->actionButton->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
-    ui->editActionComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
-    qDebug() << "DONE READING SETTINGS";
-}
+#include "QGCActionButton.h"
+#include "ui_QGCActionButton.h"
+
+#include "MAVLinkProtocol.h"
+#include "UASManager.h"
+
+const char* kActionLabels[MAV_ACTION_NB] =
+{"HOLD",
+ "START MOTORS",
+ "LAUNCH",
+ "RETURN",
+ "EMERGENCY LAND",
+ "EMERGENCY KILL",
+ "CONFIRM KILL",
+ "CONTINUE",
+ "STOP MOTORS",
+ "HALT",
+ "SHUTDOWN",
+ "REBOOT",
+ "SET MANUAL",
+ "SET AUTO",
+ "READ STORAGE",
+ "WRITE STORAGE",
+ "CALIBRATE RC",
+ "CALIBRATE GYRO",
+ "CALIBRATE MAG",
+ "CALIBRATE ACC",
+ "CALIBRATE PRESSURE",
+ "START REC",
+ "PAUSE REC",
+ "STOP REC",
+ "TAKEOFF",
+ "NAVIGATE",
+ "LAND",
+ "LOITER",
+ "SET ORIGIN",
+ "RELAY ON",
+ //"RELAY OFF",
+ //"GET IMAGE",
+ //"START VIDEO",
+ //"STOP VIDEO",
+ "RESET MAP",
+ "RESET PLAN"};
+
+QGCActionButton::QGCActionButton(QWidget *parent) :
+    QGCToolWidgetItem("Button", parent),
+    ui(new Ui::QGCActionButton),
+    uas(NULL)
+{
+    ui->setupUi(this);
+
+    connect(ui->actionButton, SIGNAL(clicked()), this, SLOT(sendAction()));
+    connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode()));
+    connect(ui->editButtonName, SIGNAL(textChanged(QString)), this, SLOT(setActionButtonName(QString)));
+    connect(ui->editActionComboBox, SIGNAL(currentIndexChanged(QString)), ui->nameLabel, SLOT(setText(QString)));
+
+    // Hide all edit items
+    ui->editActionComboBox->hide();
+    ui->editActionsRefreshButton->hide();
+    ui->editFinishButton->hide();
+    ui->editNameLabel->hide();
+    ui->editButtonName->hide();
+
+    // add action labels to combobox
+    for (int i = 0; i < MAV_ACTION_NB; i++)
+    {
+        ui->editActionComboBox->addItem(kActionLabels[i]);
+    }
+}
+
+QGCActionButton::~QGCActionButton()
+{
+    delete ui;
+}
+
+void QGCActionButton::sendAction()
+{
+    if (QGCToolWidgetItem::uas)
+    {
+        MAV_ACTION action = static_cast<MAV_ACTION>(
+                ui->editActionComboBox->currentIndex());
+
+        QGCToolWidgetItem::uas->setAction(action);
+    }
+    else
+    {
+        qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
+    }
+}
+
+void QGCActionButton::setActionButtonName(QString text)
+{
+    ui->actionButton->setText(text);
+}
+
+void QGCActionButton::startEditMode()
+{
+    ui->editActionComboBox->show();
+    ui->editActionsRefreshButton->show();
+    ui->editFinishButton->show();
+    ui->editNameLabel->show();
+    ui->editButtonName->show();
+    isInEditMode = true;
+}
+
+void QGCActionButton::endEditMode()
+{
+    ui->editActionComboBox->hide();
+    ui->editActionsRefreshButton->hide();
+    ui->editFinishButton->hide();
+    ui->editNameLabel->hide();
+    ui->editButtonName->hide();
+
+    // Write to settings
+    emit editingFinished();
+
+    isInEditMode = false;
+}
+
+void QGCActionButton::writeSettings(QSettings& settings)
+{
+    settings.setValue("TYPE", "BUTTON");
+    settings.setValue("QGC_ACTION_BUTTON_DESCRIPTION", ui->nameLabel->text());
+    settings.setValue("QGC_ACTION_BUTTON_BUTTONTEXT", ui->actionButton->text());
+    settings.setValue("QGC_ACTION_BUTTON_ACTIONID", ui->editActionComboBox->currentIndex());
+    settings.sync();
+}
+
+void QGCActionButton::readSettings(const QSettings& settings)
+{
+    ui->editNameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
+    ui->editButtonName->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
+    ui->editActionComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
+
+    ui->nameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
+    ui->actionButton->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
+    ui->editActionComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
+    qDebug() << "DONE READING SETTINGS";
+}

src/ui/uas/UASView.cc

@@ -214,7 +214,11 @@ void UASView::updateActiveUAS(UASInterface* uas, bool active)
 void UASView::updateMode(int sysId, QString status, QString description)
 {
     Q_UNUSED(description);
+
+    //int aa=this->uas->getUASID();
     if (sysId == this->uas->getUASID()) m_ui->modeLabel->setText(status);
+
+    m_ui->modeLabel->setText(status);
 }
 
 void UASView::mouseDoubleClickEvent (QMouseEvent * event)