From 913c64179c75b6ae731db3c294deb8d4e78f5ca9 Mon Sep 17 00:00:00 2001
From: Michael Carpenter <malcom2073@gmail.com>
Date: Thu, 23 May 2013 08:47:00 -0400
Subject: [PATCH] Fix for layout glitch when using HIL Configuration, and added
 checks to see if there is an active UAS before attempting to connect
 HSIDisplay signals

---
 src/ui/HSIDisplay.cc |  5 ++++-
 src/ui/MainWindow.cc | 17 ++++++++++++-----
 2 files changed, 16 insertions(+), 6 deletions(-)

diff --git a/src/ui/HSIDisplay.cc b/src/ui/HSIDisplay.cc
index 624353d16..bcfe7adb5 100644
--- a/src/ui/HSIDisplay.cc
+++ b/src/ui/HSIDisplay.cc
@@ -178,7 +178,10 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
     connect(&statusClearTimer, SIGNAL(timeout()), this, SLOT(clearStatusMessage()));
     statusClearTimer.start(3000);
 
-    setActiveUAS(UASManager::instance()->getActiveUAS());
+    if (UASManager::instance()->getActiveUAS())
+    {
+        setActiveUAS(UASManager::instance()->getActiveUAS());
+    }
 
     setFocusPolicy(Qt::StrongFocus);
 }
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index 3b9e7103d..3fcf424c0 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -345,8 +345,9 @@ QString MainWindow::getWindowStateKey()
         return QString::number(currentView)+"_windowstate_" + UASManager::instance()->getActiveUAS()->getAutopilotTypeName();
     }
     else
-
-    return QString::number(currentView)+"_windowstate";
+    {
+        return QString::number(currentView)+"_windowstate";
+    }
 }
 
 QString MainWindow::getWindowGeometryKey()
@@ -727,7 +728,12 @@ void MainWindow::loadDockWidget(QString name)
     {
         return;
     }
-    if (name == "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET")
+    if (name.startsWith("HIL_CONFIG"))
+    {
+        //It's a HIL widget.
+        showHILConfigurationWidget(UASManager::instance()->getActiveUAS());
+    }
+    else if (name == "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET")
     {
         createDockWidget(centerStack->currentWidget(),new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",currentView,Qt::LeftDockWidgetArea);
     }
@@ -906,8 +912,8 @@ void MainWindow::showHILConfigurationWidget(UASInterface* uas)
 void MainWindow::closeEvent(QCloseEvent *event)
 {
     if (isVisible()) storeViewState();
-    storeSettings();
     aboutToCloseFlag = true;
+    storeSettings();
     mavlink->storeSettings();
     UASManager::instance()->storeSettings();
     QMainWindow::closeEvent(event);
@@ -1748,7 +1754,8 @@ void MainWindow::UASCreated(UASInterface* uas)
         connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int)));
 
         // HIL
-        showHILConfigurationWidget(uas);
+        //We only want to show it when it's explicitly requested. This is now handled by loadViewState()
+        //showHILConfigurationWidget(uas);
 
         if (!linechartWidget)
         {
-- 
2.22.0