Improved line chart, brought back movement on HUD (but still looks somewhat...

Improved line chart, brought back movement on HUD (but still looks somewhat wrong on the dials). Fixed logging for ground time mode

src/LogCompressor.cc

@@ -214,7 +214,7 @@ void LogCompressor::run()
             }
         }
 
-        if (index % (dataLines/100) == 0) emit logProcessingStatusChanged(tr("Log compressor: Processed %1% of %2 lines").arg(index/(float)dataLines*100, 0, 'f', 2).arg(dataLines));
+        if (dataLines > 100) if (index % (dataLines/100) == 0) emit logProcessingStatusChanged(tr("Log compressor: Processed %1% of %2 lines").arg(index/(float)dataLines*100, 0, 'f', 2).arg(dataLines));
         
         if (!failed)
         {

src/comm/MAVLinkSimulationLink.cc

@@ -375,13 +375,20 @@ void MAVLinkSimulationLink::mainloop()
     {
         rate10hzCounter = 1;
 
-
+        float lastX = x;
+        float lastY = y;
+        float lastZ = z;
+        float hackDt = 0.1f; // 100 ms
 
         // Move X Position
         x = 12.0*sin(((double)circleCounter)/100.0);
         y = 5.0*cos(((double)circleCounter)/100.0);
         z = 1.8 + 1.2*sin(((double)circleCounter)/60.0);
 
+        float xSpeed = (x - lastX)/hackDt;
+        float ySpeed = (y - lastY)/hackDt;
+        float zSpeed = (z - lastZ)/hackDt;
+
         circleCounter++;
 
 
@@ -402,7 +409,7 @@ void MAVLinkSimulationLink::mainloop()
         streampointer += bufferlength;
 
         // Send back new position
-        mavlink_msg_local_position_pack(systemId, componentId, &ret, 0, x, y, -fabs(z), 0, 0, 0);
+        mavlink_msg_local_position_pack(systemId, componentId, &ret, 0, x, y, -fabs(z), xSpeed, ySpeed, zSpeed);
         bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);
@@ -416,14 +423,14 @@ void MAVLinkSimulationLink::mainloop()
 //        streampointer += bufferlength;
 
         // GLOBAL POSITION
-        mavlink_msg_global_position_int_pack(systemId, componentId, &ret, (473780.28137103+(x))*1E3, (85489.9892510421+(y))*1E3, (z+550.0)*1000.0, 0*100.0, 0*100.0, 0*100.0);
+        mavlink_msg_global_position_int_pack(systemId, componentId, &ret, (473780.28137103+(x))*1E3, (85489.9892510421+(y))*1E3, (z+550.0)*1000.0, xSpeed*15.0*100.0, ySpeed*15.0*100.0, zSpeed*15*100.0);
         bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);
         streampointer += bufferlength;
 
         // GLOBAL POSITION VEHICLE 2
-        mavlink_msg_global_position_int_pack(54, componentId, &ret, (473780.28137103+(x+0.002))*1E3, (85489.9892510421+((y/2)+0.3))*1E3, (z+570.0)*1000.0, 0*100.0, 0*100.0, 0*100.0);
+        mavlink_msg_global_position_int_pack(54, componentId, &ret, (473780.28137103+(x+0.002))*1E3, (85489.9892510421+((y/2)+0.3))*1E3, (z+570.0)*1000.0, xSpeed*15.0*100.0, ySpeed*15.0*100.0, zSpeed*15.0*100.0);
         bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);

src/comm/MAVLinkXMLParser.cc

@@ -464,7 +464,7 @@ bool MAVLinkXMLParser::generate()
                                                     // Add field to C structure
                                                     cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText);
                                                     // Add pack line to message_xx_pack function
-                                                    packLines += QString("\ti += put_array_by_index((int8_t*)%1, sizeof(%2)*%3, i, msg->payload); // %4\n").arg(fieldName, arrayType, QString::number(arrayLength), fieldText);
+                                                    packLines += QString("\ti += put_array_by_index((const int8_t*)%1, sizeof(%2)*%3, i, msg->payload); // %4\n").arg(fieldName, arrayType, QString::number(arrayLength), fieldText);
                                                     // Add decode function for this type
                                                     decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
                                                     arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));

src/uas/PxQuadMAV.cc

@@ -60,8 +60,8 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_raw_aux_t raw;
                 mavlink_msg_raw_aux_decode(&message, &raw);
                 quint64 time = getUnixTime(0);
-                emit valueChanged(uasId, "Pressure", raw.baro, time);
-                emit valueChanged(uasId, "Temperature", raw.temp, time);
+                emit valueChanged(uasId, "Pressure", "raw", raw.baro, time);
+                emit valueChanged(uasId, "Temperature", "raw", raw.temp, time);
             }
             break;
         case MAVLINK_MSG_ID_PATTERN_DETECTED:
@@ -110,12 +110,12 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_vision_position_estimate_decode(&message, &pos);
                 quint64 time = getUnixTime(pos.usec);
                 //emit valueChanged(uasId, "vis. time", pos.usec, time);
-                emit valueChanged(uasId, "vis. roll", pos.roll, time);
-                emit valueChanged(uasId, "vis. pitch", pos.pitch, time);
-                emit valueChanged(uasId, "vis. yaw", pos.yaw, time);
-                emit valueChanged(uasId, "vis. x", pos.x, time);
-                emit valueChanged(uasId, "vis. y", pos.y, time);
-                emit valueChanged(uasId, "vis. z", pos.z, time);
+                emit valueChanged(uasId, "vis. roll", "rad", pos.roll, time);
+                emit valueChanged(uasId, "vis. pitch", "rad", pos.pitch, time);
+                emit valueChanged(uasId, "vis. yaw", "rad", pos.yaw, time);
+                emit valueChanged(uasId, "vis. x", "rad/s", pos.x, time);
+                emit valueChanged(uasId, "vis. y", "rad/s", pos.y, time);
+                emit valueChanged(uasId, "vis. z", "rad/s", pos.z, time);
             }
             break;
         case MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE:
@@ -124,12 +124,12 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     mavlink_msg_vicon_position_estimate_decode(&message, &pos);
                     quint64 time = getUnixTime(pos.usec);
                     //emit valueChanged(uasId, "vis. time", pos.usec, time);
-                    emit valueChanged(uasId, "vicon roll", pos.roll, time);
-                    emit valueChanged(uasId, "vicon pitch", pos.pitch, time);
-                    emit valueChanged(uasId, "vicon yaw", pos.yaw, time);
-                    emit valueChanged(uasId, "vicon x", pos.x, time);
-                    emit valueChanged(uasId, "vicon y", pos.y, time);
-                    emit valueChanged(uasId, "vicon z", pos.z, time);
+                    emit valueChanged(uasId, "vicon roll", "rad", pos.roll, time);
+                    emit valueChanged(uasId, "vicon pitch", "rad", pos.pitch, time);
+                    emit valueChanged(uasId, "vicon yaw", "rad", pos.yaw, time);
+                    emit valueChanged(uasId, "vicon x", "rad/s", pos.x, time);
+                    emit valueChanged(uasId, "vicon y", "rad/s", pos.y, time);
+                    emit valueChanged(uasId, "vicon z", "rad/s", pos.z, time);
                     emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
                 }
                 break;
@@ -143,7 +143,7 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit errCountChanged(uasId, "IMU", "SPI0", status.spi0_err_count);
                 emit errCountChanged(uasId, "IMU", "SPI1", status.spi1_err_count);
                 emit errCountChanged(uasId, "IMU", "UART", status.uart_total_err_count);
-                emit UAS::valueChanged(this, "Load", ((float)status.load)/1000.0f, MG::TIME::getGroundTimeNow());
+                emit valueChanged(uasId, "Load", "%", ((float)status.load)/1000.0f, MG::TIME::getGroundTimeNow());
             }
             break;
         case MAVLINK_MSG_ID_CONTROL_STATUS:

src/uas/UAS.cc

@@ -181,7 +181,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     emit statusChanged(this, uasState, stateDescription);
                     emit statusChanged(this->status);
                     emit loadChanged(this,state.load/10.0f);
-                    emit UAS::valueChanged(uasId, "Load", ((float)state.load)/1000.0f, MG::TIME::getGroundTimeNow());
+                    emit valueChanged(uasId, "Load", "%", ((float)state.load)/1000.0f, MG::TIME::getGroundTimeNow());
                     stateAudio = " changed status to " + uasState;
                 }
 
@@ -279,15 +279,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_raw_imu_decode(&message, &raw);
                 quint64 time = getUnixTime(raw.usec);
 
-                emit valueChanged(uasId, "accel x", raw.xacc, time);
-                emit valueChanged(uasId, "accel y", raw.yacc, time);
-                emit valueChanged(uasId, "accel z", raw.zacc, time);
-                emit valueChanged(uasId, "gyro roll", static_cast<double>(raw.xgyro), time);
-                emit valueChanged(uasId, "gyro pitch", static_cast<double>(raw.ygyro), time);
-                emit valueChanged(uasId, "gyro yaw", static_cast<double>(raw.zgyro), time);
-                emit valueChanged(uasId, "mag x", raw.xmag, time);
-                emit valueChanged(uasId, "mag y", raw.ymag, time);
-                emit valueChanged(uasId, "mag z", raw.zmag, time);
+                emit valueChanged(uasId, "accel x", "raw", raw.xacc, time);
+                emit valueChanged(uasId, "accel y", "raw", raw.yacc, time);
+                emit valueChanged(uasId, "accel z", "raw", raw.zacc, time);
+                emit valueChanged(uasId, "gyro roll", "raw", static_cast<double>(raw.xgyro), time);
+                emit valueChanged(uasId, "gyro pitch", "raw", static_cast<double>(raw.ygyro), time);
+                emit valueChanged(uasId, "gyro yaw", "raw", static_cast<double>(raw.zgyro), time);
+                emit valueChanged(uasId, "mag x", "raw", raw.xmag, time);
+                emit valueChanged(uasId, "mag y", "raw", raw.ymag, time);
+                emit valueChanged(uasId, "mag z", "raw", raw.zmag, time);
             }
             break;
         case MAVLINK_MSG_ID_ATTITUDE:
@@ -303,20 +303,20 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 //                emit valueChanged(uasId, "roll IMU", mavlink_msg_attitude_get_roll(&message), time);
 //                emit valueChanged(uasId, "pitch IMU", mavlink_msg_attitude_get_pitch(&message), time);
 //                emit valueChanged(uasId, "yaw IMU", mavlink_msg_attitude_get_yaw(&message), time);
-                emit valueChanged(uasId, "roll (rad)", mavlink_msg_attitude_get_roll(&message), time);
-                emit valueChanged(uasId, "pitch (rad)", mavlink_msg_attitude_get_pitch(&message), time);
-                emit valueChanged(uasId, "yaw (rad)", mavlink_msg_attitude_get_yaw(&message), time);
-                emit valueChanged(uasId, "rollspeed (rad)", attitude.rollspeed, time);
-                emit valueChanged(uasId, "pitchspeed (rad)", attitude.pitchspeed, time);
-                emit valueChanged(uasId, "yawspeed (rad)", attitude.yawspeed, time);
+                emit valueChanged(uasId, "roll", "rad", mavlink_msg_attitude_get_roll(&message), time);
+                emit valueChanged(uasId, "pitch", "rad", mavlink_msg_attitude_get_pitch(&message), time);
+                emit valueChanged(uasId, "yaw", "rad", mavlink_msg_attitude_get_yaw(&message), time);
+                emit valueChanged(uasId, "rollspeed", "rad/s", attitude.rollspeed, time);
+                emit valueChanged(uasId, "pitchspeed", "rad/s", attitude.pitchspeed, time);
+                emit valueChanged(uasId, "yawspeed", "rad/s", attitude.yawspeed, time);
 
                 // Emit in angles
-                emit valueChanged(uasId, "roll", (attitude.roll/M_PI)*180.0, time);
-                emit valueChanged(uasId, "pitch", (attitude.pitch/M_PI)*180.0, time);
-                emit valueChanged(uasId, "yaw", (attitude.yaw/M_PI)*180.0, time);
-                emit valueChanged(uasId, "rollspeed", (attitude.rollspeed/M_PI)*180.0, time);
-                emit valueChanged(uasId, "pitchspeed", (attitude.pitchspeed/M_PI)*180.0, time);
-                emit valueChanged(uasId, "yawspeed", (attitude.yawspeed/M_PI)*180.0, time);
+                emit valueChanged(uasId, "roll", "deg", (attitude.roll/M_PI)*180.0, time);
+                emit valueChanged(uasId, "pitch", "deg", (attitude.pitch/M_PI)*180.0, time);
+                emit valueChanged(uasId, "yaw", "deg", (attitude.yaw/M_PI)*180.0, time);
+                emit valueChanged(uasId, "rollspeed", "deg/s", (attitude.rollspeed/M_PI)*180.0, time);
+                emit valueChanged(uasId, "pitchspeed", "deg/s", (attitude.pitchspeed/M_PI)*180.0, time);
+                emit valueChanged(uasId, "yawspeed", "deg/s", (attitude.yawspeed/M_PI)*180.0, time);
 
                 emit attitudeChanged(this, attitude.roll, attitude.pitch, attitude.yaw, time);
             }
@@ -331,12 +331,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 localX = pos.x;
                 localY = pos.y;
                 localZ = pos.z;
-                emit valueChanged(uasId, "x", pos.x, time);
-                emit valueChanged(uasId, "y", pos.y, time);
-                emit valueChanged(uasId, "z", pos.z, time);
-                emit valueChanged(uasId, "x speed", pos.vx, time);
-                emit valueChanged(uasId, "y speed", pos.vy, time);
-                emit valueChanged(uasId, "z speed", pos.vz, time);
+                emit valueChanged(uasId, "x", "m", pos.x, time);
+                emit valueChanged(uasId, "y", "m", pos.y, time);
+                emit valueChanged(uasId, "z", "m", pos.z, time);
+                emit valueChanged(uasId, "x speed", "m/s", pos.vx, time);
+                emit valueChanged(uasId, "y speed", "m/s", pos.vy, time);
+                emit valueChanged(uasId, "z speed", "m/s", pos.vz, time);
                 emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
                 emit speedChanged(this, pos.vx, pos.vy, pos.vz, time);
 
@@ -366,12 +366,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 speedX = pos.vx/100.0;
                 speedY = pos.vy/100.0;
                 speedZ = pos.vz/100.0;
-                emit valueChanged(uasId, "latitude", pos.lat, time);
-                emit valueChanged(uasId, "longitude", pos.lon, time);
-                emit valueChanged(uasId, "altitutde", pos.alt, time);
-                emit valueChanged(uasId, "gps x speed", speedX, time);
-                emit valueChanged(uasId, "gps y speed", speedY, time);
-                emit valueChanged(uasId, "gps z speed", speedZ, time);
+                emit valueChanged(uasId, "latitude", "deg", latitude, time);
+                emit valueChanged(uasId, "longitude", "deg", longitude, time);
+                emit valueChanged(uasId, "altitude", "m", altitude, time);
+                emit valueChanged(uasId, "gps x speed", "m/s", speedX, time);
+                emit valueChanged(uasId, "gps y speed", "m/s", speedY, time);
+                emit valueChanged(uasId, "gps z speed", "m/s", speedZ, time);
                 emit globalPositionChanged(this, longitude, latitude, altitude, time);
                 emit speedChanged(this, speedX, speedY, speedZ, time);
                 // Set internal state
@@ -397,8 +397,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 // quint64 time = getUnixTime(pos.usec);
                 quint64 time = MG::TIME::getGroundTimeNow();
 
-                emit valueChanged(uasId, "latitude", pos.lat, time);
-                emit valueChanged(uasId, "longitude", pos.lon, time);
+                emit valueChanged(uasId, "latitude", "deg", pos.lat, time);
+                emit valueChanged(uasId, "longitude", "deg", pos.lon, time);
 
                 if (pos.fix_type > 0)
                 {
@@ -411,11 +411,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                         alt = 0;
                         emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
                     }
-                    emit valueChanged(uasId, "altitude", pos.alt, time);
+                    emit valueChanged(uasId, "altitude", "m", pos.alt, time);
                     // Smaller than threshold and not NaN
                     if (pos.v < 1000000 && pos.v == pos.v)
                     {
-                        emit valueChanged(uasId, "speed", pos.v, time);
+                        emit valueChanged(uasId, "speed", "m/s", pos.v, time);
                         //qDebug() << "GOT GPS RAW";
                         emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
                     }
@@ -447,9 +447,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 mavlink_raw_pressure_t pressure;
                 mavlink_msg_raw_pressure_decode(&message, &pressure);
-                emit valueChanged(uasId, "abs pressure", pressure.press_abs, this->getUnixTime(0));
-                emit valueChanged(uasId, "diff pressure 1", pressure.press_diff1, this->getUnixTime(0));
-                emit valueChanged(uasId, "diff pressure 2", pressure.press_diff2, this->getUnixTime(0));
+                quint64 time = this->getUnixTime(0);
+                emit valueChanged(uasId, "abs pressure", "hP", pressure.press_abs, time);
+                emit valueChanged(uasId, "diff pressure 1", "hP", pressure.press_diff1, time);
+                emit valueChanged(uasId, "diff pressure 2", "hP", pressure.press_diff2, time);
             }
             break;
         case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
@@ -506,7 +507,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             }
             break;
         case MAVLINK_MSG_ID_DEBUG:
-            emit valueChanged(uasId, QString("debug ") + QString::number(mavlink_msg_debug_get_ind(&message)), mavlink_msg_debug_get_value(&message), MG::TIME::getGroundTimeNow());
+            emit valueChanged(uasId, QString("debug ") + QString::number(mavlink_msg_debug_get_ind(&message)), "raw", mavlink_msg_debug_get_value(&message), MG::TIME::getGroundTimeNow());
             break;
         case MAVLINK_MSG_ID_ATTITUDE_CONTROLLER_OUTPUT:
             {
@@ -514,9 +515,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_attitude_controller_output_decode(&message, &out);
                 quint64 time = MG::TIME::getGroundTimeNowUsecs();
                 emit attitudeThrustSetPointChanged(this, out.roll/127.0f, out.pitch/127.0f, out.yaw/127.0f, (uint8_t)out.thrust, time);
-                emit valueChanged(uasId, "att control roll", out.roll, time/1000.0f);
-                emit valueChanged(uasId, "att control pitch", out.pitch, time/1000.0f);
-                emit valueChanged(uasId, "att control yaw", out.yaw, time/1000.0f);
+                emit valueChanged(uasId, "att control roll", "raw", out.roll, time/1000.0f);
+                emit valueChanged(uasId, "att control pitch", "raw", out.pitch, time/1000.0f);
+                emit valueChanged(uasId, "att control yaw", "raw", out.yaw, time/1000.0f);
             }
             break;
         case MAVLINK_MSG_ID_POSITION_CONTROLLER_OUTPUT:
@@ -525,9 +526,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_position_controller_output_decode(&message, &out);
                 quint64 time = MG::TIME::getGroundTimeNow();
                 //emit positionSetPointsChanged(uasId, out.x/127.0f, out.y/127.0f, out.z/127.0f, out.yaw, time);
-                emit valueChanged(uasId, "pos control x", out.x, time);
-                emit valueChanged(uasId, "pos control y", out.y, time);
-                emit valueChanged(uasId, "pos control z", out.z, time);
+                emit valueChanged(uasId, "pos control x", "raw", out.x, time);
+                emit valueChanged(uasId, "pos control y", "raw", out.y, time);
+                emit valueChanged(uasId, "pos control z", "raw", out.z, time);
             }
             break;
         case MAVLINK_MSG_ID_WAYPOINT_COUNT:
@@ -618,9 +619,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_debug_vect_decode(&message, &vect);
                 QString str((const char*)vect.name);
                 quint64 time = getUnixTime(vect.usec);
-                emit valueChanged(uasId, str+".x", vect.x, time);
-                emit valueChanged(uasId, str+".y", vect.y, time);
-                emit valueChanged(uasId, str+".z", vect.z, time);
+                emit valueChanged(uasId, str+".x", "raw", vect.x, time);
+                emit valueChanged(uasId, str+".y", "raw", vect.y, time);
+                emit valueChanged(uasId, str+".z", "raw", vect.z, time);
             }
             break;
             //#ifdef MAVLINK_ENABLED_PIXHAWK

src/uas/UASInterface.h

@@ -328,9 +328,9 @@ signals:
       * @param msec the timestamp of the message, in milliseconds
       */
 
-    // FIXME Exchange the lines below against the commented ones
-    void valueChanged(int uasId, QString name, double value, quint64 msec);
-    void valueChanged(UASInterface* uas, QString name, double value, quint64 msec);
+    //void valueChanged(const int uasId, const QString& name, const double value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const int value, const quint64 msec);
 
 //    void valueChanged(const int uasId, const QString& name, const double value, const quint64 msec);
 //    //void valueChanged(UASInterface* uas, QString name, double value, quint64 msec);

src/ui/HUD.cc

@@ -250,6 +250,10 @@ void HUD::setActiveUAS(UASInterface* uas)
         disconnect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
         disconnect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
         disconnect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
+
+        disconnect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
+        disconnect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
+        disconnect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
     }
 
     // Now connect the new UAS
@@ -260,11 +264,15 @@ void HUD::setActiveUAS(UASInterface* uas)
     connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
     connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
 
+    connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
+    connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
+    connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
+
     // Set new UAS
     this->uas = uas;
 }
 
-void HUD::updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 msec)
+void HUD::updateAttitudeThrustSetPoint(UASInterface* uas, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 msec)
 {
     updateValue(uas, "roll desired", rollDesired, msec);
     updateValue(uas, "pitch desired", pitchDesired, msec);
@@ -711,7 +719,9 @@ void HUD::paintHUD()
     QString yawAngle;
 
 //    const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;
-    const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f);
+
+    // YAW is in compass-human readable format, so 0 - 360deg. This is normal in aviation, not -180 - +180.
+    const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.0f;
     yawAngle.sprintf("%03d", (int)yawDeg);
     paintText(yawAngle, defaultColor, 3.5f, -3.7f, compassY+ 0.9f, &painter);
 
@@ -730,6 +740,9 @@ void HUD::paintHUD()
     drawChangeIndicatorGauge(vGaugeSpacing, -15.0f, 10.0f, 5.0f, values.value("xSpeed", 0.0f), defaultColor, &painter, false);
 
 
+    // Waypoint name
+    if (waypointName != "") paintText(waypointName, defaultColor, 2.0f, (-vwidth/3.0) + 10, +vheight/3.0 + 15, &painter);
+
     // MOVING PARTS
 
 
@@ -1351,12 +1364,10 @@ void HUD::resizeGL(int w, int h)
     paintHUD();
 }
 
-void HUD::selectWaypoint(UASInterface* uas, int id)
+void HUD::selectWaypoint(int uasId, int id)
 {
-    if (uas == this->uas)
-    {
-        waypointName = tr("WP") + QString::number(id);
-    }
+    Q_UNUSED(uasId);
+    waypointName = tr("WP") + QString::number(id);
 }
 
 void HUD::setImageSize(int width, int height, int depth, int channels)

src/ui/HUD.h

@@ -77,7 +77,7 @@ public slots:
     void updateState(UASInterface*,QString);
     void updateMode(int id,QString mode, QString description);
     void updateLoad(UASInterface*, double);
-    void selectWaypoint(UASInterface* uas, int id);
+    void selectWaypoint(int uasId, int id);
 
     void startImage(int imgid, int width, int height, int depth, int channels);
     void setPixels(int imgid, const unsigned char* imageData, int length, int startIndex);

src/ui/MainWindow.cc

@@ -628,7 +628,6 @@ void MainWindow::showToolWidget()
     QAction* temp = qobject_cast<QAction *>(sender());
     int tool = temp->data().toInt();
 
-
     if (temp && dockWidgets[tool])
     {
         if (temp->isChecked())
@@ -640,9 +639,6 @@ void MainWindow::showToolWidget()
         {
             removeDockWidget(qobject_cast<QDockWidget *>(dockWidgets[tool]));
         }
-        QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(tool), currentView);
-        settings.setValue(chKey,temp->isChecked());
-        settings.sync();
     }
 }
 
@@ -1306,6 +1302,25 @@ void MainWindow::clearView()
     // Save current state
     if (UASManager::instance()->getActiveUAS()) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
     settings.setValue(getWindowGeometryKey(), saveGeometry());
+
+    QAction* temp;
+
+    // Set tool widget visibility settings for this view
+    foreach (int key, toolsMenuActions.keys())
+    {
+        temp = toolsMenuActions[key];
+        QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(key), currentView);
+
+        if (temp)
+        {
+            settings.setValue(chKey,temp->isChecked());
+        }
+        else
+        {
+            settings.setValue(chKey,false);
+        }
+    }
+
     settings.sync();
 
     // Remove all dock widgets from main window
@@ -1500,8 +1515,13 @@ void MainWindow::showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SE
 void MainWindow::loadDataView(QString fileName)
 {
     clearView();
+
+    // Unload line chart
+    QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(CENTRAL_LINECHART), currentView);
+    settings.setValue(chKey,false);
+
     // Set data plot in settings as current widget and then run usual update procedure
-    QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(CENTRAL_DATA_PLOT), currentView);
+    chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(CENTRAL_DATA_PLOT), currentView);
     settings.setValue(chKey,true);
 
     presentView();

src/ui/linechart/LinechartPlot.cc

@@ -228,7 +228,8 @@ void LinechartPlot::appendData(QString dataname, quint64 ms, double value)
     datalock.lock();
 
     /* Check if dataset identifier already exists */
-    if(!data.contains(dataname)) {
+    if(!data.contains(dataname))
+    {
         addCurve(dataname);
     }
 

src/ui/linechart/LinechartWidget.cc

@@ -70,6 +70,7 @@ curveMenu(new QMenu(this)),
 logFile(new QFile()),
 logindex(1),
 logging(false),
+logStartTime(0),
 updateTimer(new QTimer())
 {
     // Add elements defined in Qt Designer
@@ -90,8 +91,9 @@ updateTimer(new QTimer())
     curvesWidgetLayout->setColumnStretch(2, 80);
     curvesWidgetLayout->setColumnStretch(3, 50);
     curvesWidgetLayout->setColumnStretch(4, 50);
-//    horizontalLayout->setColumnStretch(median, 50);
     curvesWidgetLayout->setColumnStretch(5, 50);
+//    horizontalLayout->setColumnStretch(median, 50);
+    curvesWidgetLayout->setColumnStretch(6, 50);
 
     curvesWidget->setLayout(curvesWidgetLayout);
 
@@ -105,7 +107,7 @@ updateTimer(new QTimer())
 
     int labelRow = curvesWidgetLayout->rowCount();
 
-    curvesWidgetLayout->addWidget(new QLabel("On"), labelRow, 0, 1, 2);
+    curvesWidgetLayout->addWidget(new QLabel(tr("On")), labelRow, 0, 1, 2);
 
     label = new QLabel(this);
     label->setText("Name");
@@ -116,15 +118,19 @@ updateTimer(new QTimer())
     value->setText("Val");
     curvesWidgetLayout->addWidget(value, labelRow, 3);
 
+    // Unit
+    label->setText("Unit");
+    curvesWidgetLayout->addWidget(new QLabel(tr("Unit")), labelRow, 4);
+
     // Mean
     mean = new QLabel(this);
     mean->setText("Mean");
-    curvesWidgetLayout->addWidget(mean, labelRow, 4);
+    curvesWidgetLayout->addWidget(mean, labelRow, 5);
 
     // Variance
     variance = new QLabel(this);
     variance->setText("Variance");
-    curvesWidgetLayout->addWidget(variance, labelRow, 5);
+    curvesWidgetLayout->addWidget(variance, labelRow, 6);
 
     // Add and customize plot elements (right side)
 
@@ -265,18 +271,84 @@ void LinechartWidget::createLayout()
 }
 
 void LinechartWidget::appendData(int uasId, QString curve, double value, quint64 usec)
+{
+    static const QString unit("-");
+    if (isVisible())
+    {
+        // Order matters here, first append to plot, then update curve list
+        activePlot->appendData(curve+unit, usec, value);
+        // Store data
+        QLabel* label = curveLabels->value(curve+unit, NULL);
+        // Make sure the curve will be created if it does not yet exist
+        if(!label)
+        {
+            addCurve(curve, unit);
+        }
+    }
+
+    // Log data
+    if (logging)
+    {
+        if (activePlot->isVisible(curve))
+        {
+            if (logStartTime == 0) logStartTime = usec;
+            qint64 time = usec - logStartTime;
+            if (time < 0) time = 0;
+
+            logFile->write(QString(QString::number(time) + "\t" + QString::number(uasId) + "\t" + curve + "\t" + QString::number(value) + "\n").toLatin1());
+            logFile->flush();
+        }
+    }
+}
+
+
+void LinechartWidget::appendData(int uasId, const QString& curve, const QString& unit, double value, quint64 usec)
+{
+    if (isVisible())
+    {
+        // Order matters here, first append to plot, then update curve list
+        activePlot->appendData(curve+unit, usec, value);
+        // Store data
+        QLabel* label = curveLabels->value(curve+unit, NULL);
+        // Make sure the curve will be created if it does not yet exist
+        if(!label)
+        {
+            qDebug() << "ADDING CURVE IN APPENDDATE DOUBLE";
+            addCurve(curve, unit);
+        }
+    }
+
+    // Log data
+    if (logging)
+    {
+        if (activePlot->isVisible(curve+unit))
+        {
+            if (logStartTime == 0) logStartTime = usec;
+            qint64 time = usec - logStartTime;
+            if (time < 0) time = 0;
+
+            logFile->write(QString(QString::number(time) + "\t" + QString::number(uasId) + "\t" + curve + "\t" + QString::number(value) + "\n").toLatin1());
+            logFile->flush();
+        }
+    }
+}
+
+void LinechartWidget::appendData(int uasId, const QString& curve, const QString& unit, int value, quint64 usec)
 {
     if (isVisible())
     {
         // Order matters here, first append to plot, then update curve list
-        activePlot->appendData(curve, usec, value);
+        activePlot->appendData(curve+unit, usec, value);
         // Store data
-        QLabel* label = curveLabels->value(curve, NULL);
+        QLabel* label = curveLabels->value(curve+unit, NULL);
         // Make sure the curve will be created if it does not yet exist
         if(!label)
         {
-            addCurve(curve);
+            addCurve(curve, unit);
         }
+
+        // Add int data
+        intData.insert(curve+unit, value);
     }
 
     // Log data
@@ -284,16 +356,9 @@ void LinechartWidget::appendData(int uasId, QString curve, double value, quint64
     {
         if (activePlot->isVisible(curve))
         {
-            quint64 time = 0;
-            // Adjust time
-            if (activePlot->groundTime())
-            {
-                time = QGC::groundTimeUsecs() - logStartTime;
-            }
-            else
-            {
-                time = usec - logStartTime;
-            }
+            if (logStartTime == 0) logStartTime = usec;
+            qint64 time = usec - logStartTime;
+            if (time < 0) time = 0;
 
             logFile->write(QString(QString::number(time) + "\t" + QString::number(uasId) + "\t" + curve + "\t" + QString::number(value) + "\n").toLatin1());
             logFile->flush();
@@ -304,18 +369,27 @@ void LinechartWidget::appendData(int uasId, QString curve, double value, quint64
 void LinechartWidget::refresh()
 {
     QString str;
-
+    // Value
     QMap<QString, QLabel*>::iterator i;
     for (i = curveLabels->begin(); i != curveLabels->end(); ++i)
     {
         double val = activePlot->getCurrentValue(i.key());
-        if (val > 9999 || val < 0.002)
+        int intval = static_cast<int>(val);
+        if (intval >= 100000 || intval <= -100000)
+        {
+            str.sprintf("% 11i", intval);
+        }
+        else if (intval >= 10000 || intval <= -10000)
         {
-            str.sprintf("% 10e", val);
+            str.sprintf("% 11.2f", val);
+        }
+        else if (intval >= 1000 || intval <= -1000)
+        {
+            str.sprintf("% 11.4f", val);
         }
         else
         {
-            str.sprintf("% 10f", val);
+            str.sprintf("% 11.6f", val);
         }
         // Value
         i.value()->setText(str);
@@ -324,7 +398,19 @@ void LinechartWidget::refresh()
     QMap<QString, QLabel*>::iterator j;
     for (j = curveMeans->begin(); j != curveMeans->end(); ++j)
     {
-        str.sprintf("% 8.2e", activePlot->getMean(j.key()));
+        double val = activePlot->getCurrentValue(j.key());
+        if (val > 9999 || val < -9999)
+        {
+            str.sprintf("% 11.2f", val);
+        }
+        else if (val > 99999 || val < -99999)
+        {
+            str.sprintf("% 11d", (int)val);
+        }
+        else
+        {
+            str.sprintf("% 11.6f", val);
+        }
         j.value()->setText(str);
     }
 //    QMap<QString, QLabel*>::iterator k;
@@ -338,7 +424,7 @@ void LinechartWidget::refresh()
     for (l = curveVariances->begin(); l != curveVariances->end(); ++l)
     {
       // Variance
-       str.sprintf("% 8e", activePlot->getVariance(l.key()));
+       str.sprintf("% 9.4e", activePlot->getVariance(l.key()));
       l.value()->setText(str);
    }
 }
@@ -398,7 +484,8 @@ void LinechartWidget::startLogging()
         if (logFile->open(QIODevice::WriteOnly | QIODevice::Text))
         {
             logging = true;
-            logStartTime = QGC::groundTimeUsecs();
+            logStartTime = 0;
+            curvesWidget->setEnabled(false);
             logindex++;
             logButton->setText(tr("Stop logging"));
             disconnect(logButton, SIGNAL(clicked()), this, SLOT(startLogging()));
@@ -410,6 +497,7 @@ void LinechartWidget::startLogging()
 void LinechartWidget::stopLogging()
 {
     logging = false;
+    curvesWidget->setEnabled(true);
     if (logFile->isOpen())
     {
         logFile->flush();
@@ -449,18 +537,16 @@ void LinechartWidget::createActions()
  * @param curve The id-string of the curve
  * @see removeCurve()
  **/
-void LinechartWidget::addCurve(QString curve)
+void LinechartWidget::addCurve(const QString& curve, const QString& unit)
 {
-    createCurveItem(curve);
-}
+    intData.insert(curve+unit, 0);
 
-void LinechartWidget::createCurveItem(QString curve)
-{
     LinechartPlot* plot = activePlot;
 //    QHBoxLayout *horizontalLayout;
     QCheckBox *checkBox;
     QLabel* label;
     QLabel* value;
+    QLabel* unitLabel;
     QLabel* mean;
     QLabel* variance;
 
@@ -468,7 +554,7 @@ void LinechartWidget::createCurveItem(QString curve)
 
     checkBox = new QCheckBox(this);
     checkBox->setCheckable(true);
-    checkBox->setObjectName(curve);
+    checkBox->setObjectName(curve+unit);
     checkBox->setToolTip(tr("Enable the curve in the graph window"));
     checkBox->setWhatsThis(tr("Enable the curve in the graph window"));
 
@@ -485,7 +571,7 @@ void LinechartWidget::createCurveItem(QString curve)
 
     //checkBox->setText(QString());
     label->setText(curve);
-    QColor color = plot->getColorForCurve(curve);
+    QColor color = plot->getColorForCurve(curve+unit);
     if(color.isValid()) {
         QString colorstyle;
         colorstyle = colorstyle.sprintf("QWidget { background-color: #%X%X%X; }", color.red(), color.green(), color.blue());
@@ -496,18 +582,28 @@ void LinechartWidget::createCurveItem(QString curve)
     // Value
     value = new QLabel(this);
     value->setNum(0.00);
+    value->setStyleSheet(QString("QLabel {font-family:\"Courier\"; font-weight: bold;}"));
     value->setToolTip(tr("Current value of ") + curve);
     value->setWhatsThis(tr("Current value of ") + curve);
-    curveLabels->insert(curve, value);
+    curveLabels->insert(curve+unit, value);
     curvesWidgetLayout->addWidget(value, labelRow, 3);
 
+    // Unit
+    unitLabel = new QLabel(this);
+    unitLabel->setText(unit);
+    unitLabel->setStyleSheet(QString("QLabel {color: %1;}").arg("#AAAAAA"));
+    qDebug() << "UNIT" << unit;
+    unitLabel->setToolTip(tr("Unit of ") + curve);
+    unitLabel->setWhatsThis(tr("Unit of ") + curve);
+    curvesWidgetLayout->addWidget(unitLabel, labelRow, 4);
+
     // Mean
     mean = new QLabel(this);
     mean->setNum(0.00);
     mean->setToolTip(tr("Arithmetic mean of ") + curve);
     mean->setWhatsThis(tr("Arithmetic mean of ") + curve);
-    curveMeans->insert(curve, mean);
-    curvesWidgetLayout->addWidget(mean, labelRow, 4);
+    curveMeans->insert(curve+unit, mean);
+    curvesWidgetLayout->addWidget(mean, labelRow, 5);
 
 //    // Median
 //    median = new QLabel(form);
@@ -520,8 +616,8 @@ void LinechartWidget::createCurveItem(QString curve)
     variance->setNum(0.00);
     variance->setToolTip(tr("Variance of ") + curve);
     variance->setWhatsThis(tr("Variance of ") + curve);
-    curveVariances->insert(curve, variance);
-    curvesWidgetLayout->addWidget(variance, labelRow, 5);
+    curveVariances->insert(curve+unit, variance);
+    curvesWidgetLayout->addWidget(variance, labelRow, 6);
 
     /* Color picker
     QColor color = QColorDialog::getColor(Qt::green, this);
@@ -540,7 +636,7 @@ void LinechartWidget::createCurveItem(QString curve)
 
     // Set UI components to initial state
     checkBox->setChecked(false);
-    plot->setVisible(curve, false);
+    plot->setVisible(curve+unit, false);
 }
 
 /**

src/ui/linechart/LinechartWidget.h

@@ -70,9 +70,14 @@ public:
     static const int MAX_TIME_SCROLLBAR_VALUE = 16383; ///< The maximum scrollbar value
 
 public slots:
-    void addCurve(QString curve);
+    void addCurve(const QString& curve, const QString& unit);
     void removeCurve(QString curve);
+    /** @brief Append data without unit */
     void appendData(int uasId, QString curve, double data, quint64 usec);
+    /** @brief Append data with unit */
+    void appendData(int uasId, const QString& curve, const QString& unit, double value, quint64 usec);
+    /** @brief Append data as int with unit */
+    void appendData(int uasId, const QString& curve, const QString& unit, int value, quint64 usec);
     void takeButtonClick(bool checked);
     void setPlotWindowPosition(int scrollBarValue);
     void setPlotWindowPosition(quint64 position);
@@ -110,6 +115,7 @@ protected:
     QMap<QString, QLabel*>* curveMeans;   ///< References to the curve means
     QMap<QString, QLabel*>* curveMedians; ///< References to the curve medians
     QMap<QString, QLabel*>* curveVariances; ///< References to the curve variances
+    QMap<QString, int> intData;           ///< Current values for integer-valued curves
 
     QWidget* curvesWidget;                ///< The QWidget containing the curve selection button
     QGridLayout* curvesWidgetLayout;      ///< The layout for the curvesWidget QWidget
@@ -130,9 +136,9 @@ protected:
     QFile* logFile;
     unsigned int logindex;
     bool logging;
+    quint64 logStartTime;
     QTimer* updateTimer;
     LogCompressor* compressor;
-    quint64 logStartTime;
 
     static const int MAX_CURVE_MENUITEM_NUMBER = 8;
     static const int PAGESTEP_TIME_SCROLLBAR_VALUE = (MAX_TIME_SCROLLBAR_VALUE - MIN_TIME_SCROLLBAR_VALUE) / 10;

src/ui/linechart/Linecharts.cc

@@ -96,7 +96,12 @@ void Linecharts::addSystem(UASInterface* uas)
         addWidget(widget);
         plots.insert(uas->getUASID(), widget);
 #ifndef MAVLINK_ENABLED_SLUGS
-        connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), widget, SLOT(appendData(int,QString,double,quint64)));
+        // Values without unit
+        //connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), widget, SLOT(appendData(int,QString,double,quint64)));
+        // Values with unit as double
+        connect(uas, SIGNAL(valueChanged(int,QString,QString,double,quint64)), widget, SLOT(appendData(int,QString,QString,double,quint64)));
+        // Values with unit as integer
+        connect(uas, SIGNAL(valueChanged(int,QString,QString,double,quint64)), widget, SLOT(appendData(int,QString,QString,double,quint64)));
 #endif
         connect(widget, SIGNAL(logfileWritten(QString)), this, SIGNAL(logfileWritten(QString)));
         // Set system active if this is the only system