Merged master

qgroundcontrol.pri

@@ -192,7 +192,8 @@ linux-g++|linux-g++-64{
 
 	INCLUDEPATH += /usr/include \
         /usr/local/include \
-        /usr/include/qt4/phonon
+        /usr/include/qt4/phonon \
+	/usr/include/phonon
 
 	LIBS += \
 		-L/usr/lib \
@@ -228,7 +229,8 @@ linux-g++|linux-g++-64{
 		DEFINES += QGC_OSG_QT_ENABLED
 	}
 
-	exists(/usr/local/include/google/protobuf) {
+	exists(/usr/local/include/google/protobuf) |
+	exists(/usr/include/google/protobuf) {
 		message("Building support for Protocol Buffers")
 		DEPENDENCIES_PRESENT += protobuf
 		# Include Protocol Buffers libraries
@@ -239,7 +241,8 @@ linux-g++|linux-g++-64{
 		DEFINES += QGC_PROTOBUF_ENABLED
 	}
 
-	exists(/usr/local/include/libfreenect/libfreenect.h) {
+	exists(/usr/local/include/libfreenect/libfreenect.h) |
+	exists(/usr/include/libfreenect/libfreenect.h) {
 		message("Building support for libfreenect")
 		DEPENDENCIES_PRESENT += libfreenect
 		INCLUDEPATH += /usr/include/libusb-1.0
@@ -269,7 +272,7 @@ linux-g++ {
 linux-g++-64 {
 	message("Building for GNU/Linux 64bit/x64 (g++-64)")
 	exists(/usr/local/lib64) {
-		LIBS += -L/usr/local/lib64
+		LIBS += -L/usr/local/lib64 -L/usr/lib64
 	}
 }
 

qgroundcontrol.pro

@@ -382,7 +382,6 @@ HEADERS += src/MG.h \
     src/ui/QGCMAVLinkInspector.h \
     src/ui/MAVLinkDecoder.h \
     src/ui/WaypointViewOnlyView.h \
-    src/ui/WaypointViewOnlyView.h \
     src/ui/WaypointEditableView.h \
     src/ui/QGCRGBDView.h \
     src/ui/mavlink/QGCMAVLinkMessageSender.h \

src/QGCCore.cc

@@ -148,6 +148,9 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
     // first messages arrive
     UDPLink* udpLink = new UDPLink(QHostAddress::Any, 14550);
     MainWindow::instance()->addLink(udpLink);
+    // Listen on Multicast-Address 239.255.77.77, Port 14550
+    //QHostAddress * multicast_udp = new QHostAddress("239.255.77.77");
+    //UDPLink* udpLink = new UDPLink(*multicast_udp, 14550);
 
 #ifdef OPAL_RT
     // Add OpalRT Link, but do not connect
@@ -168,7 +171,27 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
 
     if (upgraded) mainWindow->showInfoMessage(tr("Default Settings Loaded"),
                                               tr("qgroundcontrol has been upgraded from version %1 to version %2. Some of your user preferences have been reset to defaults for safety reasons. Please adjust them where needed.").arg(lastApplicationVersion).arg(QGC_APPLICATION_VERSION));
-
+    // Check if link could be connected
+    if (!udpLink->connect())
+    {
+        QMessageBox msgBox;
+        msgBox.setIcon(QMessageBox::Critical);
+        msgBox.setText("Could not connect UDP port. Is an instance of " + qAppName() + "already running?");
+        msgBox.setInformativeText("It is recommended to close the application and stop all instances. Click Yes to close.");
+        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
+        QTimer::singleShot(15000, &msgBox, SLOT(reject()));
+
+        // Exit application
+        if (ret == QMessageBox::Yes)
+        {
+            //mainWindow->close();
+            QTimer::singleShot(200, mainWindow, SLOT(close()));
+        }
+    }
 }
 
 /**

src/uas/UAS.cc

@@ -38,7 +38,10 @@
 * as the previous one created unless one calls deleteSettings in the code after
 * creating the UAS.
 */
+
 UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
+    lipoFull(4.2f),
+    lipoEmpty(3.5f),
     uasId(id),
     links(new QList<LinkInterface*>()),
     unknownPackets(),
@@ -3325,45 +3328,55 @@ QString UAS::getAudioModeTextFor(int id)
     return mode;
 }
 
+/**
+* The mode returned can be auto, stabilized, test, manual, preflight or unknown.
+* @return the short text of the mode for the id given.
+*/
 /**
 * The mode returned can be auto, stabilized, test, manual, preflight or unknown.
 * @return the short text of the mode for the id given.
 */
 QString UAS::getShortModeTextFor(int id)
 {
-    QString mode;
+    QString mode = "";
     uint8_t modeid = id;
 
-    qDebug() << "MODE:" << modeid;
 
     // BASE MODE DECODING
-    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_AUTO)
-    {
-        mode += "|AUTO";
-    }
-    else if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED)
-    {
-        mode += "|VECTOR";
-    }
-    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE)
-    {
-        mode += "|STABILIZED";
-    }
-    else if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_TEST)
-    {
-        mode += "|TEST";
-    }
-    else if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL)
-    {
-        mode += "|MANUAL";
-    }
-    else if (modeid == 0)
+
+    if (modeid == 0)
     {
         mode = "|PREFLIGHT";
     }
-    else
+    else {
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_AUTO){
+            mode += "|AUTO";
+        }
+
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL){
+            mode += "|MANUAL";
+        }
+
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED){
+            mode += "|VECTOR";
+        }
+
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE){
+            mode += "|STABILIZED";
+        }
+
+
+        if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_TEST){
+            mode += "|TEST";
+        }
+
+
+    }
+
+    if (mode.length() == 0)
     {
         mode = "|UNKNOWN";
+        qDebug() << __FILE__ << __LINE__ << " Unknown modeid: " << modeid;
     }
 
     // ARMED STATE DECODING
@@ -3382,6 +3395,8 @@ QString UAS::getShortModeTextFor(int id)
         mode.prepend("HIL:");
     }
 
+    qDebug() << "MODE: " << modeid << " " << mode;
+
     return mode;
 }
 
@@ -3445,8 +3460,8 @@ void UAS::setBattery(BatteryType type, int cells)
     case LIION:
         break;
     case LIPOLY:
-        fullVoltage = this->cells * UAS::lipoFull;
-        emptyVoltage = this->cells * UAS::lipoEmpty;
+        fullVoltage = this->cells * lipoFull;
+        emptyVoltage = this->cells * lipoEmpty;
         break;
     case LIFE:
         break;

src/uas/UAS.h

@@ -56,8 +56,8 @@ public:
     UAS(MAVLinkProtocol* protocol, int id = 0);
     ~UAS();
 
-    static const int lipoFull = 4.2f;  ///< 100% charged voltage
-    static const int lipoEmpty = 3.5f; ///< Discharged voltage
+    float lipoFull;  ///< 100% charged voltage
+    float lipoEmpty; ///< Discharged voltage
 
     /* MANAGEMENT */
 

src/ui/QGCParamWidget.cc

@@ -705,7 +705,7 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column)
                 current->setBackground(1, QBrush(QColor(QGC::colorOrange)));
             }
 
-            switch (parameters.value(key)->value(str).type())
+            switch ((int)parameters.value(key)->value(str).type())
             {
             case QVariant::Int:
             {
@@ -766,7 +766,7 @@ void QGCParamWidget::saveParameters()
             {
                 QString paramValue("%1");
                 QString paramType("%1");
-                switch (j.value().type())
+                switch ((int)j.value().type())
                 {
                 case QVariant::Int:
                     paramValue = paramValue.arg(j.value().toInt());
@@ -777,7 +777,9 @@ void QGCParamWidget::saveParameters()
                     paramType = paramType.arg(MAV_PARAM_TYPE_UINT32);
                     break;
                 case QMetaType::Float:
-                    paramValue = paramValue.arg(j.value().toDouble(), 25, 'g', 12);
+                    // We store parameters as floats, with only 6 digits of precision guaranteed for decimal string conversion
+                    // (see IEEE 754, 32 bit single-precision)
+                    paramValue = paramValue.arg((double)j.value().toFloat(), 25, 'g', 6);
                     paramType = paramType.arg(MAV_PARAM_TYPE_REAL32);
                     break;
                 default:
@@ -955,7 +957,7 @@ void QGCParamWidget::retransmissionGuardTick()
                 if (count < retransmissionBurstRequestSize) {
                     // Re-request write operation
                     QVariant value = missingParams->value(key);
-                    switch (parameters.value(component)->value(key).type())
+                    switch ((int)parameters.value(component)->value(key).type())
                     {
                     case QVariant::Int:
                     {
@@ -1025,7 +1027,7 @@ void QGCParamWidget::setParameter(int component, QString parameterName, QVariant
         return;
     }
 
-    switch (parameters.value(component)->value(parameterName).type())
+    switch ((int)parameters.value(component)->value(parameterName).type())
     {
     case QVariant::Char:
     {

src/ui/map/QGCMapToolBar.cc

@@ -7,8 +7,10 @@ QGCMapToolBar::QGCMapToolBar(QWidget *parent) :
     ui(new Ui::QGCMapToolBar),
     map(NULL),
     optionsMenu(this),
+    mapTypesMenu(this),
     trailPlotMenu(this),
     updateTimesMenu(this),
+    mapTypesGroup(new QActionGroup(this)),
     trailSettingsGroup(new QActionGroup(this)),
     updateTimesGroup(new QActionGroup(this))
 {
@@ -45,21 +47,43 @@ void QGCMapToolBar::setMap(QGCMapWidget* map)
         // Set exclusive items
         trailSettingsGroup->setExclusive(true);
         updateTimesGroup->setExclusive(true);
-
+        mapTypesGroup->setExclusive(true);
 
         // Build up menu
         trailPlotMenu.setTitle(tr("&Add trail dot every.."));
         updateTimesMenu.setTitle(tr("&Limit map view update rate to.."));
+        mapTypesMenu.setTitle(tr("&Map type"));
 
-        // FIXME MARK CURRENT VALUES IN MENU
-        QAction* action = trailPlotMenu.addAction(tr("No trail"), this, SLOT(setUAVTrailTime()));
-        action->setData(-1);
+
+        //setup the mapTypesMenu
+        QAction* action;
+        action =  mapTypesMenu.addAction(tr("Bing Hybrid"),this,SLOT(setMapType()));
+        action->setData(MapType::BingHybrid);
+        action->setCheckable(true);
+        mapTypesGroup->addAction(action);
+
+        action =  mapTypesMenu.addAction(tr("Google Hybrid"),this,SLOT(setMapType()));
+        action->setData(MapType::GoogleHybrid);
+        action->setCheckable(true);
+        mapTypesGroup->addAction(action);
+
+        action =  mapTypesMenu.addAction(tr("OpenStreetMap"),this,SLOT(setMapType()));
+        action->setData(MapType::OpenStreetMap);
         action->setCheckable(true);
-        trailSettingsGroup->addAction(action);
+        mapTypesGroup->addAction(action);
+        //TODO check current item
+        optionsMenu.addMenu(&mapTypesMenu);
+
+
+        // FIXME MARK CURRENT VALUES IN MENU
+        QAction *defaultTrailAction = trailPlotMenu.addAction(tr("No trail"), this, SLOT(setUAVTrailTime()));
+        defaultTrailAction->setData(-1);
+        defaultTrailAction->setCheckable(true);
+        trailSettingsGroup->addAction(defaultTrailAction);
 
         for (int i = 0; i < uavTrailTimeCount; ++i)
         {
-            QAction* action = trailPlotMenu.addAction(tr("%1 second%2").arg(uavTrailTimeList[i]).arg((uavTrailTimeList[i] > 1) ? "s" : ""), this, SLOT(setUAVTrailTime()));
+            action = trailPlotMenu.addAction(tr("%1 second%2").arg(uavTrailTimeList[i]).arg((uavTrailTimeList[i] > 1) ? "s" : ""), this, SLOT(setUAVTrailTime()));
             action->setData(uavTrailTimeList[i]);
             action->setCheckable(true);
             trailSettingsGroup->addAction(action);
@@ -71,7 +95,7 @@ void QGCMapToolBar::setMap(QGCMapWidget* map)
         }
         for (int i = 0; i < uavTrailDistanceCount; ++i)
         {
-            QAction* action = trailPlotMenu.addAction(tr("%1 meter%2").arg(uavTrailDistanceList[i]).arg((uavTrailDistanceList[i] > 1) ? "s" : ""), this, SLOT(setUAVTrailDistance()));
+            action = trailPlotMenu.addAction(tr("%1 meter%2").arg(uavTrailDistanceList[i]).arg((uavTrailDistanceList[i] > 1) ? "s" : ""), this, SLOT(setUAVTrailDistance()));
             action->setData(uavTrailDistanceList[i]);
             action->setCheckable(true);
             trailSettingsGroup->addAction(action);
@@ -85,7 +109,7 @@ void QGCMapToolBar::setMap(QGCMapWidget* map)
         // Set no trail checked if no action is checked yet
         if (!trailSettingsGroup->checkedAction())
         {
-            action->setChecked(true);
+            defaultTrailAction->setChecked(true);
         }
 
         optionsMenu.addMenu(&trailPlotMenu);
@@ -119,7 +143,6 @@ void QGCMapToolBar::setMap(QGCMapWidget* map)
         }
         optionsMenu.addMenu(&updateTimesMenu);
 
-
         ui->optionsButton->setMenu(&optionsMenu);
     }
 }
@@ -175,6 +198,23 @@ void QGCMapToolBar::setUpdateInterval()
     }
 }
 
+void QGCMapToolBar::setMapType()
+{
+    QObject* sender = QObject::sender();
+    QAction* action = qobject_cast<QAction*>(sender);
+
+    if (action)
+    {
+        bool ok;
+        int mapType = action->data().toInt(&ok);
+        if (ok)
+        {
+            map->SetMapType((MapType::Types)mapType);
+            ui->posLabel->setText(tr("Map type: %1").arg(mapType));
+        }
+    }
+}
+
 void QGCMapToolBar::tileLoadStart()
 {
     ui->posLabel->setText(tr("Starting to load tiles.."));
@@ -201,10 +241,12 @@ void QGCMapToolBar::tileLoadProgress(int progress)
     }
 }
 
+
 QGCMapToolBar::~QGCMapToolBar()
 {
     delete ui;
     delete trailSettingsGroup;
     delete updateTimesGroup;
+    delete mapTypesGroup;
     // FIXME Delete all actions
 }

src/ui/map/QGCMapToolBar.h

@@ -28,6 +28,7 @@ public slots:
     void setUAVTrailTime();
     void setUAVTrailDistance();
     void setUpdateInterval();
+    void setMapType();
 
 private:
     Ui::QGCMapToolBar *ui;
@@ -37,8 +38,11 @@ protected:
     QMenu optionsMenu;
     QMenu trailPlotMenu;
     QMenu updateTimesMenu;
+    QMenu mapTypesMenu;
+
     QActionGroup* trailSettingsGroup;
     QActionGroup* updateTimesGroup;
+    QActionGroup* mapTypesGroup;
 };
 
 #endif // QGCMAPTOOLBAR_H

src/ui/map/QGCMapWidget.cc

@@ -30,6 +30,12 @@ QGCMapWidget::QGCMapWidget(QWidget *parent) :
     defaultGuidedAlt = -1;
     loadSettings(false);
 
+    //handy for debugging:
+    //this->SetShowTileGridLines(true);
+
+    //default appears to be Google Hybrid, and is broken currently
+    this->SetMapType(MapType::BingHybrid);
+
     this->setContextMenuPolicy(Qt::ActionsContextMenu);
 
     QAction *guidedaction = new QAction(this);
@@ -519,6 +525,7 @@ void QGCMapWidget::updateHomePosition(double latitude, double longitude, double
 void QGCMapWidget::goHome()
 {
     SetCurrentPosition(Home->Coord());
+    SetZoom(18); //zoom to "large RC park" size
 }
 
 /**

src/ui/uas/QGCMessageView.cc

@@ -4,6 +4,7 @@
 #include "UASManager.h"
 #include "QGCUnconnectedInfoWidget.h"
 #include <QMenu>
+#include <QScrollBar>
 
 QGCMessageView::QGCMessageView(QWidget *parent) :
     QWidget(parent),
@@ -55,9 +56,18 @@ void QGCMessageView::handleTextMessage(int uasid, int componentid, int severity,
 {
     // XXX color messages according to severity
 
-    ui->plainTextEdit->appendHtml(QString("<font color=\"%1\">[%2:%3] %4</font>\n").arg(UASManager::instance()->getUASForId(uasid)->getColor().name()).arg(UASManager::instance()->getUASForId(uasid)->getUASName()).arg(componentid).arg(text));
+    QPlainTextEdit *msgWidget = ui->plainTextEdit;
+
+    //turn off updates while we're appending content to avoid breaking the autoscroll behavior
+    msgWidget->setUpdatesEnabled(false);
+    QScrollBar *scroller = msgWidget->verticalScrollBar();
+
+    UASInterface *uas = UASManager::instance()->getUASForId(uasid);
+    msgWidget->appendHtml(QString("<font color=\"%1\">[%2:%3] %4</font>\n").arg(uas->getColor().name()).arg(uas->getUASName()).arg(componentid).arg(text));
     // Ensure text area scrolls correctly
-    ui->plainTextEdit->ensureCursorVisible();
+    scroller->setValue(scroller->maximum());
+    msgWidget->setUpdatesEnabled(true);
+
 }
 
 void QGCMessageView::contextMenuEvent(QContextMenuEvent* event)

src/ui/uas/UASControlWidget.cc

@@ -51,12 +51,17 @@ UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
 
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
     ui.modeComboBox->clear();
-    ui.modeComboBox->insertItem(0, UAS::getShortModeTextFor(MAV_MODE_PREFLIGHT).remove(0, 2), MAV_MODE_PREFLIGHT);
-    ui.modeComboBox->insertItem(1, UAS::getShortModeTextFor((MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED)).remove(0, 2), (MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED));
-    ui.modeComboBox->insertItem(2, UAS::getShortModeTextFor(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED).remove(0, 2), MAV_MODE_FLAG_MANUAL_INPUT_ENABLED);
-    ui.modeComboBox->insertItem(3, UAS::getShortModeTextFor((MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED)).remove(0, 2), (MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED));
-    ui.modeComboBox->insertItem(4, UAS::getShortModeTextFor((MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED)).remove(0, 2), (MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED));
-    ui.modeComboBox->insertItem(5, UAS::getShortModeTextFor((MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_TEST_ENABLED)).remove(0, 2), (MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_TEST_ENABLED));
+    int modes[] = {
+        MAV_MODE_PREFLIGHT,
+        MAV_MODE_FLAG_MANUAL_INPUT_ENABLED,
+        MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED,
+        MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED,
+        MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_TEST_ENABLED,
+    };
+    for (int i = 0; i < sizeof(modes) / sizeof(int); i++) {
+        int mode = modes[i];
+        ui.modeComboBox->insertItem(i, UAS::getShortModeTextFor(mode).remove(0, 2), mode);
+    }
     connect(ui.modeComboBox, SIGNAL(activated(int)), this, SLOT(setMode(int)));
     connect(ui.setModeButton, SIGNAL(clicked()), this, SLOT(transmitMode()));