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Commit 767fe5a5 authored by pixhawk's avatar pixhawk
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Fixed bugs

parent 3920c256
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Inline Side-by-side
Showing with 143 additions and 127 deletions
src/ui/MapWidget.cc
View file @ 767fe5a5
...@@ -94,7 +94,7 @@ MapWidget::MapWidget(QWidget *parent) : ...@@ -94,7 +94,7 @@ MapWidget::MapWidget(QWidget *parent) :
// SET INITIAL POSITION AND ZOOM // SET INITIAL POSITION AND ZOOM
// Set default zoom level // Set default zoom level
mc->setZoom(16); mc->setZoom(17);
// Zurich, ETH // Zurich, ETH
mc->setView(QPointF(8.548056,47.376389)); mc->setView(QPointF(8.548056,47.376389));
...@@ -481,8 +481,12 @@ void MapWidget::updateWaypoint(int uas, Waypoint* wp) ...@@ -481,8 +481,12 @@ void MapWidget::updateWaypoint(int uas, Waypoint* wp)
{ {
// First set waypoint coordinate // First set waypoint coordinate
waypoint->setCoordinate(coordinate); waypoint->setCoordinate(coordinate);
// Now update icon position
//mc->layer("Waypoints")->removeGeometry(wpIcons.at(wp->getId()));
wpIcons.at(wp->getId())->setCoordinate(coordinate);
//mc->layer("Waypoints")->addGeometry(wpIcons.at(wp->getId()));
// Then waypoint line coordinate // Then waypoint line coordinate
Point* linesegment = waypointPath->points().at(wp->getId()); Point* linesegment = waypointPath->points().at(mav->getWaypointManager()->getWaypointList().indexOf(wp));
if (linesegment) if (linesegment)
{ {
...@@ -524,6 +528,7 @@ void MapWidget::createWaypointGraphAtMap(int id, const QPointF coordinate) ...@@ -524,6 +528,7 @@ void MapWidget::createWaypointGraphAtMap(int id, const QPointF coordinate)
mc->layer("Waypoints")->addGeometry(tempCirclePoint); mc->layer("Waypoints")->addGeometry(tempCirclePoint);
wpIcons.append(tempCirclePoint);
Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str); Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str);
wps.append(tempPoint); wps.append(tempPoint);
...@@ -663,14 +668,22 @@ void MapWidget::updateWaypointList(int uas) ...@@ -663,14 +668,22 @@ void MapWidget::updateWaypointList(int uas)
// Delete now unused wps // Delete now unused wps
if (wps.count() > wpList.count()) if (wps.count() > wpList.count())
{ {
mc->layer("Waypoints")->removeGeometry(waypointPath);
for (int i = wpList.count(); i < wps.count(); ++i) for (int i = wpList.count(); i < wps.count(); ++i)
{ {
QRect updateRect = wps.at(i)->boundingBox().toRect(); QRect updateRect = wps.at(i)->boundingBox().toRect();
wps.removeAt(i); wps.removeAt(i);
mc->layer("Waypoints")->removeGeometry(wpIcons.at(i));
waypointPath->points().removeAt(i); waypointPath->points().removeAt(i);
//Point* linesegment = waypointPath->points().at(mav->getWaypointManager()->getWaypointList().indexOf(wp));
mc->updateRequest(updateRect); mc->updateRequest(updateRect);
} }
mc->layer("Waypoints")->addGeometry(waypointPath);
} }
// Clear and rebuild linestring
} }
} }
......
src/ui/MapWidget.h
View file @ 767fe5a5
...@@ -45,6 +45,7 @@ This file is part of the QGROUNDCONTROL project ...@@ -45,6 +45,7 @@ This file is part of the QGROUNDCONTROL project
class QMenu; class QMenu;
class Waypoint; class Waypoint;
class Waypoint2DIcon;
namespace Ui { namespace Ui {
class MapWidget; class MapWidget;
...@@ -162,6 +163,7 @@ protected: ...@@ -162,6 +163,7 @@ protected:
private: private:
Ui::MapWidget *m_ui; Ui::MapWidget *m_ui;
QList<qmapcontrol::Point*> wps; QList<qmapcontrol::Point*> wps;
QList<Waypoint2DIcon*>wpIcons;
qmapcontrol::LineString* waypointPath; qmapcontrol::LineString* waypointPath;
//QHash <QString, qmapcontrol::Point*> wpIndex; //QHash <QString, qmapcontrol::Point*> wpIndex;
QPen* pointPen; QPen* pointPen;
......
src/ui/WaypointList.cc
View file @ 767fe5a5
...@@ -127,11 +127,11 @@ void WaypointList::setUAS(UASInterface* uas) ...@@ -127,11 +127,11 @@ void WaypointList::setUAS(UASInterface* uas)
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updatePosition(UASInterface*,double,double,double,quint64))); connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updatePosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64))); connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &))); connect(uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &)));
connect(&uas->getWaypointManager(), SIGNAL(waypointListChanged(void)), this, SLOT(waypointListChanged(void))); connect(uas->getWaypointManager(), SIGNAL(waypointListChanged(void)), this, SLOT(waypointListChanged(void)));
connect(&uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16))); connect(uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
connect(&uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP())); connect(uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
connect(&uas->getWaypointManager(),SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool))); connect(uas->getWaypointManager(),SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool)));
} }
} }
...@@ -141,7 +141,7 @@ void WaypointList::saveWaypoints() ...@@ -141,7 +141,7 @@ void WaypointList::saveWaypoints()
if (uas) if (uas)
{ {
QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)")); QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)"));
uas->getWaypointManager().saveWaypoints(fileName); uas->getWaypointManager()->saveWaypoints(fileName);
} }
} }
...@@ -152,7 +152,7 @@ void WaypointList::loadWaypoints() ...@@ -152,7 +152,7 @@ void WaypointList::loadWaypoints()
QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)")); QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
uas->getWaypointManager().loadWaypoints(fileName); uas->getWaypointManager()->loadWaypoints(fileName);
} }
} }
...@@ -160,7 +160,7 @@ void WaypointList::transmit() ...@@ -160,7 +160,7 @@ void WaypointList::transmit()
{ {
if (uas) if (uas)
{ {
uas->getWaypointManager().writeWaypoints(); uas->getWaypointManager()->writeWaypoints();
} }
} }
...@@ -168,7 +168,7 @@ void WaypointList::read() ...@@ -168,7 +168,7 @@ void WaypointList::read()
{ {
if (uas) if (uas)
{ {
uas->getWaypointManager().readWaypoints(); uas->getWaypointManager()->readWaypoints();
} }
} }
...@@ -178,17 +178,17 @@ void WaypointList::add() ...@@ -178,17 +178,17 @@ void WaypointList::add()
{ {
// if(isGlobalWP) // if(isGlobalWP)
// { // {
// const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList(); // const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
// if (waypoints.size() > 0) // if (waypoints.size() > 0)
// { // {
// Waypoint *last = waypoints.at(waypoints.size()-1); // Waypoint *last = waypoints.at(waypoints.size()-1);
// Waypoint *wp = new Waypoint(0, centerMapCoordinate.x(), centerMapCoordinate.y(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime()); // Waypoint *wp = new Waypoint(0, centerMapCoordinate.x(), centerMapCoordinate.y(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
// uas->getWaypointManager().addWaypoint(wp); // uas->getWaypointManager()->addWaypoint(wp);
// } // }
// else // else
// { // {
// Waypoint *wp = new Waypoint(0, centerMapCoordinate.x(), centerMapCoordinate.y(), -0.8, 0.0, true, true, 0.15, 2000); // Waypoint *wp = new Waypoint(0, centerMapCoordinate.x(), centerMapCoordinate.y(), -0.8, 0.0, true, true, 0.15, 2000);
// uas->getWaypointManager().addWaypoint(wp); // uas->getWaypointManager()->addWaypoint(wp);
// } // }
// //
// emit createWaypointAtMap(centerMapCoordinate); // emit createWaypointAtMap(centerMapCoordinate);
...@@ -196,7 +196,7 @@ void WaypointList::add() ...@@ -196,7 +196,7 @@ void WaypointList::add()
// else // else
{ {
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList(); const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
Waypoint *wp; Waypoint *wp;
...@@ -206,13 +206,13 @@ void WaypointList::add() ...@@ -206,13 +206,13 @@ void WaypointList::add()
Waypoint *last = waypoints.at(waypoints.size()-1); Waypoint *last = waypoints.at(waypoints.size()-1);
wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(),
last->getHoldTime(), last->getFrame(), last->getAction()); last->getHoldTime(), last->getFrame(), last->getAction());
uas->getWaypointManager().addWaypoint(wp); uas->getWaypointManager()->addWaypoint(wp);
} }
else else
{ {
// Create global frame waypoint per default // Create global frame waypoint per default
wp = new Waypoint(0, uas->getLongitude(), uas->getLatitude(), uas->getAltitude(), 0.0, true, true, 0.15, 0, MAV_FRAME_GLOBAL, MAV_ACTION_NAVIGATE); wp = new Waypoint(0, uas->getLongitude(), uas->getLatitude(), uas->getAltitude(), 0.0, true, true, 0.15, 0, MAV_FRAME_GLOBAL, MAV_ACTION_NAVIGATE);
uas->getWaypointManager().addWaypoint(wp); uas->getWaypointManager()->addWaypoint(wp);
} }
if (wp->getFrame() == MAV_FRAME_GLOBAL) if (wp->getFrame() == MAV_FRAME_GLOBAL)
{ {
...@@ -234,17 +234,17 @@ void WaypointList::addCurrentPositonWaypoint() ...@@ -234,17 +234,17 @@ void WaypointList::addCurrentPositonWaypoint()
//} //}
//else //else
{ {
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList(); const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
if (waypoints.size() > 0) if (waypoints.size() > 0)
{ {
Waypoint *last = waypoints.at(waypoints.size()-1); Waypoint *last = waypoints.at(waypoints.size()-1);
Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime()); Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
uas->getWaypointManager().addWaypoint(wp); uas->getWaypointManager()->addWaypoint(wp);
} }
else else
{ {
Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., true, true, 0.15, 2000); Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., true, true, 0.15, 2000);
uas->getWaypointManager().addWaypoint(wp); uas->getWaypointManager()->addWaypoint(wp);
} }
//isLocalWP = true; //isLocalWP = true;
...@@ -264,7 +264,7 @@ void WaypointList::changeCurrentWaypoint(quint16 seq) ...@@ -264,7 +264,7 @@ void WaypointList::changeCurrentWaypoint(quint16 seq)
{ {
if (uas) if (uas)
{ {
uas->getWaypointManager().setCurrentWaypoint(seq); uas->getWaypointManager()->setCurrentWaypoint(seq);
} }
} }
...@@ -272,7 +272,7 @@ void WaypointList::currentWaypointChanged(quint16 seq) ...@@ -272,7 +272,7 @@ void WaypointList::currentWaypointChanged(quint16 seq)
{ {
if (uas) if (uas)
{ {
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList(); const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
if (seq < waypoints.size()) if (seq < waypoints.size())
{ {
...@@ -297,124 +297,125 @@ void WaypointList::waypointListChanged() ...@@ -297,124 +297,125 @@ void WaypointList::waypointListChanged()
{ {
if (uas) if (uas)
{ {
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList(); // Prevent updates to prevent visual flicker
this->setUpdatesEnabled(false);
// For Global Waypoints const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
//if(isGlobalWP)
//{ // For Global Waypoints
//isLocalWP = false; //if(isGlobalWP)
//// first remove all views of non existing waypoints //{
//if (!wpGlobalViews.empty()) //isLocalWP = false;
//{ //// first remove all views of non existing waypoints
//QMapIterator<Waypoint*,WaypointGlobalView*> viewIt(wpGlobalViews); //if (!wpGlobalViews.empty())
//viewIt.toFront(); //{
//while(viewIt.hasNext()) //QMapIterator<Waypoint*,WaypointGlobalView*> viewIt(wpGlobalViews);
//{ //viewIt.toFront();
//viewIt.next(); //while(viewIt.hasNext())
//Waypoint *cur = viewIt.key(); //{
//int i; //viewIt.next();
//for (i = 0; i < waypoints.size(); i++) //Waypoint *cur = viewIt.key();
//{ //int i;
//if (waypoints[i] == cur) //for (i = 0; i < waypoints.size(); i++)
//{ //{
//break; //if (waypoints[i] == cur)
//} //{
//} //break;
//if (i == waypoints.size()) //}
//{ //}
//WaypointGlobalView* widget = wpGlobalViews.find(cur).value(); //if (i == waypoints.size())
//widget->hide(); //{
//listLayout->removeWidget(widget); //WaypointGlobalView* widget = wpGlobalViews.find(cur).value();
//wpGlobalViews.remove(cur); //widget->hide();
//} //listLayout->removeWidget(widget);
//} //wpGlobalViews.remove(cur);
//} //}
//}
//// then add/update the views for each waypoint in the list //}
//for(int i = 0; i < waypoints.size(); i++)
//{ //// then add/update the views for each waypoint in the list
//Waypoint *wp = waypoints[i]; //for(int i = 0; i < waypoints.size(); i++)
//if (!wpGlobalViews.contains(wp)) //{
//{ //Waypoint *wp = waypoints[i];
//WaypointGlobalView* wpview = new WaypointGlobalView(wp, this); //if (!wpGlobalViews.contains(wp))
//wpGlobalViews.insert(wp, wpview); //{
//connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*))); //WaypointGlobalView* wpview = new WaypointGlobalView(wp, this);
//connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(changeWPPositionBySpinBox(Waypoint*))); //wpGlobalViews.insert(wp, wpview);
//// connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*))); //connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
//// connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*))); //connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(changeWPPositionBySpinBox(Waypoint*)));
//// connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(waypointGlobalPositionChanged(Waypoint*))); //// connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*)));
//// connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16))); //// connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
//// connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16))); //// connect(wpview, SIGNAL(changePositionWP(Waypoint*)), this, SLOT(waypointGlobalPositionChanged(Waypoint*)));
//} //// connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
//WaypointGlobalView *wpgv = wpGlobalViews.value(wp); //// connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
//wpgv->updateValues(); //}
//listLayout->addWidget(wpgv); //WaypointGlobalView *wpgv = wpGlobalViews.value(wp);
//} //wpgv->updateValues();
//listLayout->addWidget(wpgv);
//} //}
//else
//}
//else
//{
// for local Waypoints
// first remove all views of non existing waypoints
if (!wpViews.empty())
{ {
// for local Waypoints QMapIterator<Waypoint*,WaypointView*> viewIt(wpViews);
// first remove all views of non existing waypoints viewIt.toFront();
if (!wpViews.empty()) while(viewIt.hasNext())
{ {
QMapIterator<Waypoint*,WaypointView*> viewIt(wpViews); viewIt.next();
viewIt.toFront(); Waypoint *cur = viewIt.key();
while(viewIt.hasNext()) int i;
for (i = 0; i < waypoints.size(); i++)
{ {
viewIt.next(); if (waypoints[i] == cur)
Waypoint *cur = viewIt.key();
int i;
for (i = 0; i < waypoints.size(); i++)
{ {
if (waypoints[i] == cur) break;
{
break;
}
}
if (i == waypoints.size())
{
WaypointView* widget = wpViews.find(cur).value();
widget->hide();
listLayout->removeWidget(widget);
wpViews.remove(cur);
} }
} }
if (i == waypoints.size())
{
WaypointView* widget = wpViews.find(cur).value();
widget->hide();
listLayout->removeWidget(widget);
wpViews.remove(cur);
}
} }
}
// then add/update the views for each waypoint in the list // then add/update the views for each waypoint in the list
for(int i = 0; i < waypoints.size(); i++) for(int i = 0; i < waypoints.size(); i++)
{
Waypoint *wp = waypoints[i];
if (!wpViews.contains(wp))
{ {
Waypoint *wp = waypoints[i]; WaypointView* wpview = new WaypointView(wp, this);
if (!wpViews.contains(wp)) wpViews.insert(wp, wpview);
{ connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*)));
WaypointView* wpview = new WaypointView(wp, this); connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
wpViews.insert(wp, wpview); connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)), this, SLOT(moveDown(Waypoint*))); connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*))); connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*))); }
connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
}
WaypointView *wpv = wpViews.value(wp); WaypointView *wpv = wpViews.value(wp);
wpv->updateValues(); // update the values of the ui elements in the view wpv->updateValues(); // update the values of the ui elements in the view
listLayout->addWidget(wpv); listLayout->addWidget(wpv);
} }
} this->setUpdatesEnabled(true);
loadFileGlobalWP = false;
} }
loadFileGlobalWP = false;
//}
} }
void WaypointList::moveUp(Waypoint* wp) void WaypointList::moveUp(Waypoint* wp)
{ {
if (uas) if (uas)
{ {
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList(); const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
//get the current position of wp in the local storage //get the current position of wp in the local storage
int i; int i;
...@@ -427,7 +428,7 @@ void WaypointList::moveUp(Waypoint* wp) ...@@ -427,7 +428,7 @@ void WaypointList::moveUp(Waypoint* wp)
// if wp was found and its not the first entry, move it // if wp was found and its not the first entry, move it
if (i < waypoints.size() && i > 0) if (i < waypoints.size() && i > 0)
{ {
uas->getWaypointManager().moveWaypoint(i, i-1); uas->getWaypointManager()->moveWaypoint(i, i-1);
} }
} }
} }
...@@ -436,7 +437,7 @@ void WaypointList::moveDown(Waypoint* wp) ...@@ -436,7 +437,7 @@ void WaypointList::moveDown(Waypoint* wp)
{ {
if (uas) if (uas)
{ {
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList(); const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
//get the current position of wp in the local storage //get the current position of wp in the local storage
int i; int i;
...@@ -449,7 +450,7 @@ void WaypointList::moveDown(Waypoint* wp) ...@@ -449,7 +450,7 @@ void WaypointList::moveDown(Waypoint* wp)
// if wp was found and its not the last entry, move it // if wp was found and its not the last entry, move it
if (i < waypoints.size()-1) if (i < waypoints.size()-1)
{ {
uas->getWaypointManager().moveWaypoint(i, i+1); uas->getWaypointManager()->moveWaypoint(i, i+1);
} }
} }
} }
...@@ -458,7 +459,7 @@ void WaypointList::removeWaypoint(Waypoint* wp) ...@@ -458,7 +459,7 @@ void WaypointList::removeWaypoint(Waypoint* wp)
{ {
if (uas) if (uas)
{ {
uas->getWaypointManager().removeWaypoint(wp->getId()); uas->getWaypointManager()->removeWaypoint(wp->getId());
} }
} }
...@@ -482,7 +483,7 @@ void WaypointList::on_clearWPListButton_clicked() ...@@ -482,7 +483,7 @@ void WaypointList::on_clearWPListButton_clicked()
if (uas) if (uas)
{ {
emit clearPathclicked(); emit clearPathclicked();
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList(); const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++) while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
{ {
WaypointView* widget = wpViews.find(waypoints[0]).value(); WaypointView* widget = wpViews.find(waypoints[0]).value();
...@@ -503,17 +504,17 @@ void WaypointList::addWaypointMouse(QPointF coordinate) ...@@ -503,17 +504,17 @@ void WaypointList::addWaypointMouse(QPointF coordinate)
{ {
if (uas) if (uas)
{ {
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList(); const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
if (waypoints.size() > 0) if (waypoints.size() > 0)
{ {
Waypoint *last = waypoints.at(waypoints.size()-1); Waypoint *last = waypoints.at(waypoints.size()-1);
Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime()); Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
uas->getWaypointManager().addWaypoint(wp); uas->getWaypointManager()->addWaypoint(wp);
} }
else else
{ {
Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), -0.8, 0.0, true, true, 0.15, 2000); Waypoint *wp = new Waypoint(0, coordinate.x(), coordinate.y(), -0.8, 0.0, true, true, 0.15, 2000);
uas->getWaypointManager().addWaypoint(wp); uas->getWaypointManager()->addWaypoint(wp);
} }
...@@ -527,7 +528,7 @@ void WaypointList::waypointGlobalChanged(QPointF coordinate, int indexWP) ...@@ -527,7 +528,7 @@ void WaypointList::waypointGlobalChanged(QPointF coordinate, int indexWP)
{ {
if (uas) if (uas)
{ {
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList(); const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
if (waypoints.size() > 0) if (waypoints.size() > 0)
{ {
Waypoint *temp = waypoints.at(indexWP); Waypoint *temp = waypoints.at(indexWP);
...@@ -560,7 +561,7 @@ void WaypointList::clearWPWidget() ...@@ -560,7 +561,7 @@ void WaypointList::clearWPWidget()
{ {
if (uas) if (uas)
{ {
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList(); const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++) while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
{ {
WaypointView* widget = wpViews.find(waypoints[0]).value(); WaypointView* widget = wpViews.find(waypoints[0]).value();
......
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