Merge branch 'dev' of git://github.com/tecnosapiens/qgroundcontrol into dev

src/ui/SlugsPIDControl.cpp

@@ -55,6 +55,7 @@ void SlugsPIDControl::activeUasSet(UASInterface* uas)
         connect(slugsMav,SIGNAL(slugsPidValues(int,mavlink_pid_t)),this, SLOT(receivePidValues(int,mavlink_pid_t)) );
 
         connect(ui->setGeneral_pushButton,SIGNAL(clicked()),this,SLOT(slugsTimerStartSet()));
+        connect(ui->getGeneral_pushButton,SIGNAL(clicked()),this,SLOT(slugsTimerStartGet()));
     }
 
 #endif // MAVLINK_ENABLED_SLUG
@@ -462,9 +463,9 @@ void SlugsPIDControl::changeColor_GREEN_Pitch2dT_groupBox()
           //create the packet
           pidMessage.target = activeUAS->getUASID();
           pidMessage.idx = 8;
-          pidMessage.pVal = ui->dR_P_set->text().toFloat();
-          pidMessage.iVal = ui->dR_I_set->text().toFloat();
-          pidMessage.dVal = ui->dR_D_set->text().toFloat();
+          pidMessage.pVal = ui->P2dT_FF_set->text().toFloat();
+          pidMessage.iVal = 0;//ui->dR_I_set->text().toFloat();
+          pidMessage.dVal = 0;//ui->dR_D_set->text().toFloat();
 
           mavlink_message_t msg;
 
@@ -531,6 +532,7 @@ void SlugsPIDControl::receivePidValues(int systemId, const mavlink_pid_t &pidVal
         break;
     case 8:
         ui->P2dT_FF_get->setText(QString::number(pidValues.pVal));
+
         break;
 
     default:

src/ui/SlugsPIDControl.h

@@ -281,10 +281,10 @@ private:
     mavlink_slugs_action_t actionSlugs;
 
     QTimer* refreshTimerSet;      ///< The main timer, controls the update view
-     QTimer* refreshTimerGet;      ///< The main timer, controls the update view
+    QTimer* refreshTimerGet;      ///< The main timer, controls the update view
     int counterRefreshSet;
     int counterRefreshGet;
-     QMutex valuesMutex;
+    QMutex valuesMutex;
 };
 
 #endif // SLUGSPIDCONTROL_H

src/ui/SlugsPIDControl.ui

@@ -121,13 +121,6 @@
             </item>
            </layout>
           </item>
-          <item>
-           <widget class="QLabel" name="recepcion_label">
-            <property name="text">
-             <string>Recepcion</string>
-            </property>
-           </widget>
-          </item>
           <item>
            <spacer name="verticalSpacer_5">
             <property name="orientation">
@@ -956,6 +949,13 @@
             </item>
            </layout>
           </item>
+          <item>
+           <widget class="QLabel" name="recepcion_label">
+            <property name="text">
+             <string>Recepcion</string>
+            </property>
+           </widget>
+          </item>
          </layout>
         </widget>
        </item>

src/ui/SlugsPadCameraControl.cpp

@@ -13,6 +13,9 @@ SlugsPadCameraControl::SlugsPadCameraControl(QWidget *parent) :
     ui->setupUi(this);
     x1= 0;
     y1 = 0;
+    bearingPad = 0;
+    distancePad = 0;
+    directionPad = "no";
 
 }
 
@@ -23,13 +26,25 @@ SlugsPadCameraControl::~SlugsPadCameraControl()
 
 void SlugsPadCameraControl::mouseMoveEvent(QMouseEvent *event)
 {
-    emit mouseMoveCoord(event->x(),event->y());
+    //emit mouseMoveCoord(event->x(),event->y());
+    if(dragging)
+    {
+        if(abs(x1-event->x())>20 || abs(y1-event->y())>20)
+        {
+
+            getDeltaPositionPad(event->x(), event->y());
+            x1 = event->x();
+            y1 = event->y();
+        }
+    }
+
 
 }
 
 void SlugsPadCameraControl::mousePressEvent(QMouseEvent *event)
 {
-    emit mousePressCoord(event->x(),event->y());
+    //emit mousePressCoord(event->x(),event->y());
+    dragging = true;
     x1 = event->x();
     y1 = event->y();
 
@@ -37,8 +52,13 @@ void SlugsPadCameraControl::mousePressEvent(QMouseEvent *event)
 
 void SlugsPadCameraControl::mouseReleaseEvent(QMouseEvent *event)
 {
-    emit mouseReleaseCoord(event->x(),event->y());
-    getDeltaPositionPad(event->x(), event->y());
+     dragging = false;
+    //emit mouseReleaseCoord(event->x(),event->y());
+    //getDeltaPositionPad(event->x(), event->y());
+
+     xFin = event->x();
+     yFin = event->y();
+
 
 }
 
@@ -59,6 +79,13 @@ void SlugsPadCameraControl::paintEvent(QPaintEvent *pe)
     painter.drawLine(QPoint(ui->frame->geometry().topLeft().x(),ui->frame->height()/2),
                      QPoint(ui->frame->geometry().bottomRight().x(),ui->frame->height()/2));
 
+    painter.setPen(Qt::white);
+
+    //QPointF coordTemp = getPointBy_BearingDistance(ui->frame->width()/2,ui->frame->height()/2,bearingPad,distancePad);
+
+    painter.drawLine(QPoint(ui->frame->width()/2,ui->frame->height()/2),
+                     QPoint(xFin,yFin));
+
 
    // painter.drawLine(QPoint());
     //painter.drawLines(padLines);
@@ -92,7 +119,7 @@ void SlugsPadCameraControl::getDeltaPositionPad(int x2, int y2)
         {
             emit dirCursorText("right up");
             //bearing = 315;
-            dir = "riht up";
+            dir = "right up";
         }
         else
         {
@@ -100,7 +127,7 @@ void SlugsPadCameraControl::getDeltaPositionPad(int x2, int y2)
             {
                emit dirCursorText("right");
                 //bearing = 315;
-                dir = "riht";
+                dir = "right";
             }
             else
             {
@@ -108,7 +135,7 @@ void SlugsPadCameraControl::getDeltaPositionPad(int x2, int y2)
                 {
                    emit dirCursorText("right down");
                     //bearing = 315;
-                    dir = "riht down";
+                    dir = "right down";
                 }
                 else
                 {
@@ -158,8 +185,15 @@ void SlugsPadCameraControl::getDeltaPositionPad(int x2, int y2)
     }
 
 
+    bearingPad = bearing;
+    distancePad = dist;
+    directionPad = dir;
     emit changeCursorPosition(bearing, dist, dir);
 
+    update();
+
+
+
 }
 
 double SlugsPadCameraControl::getDistPixel(int x1, int y1, int x2, int y2)
@@ -229,3 +263,19 @@ QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, doubl
     return QPointF(marcacion,distancia);
 
 }
+
+
+
+QPointF SlugsPadCameraControl::getPointBy_BearingDistance(double lat1, double lon1, double rumbo, double distancia)
+{
+    double lon2 = 0;
+    double lat2 = 0;
+    double rad= M_PI/180;
+
+    rumbo = rumbo*rad;
+    lon2=(lon1 + ((distancia/60) * (sin(rumbo))));
+    lat2=(lat1 + ((distancia/60) * (cos(rumbo))));
+
+    return QPointF(lon2,lat2);
+}
+

src/ui/SlugsPadCameraControl.h

@@ -21,6 +21,9 @@ public slots:
     void getDeltaPositionPad(int x, int y);
     double getDistPixel(int x1, int y1, int x2, int y2);
     QPointF ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2);
+    QPointF getPointBy_BearingDistance(double lat1, double lon1, double rumbo, double distancia);
+
+
 
 signals:
     void mouseMoveCoord(int x, int y);
@@ -36,11 +39,17 @@ protected:
     void mouseMoveEvent(QMouseEvent* event);
     void paintEvent(QPaintEvent *pe);
 
+
 private:
     Ui::SlugsPadCameraControl *ui;
       bool dragging;
       int x1;
       int y1;
+      int xFin;
+      int yFin;
+      double bearingPad;
+      double distancePad;
+      QString directionPad;
 
 };
 

src/ui/SlugsVideoCamControl.cpp

@@ -20,29 +20,12 @@
 SlugsVideoCamControl::SlugsVideoCamControl(QWidget *parent) :
     QWidget(parent),
     ui(new Ui::SlugsVideoCamControl)
-    //dragging(0)
-
 {
     ui->setupUi(this);
 //   x1= 0;
 //   y1 = 0;
-    connect(ui->viewCamBordeatMap_checkBox,SIGNAL(clicked(bool)),this,SLOT(changeViewCamBorderAtMapStatus(bool)));
-//    tL = ui->padCamContro_frame->frameGeometry().topLeft();
-//    bR = ui->padCamContro_frame->frameGeometry().bottomRight();
-    //ui->padCamContro_frame->setVisible(true);
-
-//    // create a layout for camera pad
-//    QGridLayout* padCameraLayout = new QGridLayout(this);
-//    padCameraLayout->setSpacing(2);
-//    padCameraLayout->setMargin(0);
-//    padCameraLayout->setAlignment(Qt::AlignTop);
-
-    //ui->padCamContro_frame->setLayout(padCameraLayout);
-    // create a camera pad widget
-   //test = new QPushButton(QIcon(":/images/actions/list-add.svg"), "", this);
-   //test->setMaximumWidth(50);
-  //ui->gridLayout->addWidget(test, 0,0);
 
+    connect(ui->viewCamBordeatMap_checkBox,SIGNAL(clicked(bool)),this,SLOT(changeViewCamBorderAtMapStatus(bool)));
     padCamera = new SlugsPadCameraControl(this);
 
     ui->gridLayout->addWidget(padCamera);
@@ -53,28 +36,6 @@ SlugsVideoCamControl::SlugsVideoCamControl(QWidget *parent) :
     connect(padCamera,SIGNAL(changeCursorPosition(double,double,QString)),this,SLOT(getDeltaPositionPad(double,double,QString)));
 
 
-
-    //padCamera->setVisible(true);
-
-
-
-  // padCameraLayout->addWidget(padCamera);
-
-
-
-//    QGraphicsScene *scene = new QGraphicsScene(ui->CamControlPanel_graphicsView);
-//         scene->setItemIndexMethod(QGraphicsScene::NoIndex);
-//         scene->setSceneRect(-200, -200, 400, 400);
-//         setScene(scene);
-//         setCacheMode(CacheBackground);
-//         setViewportUpdateMode(BoundingRectViewportUpdate);
-//         setRenderHint(QPainter::Antialiasing);
-//         setTransformationAnchor(AnchorUnderMouse);
-//         setResizeAnchor(AnchorViewCenter);
-
-//      ui->CamControlPanel_graphicsView->installEventFilter(this);
-//      ui->label_x->installEventFilter(this);
-
 }
 
 SlugsVideoCamControl::~SlugsVideoCamControl()
@@ -82,41 +43,41 @@ SlugsVideoCamControl::~SlugsVideoCamControl()
     delete ui;
 }
 
-void SlugsVideoCamControl::mouseMoveEvent(QMouseEvent *event)
-{
-     Q_UNUSED(event);
+//void SlugsVideoCamControl::mouseMoveEvent(QMouseEvent *event)
+//{
+//     Q_UNUSED(event);
 
-}
+//}
 
 
-void SlugsVideoCamControl::mousePressEvent(QMouseEvent *evnt)
-{
-  Q_UNUSED(evnt);
+//void SlugsVideoCamControl::mousePressEvent(QMouseEvent *evnt)
+//{
+//  Q_UNUSED(evnt);
 
-}
+//}
 
-void SlugsVideoCamControl::mouseReleaseEvent(QMouseEvent *evnt)
-{
-    Q_UNUSED(evnt);
+//void SlugsVideoCamControl::mouseReleaseEvent(QMouseEvent *evnt)
+//{
+//    Q_UNUSED(evnt);
 
-}
+//}
 
 
-void SlugsVideoCamControl::mousePadMoveEvent(int x, int y)
-{
+//void SlugsVideoCamControl::mousePadMoveEvent(int x, int y)
+//{
 
-}
+//}
 
-void SlugsVideoCamControl::mousePadPressEvent(int x, int y)
-{
+//void SlugsVideoCamControl::mousePadPressEvent(int x, int y)
+//{
 
-}
+//}
 
-void SlugsVideoCamControl::mousePadReleaseEvent(int x, int y)
-{
+//void SlugsVideoCamControl::mousePadReleaseEvent(int x, int y)
+//{
 
 
-}
+//}
 
 void SlugsVideoCamControl::changeViewCamBorderAtMapStatus(bool status)
 {

src/ui/SlugsVideoCamControl.h

@@ -27,22 +27,43 @@ public:
     ~SlugsVideoCamControl();
 
 public slots:
+    /**
+         * @brief status = true: emit signal to draw a border cam over the map
+    */
     void changeViewCamBorderAtMapStatus(bool status);
-    void getDeltaPositionPad(double dir, double dist, QString dirText);
-
-
-    void mousePadPressEvent(int x, int y);
-    void mousePadReleaseEvent(int x, int y);
-    void mousePadMoveEvent(int x, int y);
+    /**
+         * @brief show the values of mousepad on ui (labels) and emit a changeCamPosition(signal)
+         *        with values:
+         *       bearing and distance from mouse over the pad
+         *          dirText: direction of mouse movement in text format (up, right,right up,right down,
+         *                   left, left up, left down, down)
+    */
+    void getDeltaPositionPad(double bearing, double distance, QString dirText);
+
+//    /**
+//         * @brief
+//    */
+//    void mousePadPressEvent(int x, int y);
+//    void mousePadReleaseEvent(int x, int y);
+//    void mousePadMoveEvent(int x, int y);
 
 signals:
-    void changeCamPosition(double dist, double dir, QString textDir);
+    /**
+         * @brief emit values from mousepad:
+         *       bearing and distance from mouse over the pad
+         *          dirText: direction of mouse movement in text format (up, right,right up,right down,
+         *                   left, left up, left down, down)
+    */
+    void changeCamPosition(double distance, double bearing, QString textDir);
+    /**
+         * @brief emit signal to draw a border cam over the map if status is true
+    */
     void viewCamBorderAtMap(bool status);
 
 protected:
-   void mousePressEvent(QMouseEvent* event);
-   void mouseReleaseEvent(QMouseEvent* event);
-   void mouseMoveEvent(QMouseEvent* event);
+//   void mousePressEvent(QMouseEvent* event);
+//   void mouseReleaseEvent(QMouseEvent* event);
+//   void mouseMoveEvent(QMouseEvent* event);
 
 
 

src/ui/WaypointList.cc

@@ -153,7 +153,7 @@ void WaypointList::loadWaypoints()
 
         QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
         uas->getWaypointManager().loadWaypoints(fileName);
-    }
+     }
 }
 
 void WaypointList::transmit()
@@ -474,14 +474,14 @@ void WaypointList::on_clearWPListButton_clicked()
 
     if (uas)
     {
-            emit clearPathclicked();
+           emit clearPathclicked();
           const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
             while(!waypoints.isEmpty())//for(int i = 0; i <= waypoints.size(); i++)
             {
                 WaypointView* widget = wpViews.find(waypoints[0]).value();
                 widget->remove();
-            }
         }
+    }
     else
     {
 //        if(isGlobalWP)