Cleaned up and commented major code parts. Refactoring HDD and HSI widgets to...

Cleaned up and commented major code parts. Refactoring HDD and HSI widgets to support QGraphicsView drag-and-drop, tested multi-MAV support more intensely, currently adding the system coloring to all widgets

qgroundcontrol.pro

@@ -124,7 +124,6 @@ HEADERS += src/MG.h \
     src/ui/ObjectDetectionView.h \
     src/input/JoystickInput.h \
     src/ui/JoystickWidget.h \
-    src/ui/PFD.h \
     src/ui/DebugConsole.h \
     src/ui/MapWidget.h \
     src/ui/XMLCommProtocolWidget.h \
@@ -185,7 +184,6 @@ SOURCES += src/main.cc \
     src/ui/ObjectDetectionView.cc \
     src/input/JoystickInput.cc \
     src/ui/JoystickWidget.cc \
-    src/ui/PFD.cc \
     src/ui/DebugConsole.cc \
     src/ui/MapWidget.cc \
     src/ui/XMLCommProtocolWidget.cc \
@@ -218,8 +216,9 @@ SOURCES += src/main.cc \
 RESOURCES = mavground.qrc
 
 # Include RT-LAB Library
-win32 {
-    LIBS += -LC:\OPAL-RT\RT-LAB7.2.4\Common\bin -lOpalApi
+win32 { 
+    LIBS += -LC:\OPAL-RT\RT-LAB7.2.4\Common\bin \
+        -lOpalApi
     INCLUDEPATH += src/lib/opalrt
     SOURCES += src/comm/OpalLink.cc
     HEADERS += src/comm/OpalLink.h

src/uas/UAS.cc

@@ -360,7 +360,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 if (alt != alt)
                 {
                     alt = 0;
-                    emit textMessageReceived(uasId, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
+                    emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
                 }
                 emit valueChanged(uasId, "alt", pos.alt, time);
                 // Smaller than threshold and not NaN
@@ -372,7 +372,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 }
                 else
                 {
-                     emit textMessageReceived(uasId, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(pos.v));
+                     emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(pos.v));
                 }
                 emit globalPositionChanged(this, pos.lon, pos.lat, alt, time);
             }
@@ -498,7 +498,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 int severity = mavlink_msg_statustext_get_severity(&message);
                 //qDebug() << "RECEIVED STATUS:" << text;false
                 //emit statusTextReceived(severity, text);
-                emit textMessageReceived(uasId, severity, text);
+                emit textMessageReceived(uasId, message.compid, severity, text);
             }
             break;
         default:

src/uas/UASInterface.h

@@ -228,10 +228,11 @@ signals:
      * messages like critical errors.
      *
      * @param uasid ID of the sending system
+     * @param compid ID of the sending component
      * @param text the status text
      * @param severity The severity of the message, 0 for plain debug messages, 10 for very critical messages
      */
-    void textMessageReceived(int uasid, int severity, QString text);
+    void textMessageReceived(int uasid, int componentid, int severity, QString text);
     /**
      * @brief Update the error count of a device
      *

src/ui/AudioOutputWidget.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Implementation of class AudioOutputWidget
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
 #include "AudioOutputWidget.h"
 #include "ui_AudioOutputWidget.h"
 

src/ui/AudioOutputWidget.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of class AudioOutputWidget
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
 #ifndef AUDIOOUTPUTWIDGET_H
 #define AUDIOOUTPUTWIDGET_H
 
@@ -7,7 +37,11 @@ namespace Ui {
     class AudioOutputWidget;
 }
 
-class AudioOutputWidget : public QWidget {
+/**
+ * @brief Widget to control audio/volume/mute
+ */
+class AudioOutputWidget : public QWidget
+{
     Q_OBJECT
 public:
     AudioOutputWidget(QWidget *parent = 0);

src/ui/CommConfigurationWindow.h

 /*=====================================================================
 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
-Please see our website at <http://pixhawk.ethz.ch>
+QGroundControl Open Source Ground Control Station
 
-(c) 2009 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
-This file is part of the PIXHAWK project
+This file is part of the QGROUNDCONTROL project
 
-    PIXHAWK is free software: you can redistribute it and/or modify
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
 
-    PIXHAWK is distributed in the hope that it will be useful,
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
 
     You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
 
 /**
  * @file
- *   @brief Definition of configuration window for serial links
+ *   @brief Definition of class CommConfigurationWindow
  *
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
  *
@@ -44,6 +43,9 @@ This file is part of the PIXHAWK project
 #include "OpalLink.h"
 #endif
 
+/**
+ * @brief Configuration window for communication links
+ */
 class CommConfigurationWindow : public QWidget
 {
     Q_OBJECT

src/ui/DebugConsole.cc

@@ -33,6 +33,7 @@ This file is part of the PIXHAWK project
 #include "DebugConsole.h"
 #include "ui_DebugConsole.h"
 #include "LinkManager.h"
+#include "UASManager.h"
 #include "protocol.h"
 
 #include <QDebug>
@@ -163,9 +164,13 @@ void DebugConsole::setAutoHold(bool hold)
     autoHold = hold;
 }
 
-void DebugConsole::receiveTextMessage(int id, int severity, QString text)
+/**
+ * Prints the message in the UAS color
+ */
+void DebugConsole::receiveTextMessage(int id, int component, int severity, QString text)
 {
-    m_ui->receiveText->appendHtml(QString("<font color=\"yellow\">(MAV" + QString::number(id) + QString(":") + QString::number(severity) + QString(") ") + text + QString("</font>")));
+    Q_UNUSED(severity);
+    m_ui->receiveText->appendHtml(QString("<font color=\"%1\">(MAV%2:%3) %4</font>").arg(UASManager::instance()->getUASForId(id)->getColor().name(), QString::number(id), QString::number(component), text));
 }
 
 void DebugConsole::updateTrafficMeasurements()

src/ui/DebugConsole.h

 /*=====================================================================
 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+QGroundControl Open Source Ground Control Station
 
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
-This file is part of the PIXHAWK project
+This file is part of the QGROUNDCONTROL project
 
-    PIXHAWK is free software: you can redistribute it and/or modify
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
 
-    PIXHAWK is distributed in the hope that it will be useful,
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
 
     You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
 
@@ -43,7 +43,14 @@ namespace Ui {
     class DebugConsole;
 }
 
-class DebugConsole : public QWidget {
+/**
+ * @brief Shows a debug console
+ *
+ * This class shows the raw data stream of each link
+ * and the debug / text messages sent by all systems
+ */
+class DebugConsole : public QWidget
+{
     Q_OBJECT
 public:
     DebugConsole(QWidget *parent = 0);
@@ -69,7 +76,7 @@ public slots:
     /** @brief Enable auto-freeze mode if traffic intensity is too high to display */
     void setAutoHold(bool hold);
     /** @brief Receive plain text message to output to the user */
-    void receiveTextMessage(int id, int severity, QString text);
+    void receiveTextMessage(int id, int component, int severity, QString text);
 
     protected slots:
     /** @brief Draw information overlay */

src/ui/HDDisplay.cc

@@ -40,7 +40,7 @@ This file is part of the PIXHAWK project
 #include <QDebug>
 
 HDDisplay::HDDisplay(QStringList* plotList, QWidget *parent) :
-        QWidget(parent),
+        QGraphicsView(parent),
         uas(NULL),
         values(QMap<QString, float>()),
         valuesDot(QMap<QString, float>()),
@@ -109,6 +109,11 @@ HDDisplay::~HDDisplay()
     delete m_ui;
 }
 
+void HDDisplay::enableGLRendering(bool enable)
+{
+
+}
+
 void HDDisplay::triggerUpdate()
 {
     // Only repaint the regions necessary
@@ -123,14 +128,10 @@ void HDDisplay::paintEvent(QPaintEvent * event)
     static quint64 interval = 0;
     //qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
     interval = MG::TIME::getGroundTimeNow();
-    paintDisplay();
-}
-
-void HDDisplay::paintGL()
-{
+    renderOverlay();
 }
 
-void HDDisplay::paintDisplay()
+void HDDisplay::renderOverlay()
 {
     quint64 refreshInterval = 100;
     quint64 currTime = MG::TIME::getGroundTimeNow();
@@ -148,7 +149,7 @@ void HDDisplay::paintDisplay()
     double scalingFactorH = this->height()/vheight;
     if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH;
 
-    QPainter painter(this);
+    QPainter painter(viewport());
     painter.setRenderHint(QPainter::Antialiasing, true);
     painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
     painter.fillRect(QRect(0, 0, width(), height()), backgroundColor);

src/ui/HDDisplay.h

 /*=====================================================================
 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+QGroundControl Open Source Ground Control Station
 
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
-This file is part of the PIXHAWK project
+This file is part of the QGROUNDCONTROL project
 
-    PIXHAWK is free software: you can redistribute it and/or modify
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
 
-    PIXHAWK is distributed in the hope that it will be useful,
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
 
     You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
 
@@ -32,7 +32,7 @@ This file is part of the PIXHAWK project
 #ifndef HDDISPLAY_H
 #define HDDISPLAY_H
 
-#include <QtGui/QWidget>
+#include <QtGui/QGraphicsView>
 #include <QColor>
 #include <QTimer>
 #include <QFontDatabase>
@@ -46,7 +46,16 @@ namespace Ui {
     class HDDisplay;
 }
 
-class HDDisplay : public QWidget {
+/**
+ * @brief Head Down Display Widget
+ *
+ * This widget is used for any head down display as base widget. It handles the basic widget setup
+ * each head down instrument has a virtual screen size in millimeters as base coordinate system
+ * this virtual screen size is then scaled to pixels on the screen.
+ * When the pixel per millimeter ratio is known, a 1:1 representation is possible on the screen
+ */
+class HDDisplay : public QGraphicsView
+{
     Q_OBJECT
 public:
     HDDisplay(QStringList* plotList, QWidget *parent = 0);
@@ -60,8 +69,9 @@ public slots:
     void setActiveUAS(UASInterface* uas);
 
 protected slots:
-    void paintGL();
-    void paintDisplay();
+    void enableGLRendering(bool enable);
+    //void render(QPainter* painter, const QRectF& target = QRectF(), const QRect& source = QRect(), Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
+    void renderOverlay();
     void triggerUpdate();
 
 protected:

src/ui/HSIDisplay.cc

 /*=====================================================================
 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+QGroundControl Open Source Ground Control Station
 
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
-This file is part of the PIXHAWK project
+This file is part of the QGROUNDCONTROL project
 
-    PIXHAWK is free software: you can redistribute it and/or modify
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
 
-    PIXHAWK is distributed in the hope that it will be useful,
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
 
     You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
 
@@ -110,10 +110,10 @@ void HSIDisplay::paintEvent(QPaintEvent * event)
     static quint64 interval = 0;
     //qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
     interval = MG::TIME::getGroundTimeNow();
-    paintDisplay();
+    renderOverlay();
 }
 
-void HSIDisplay::paintDisplay()
+void HSIDisplay::renderOverlay()
 {
     // Center location of the HSI gauge items
 
@@ -131,7 +131,7 @@ void HSIDisplay::paintDisplay()
     double scalingFactorH = this->height()/vheight;
     if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH;
 
-    QPainter painter(this);
+    QPainter painter(viewport());
     painter.setRenderHint(QPainter::Antialiasing, true);
     painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
 

src/ui/HSIDisplay.h

 /*=====================================================================
 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+QGroundControl Open Source Ground Control Station
 
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
-This file is part of the PIXHAWK project
+This file is part of the QGROUNDCONTROL project
 
-    PIXHAWK is free software: you can redistribute it and/or modify
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
 
-    PIXHAWK is distributed in the hope that it will be useful,
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
 
     You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
 
@@ -81,7 +81,7 @@ public slots:
     void pressKey(int key);
 
 protected slots:
-    void paintDisplay();
+    void renderOverlay();
     void drawGPS(QPainter &painter);
     void drawObjects(QPainter &painter);
     void drawPositionDirection(float xRef, float yRef, float radius, const QColor& color, QPainter* painter);
@@ -103,6 +103,7 @@ protected slots:
     void mouseDoubleClickEvent(QMouseEvent* event);
 
 protected:
+
     /** @brief Get color from GPS signal-to-noise colormap */
     static QColor getColorForSNR(float snr);
     /** @brief Metric world coordinates to metric body coordinates */

src/ui/HUD.cc

 /*=====================================================================
 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+QGroundControl Open Source Ground Control Station
 
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
-This file is part of the PIXHAWK project
+This file is part of the QGROUNDCONTROL project
 
-    PIXHAWK is free software: you can redistribute it and/or modify
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
 
-    PIXHAWK is distributed in the hope that it will be useful,
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
 
     You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
 

src/ui/HUD.h

 /*=====================================================================
 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+QGroundControl Open Source Ground Control Station
 
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
-This file is part of the PIXHAWK project
+This file is part of the QGROUNDCONTROL project
 
-    PIXHAWK is free software: you can redistribute it and/or modify
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
 
-    PIXHAWK is distributed in the hope that it will be useful,
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
 
     You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
 

src/ui/MainWindow.cc

@@ -391,10 +391,10 @@ void MainWindow::addLink(LinkInterface *link)
 void MainWindow::UASCreated(UASInterface* uas)
 {
     // Connect the UAS to the full user interface
-    //ui.menuConnected_Systems->addAction(QIcon(":/images/mavs/generic.svg"), tr("View ") + uas->getUASName(), uas, SLOT(setSelected()));
+    ui.menuConnected_Systems->addAction(QIcon(":/images/mavs/generic.svg"), tr("View ") + uas->getUASName(), uas, SLOT(setSelected()));
 
     // FIXME Should be not inside the mainwindow
-    connect(uas, SIGNAL(textMessageReceived(int,int,QString)), debugConsole, SLOT(receiveTextMessage(int,int,QString)));
+    connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)), debugConsole, SLOT(receiveTextMessage(int,int,int,QString)));
 
     // Health / System status indicator
     info->addUAS(uas);

src/ui/MainWindow.h

 /*=====================================================================
 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+QGroundControl Open Source Ground Control Station
 
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
-This file is part of the PIXHAWK project
+This file is part of the QGROUNDCONTROL project
 
-    PIXHAWK is free software: you can redistribute it and/or modify
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
 
-    PIXHAWK is distributed in the hope that it will be useful,
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
 
     You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
 
 /**
  * @file
- *   @brief Main application window
+ *   @brief Definition of class MainWindow
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
  *
  */
@@ -52,7 +52,6 @@ This file is part of the PIXHAWK project
 #include "AS4Protocol.h"
 #include "ObjectDetectionView.h"
 #include "HUD.h"
-#include "PFD.h"
 #include "JoystickWidget.h"
 #include "input/JoystickInput.h"
 #include "DebugConsole.h"

src/ui/MainWindow.ui

@@ -87,8 +87,14 @@
     <addaction name="actionProject_Roadmap"/>
     <addaction name="actionCredits_Developers"/>
    </widget>
+   <widget class="QMenu" name="menuConnected_Systems">
+    <property name="title">
+     <string>Connected Systems</string>
+    </property>
+   </widget>
    <addaction name="menuMGround"/>
    <addaction name="menuNetwork"/>
+   <addaction name="menuConnected_Systems"/>
    <addaction name="menuUnmanned_System"/>
    <addaction name="menuWindow"/>
    <addaction name="menuHelp"/>

src/ui/MapWidget.h

 /*=====================================================================
 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+QGroundControl Open Source Ground Control Station
 
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
-This file is part of the PIXHAWK project
+This file is part of the QGROUNDCONTROL project
 
-    PIXHAWK is free software: you can redistribute it and/or modify
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
 
-    PIXHAWK is distributed in the hope that it will be useful,
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
 
     You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
 
@@ -26,7 +26,7 @@ This file is part of the PIXHAWK project
  *   @brief Definition of MapWidget
  *
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *   @author Mariano Lizzaraga
+ *   @author Mariano Lizaraga
  *
  */
 

src/ui/ObjectDetectionView.h

 /*=====================================================================
 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+QGroundControl Open Source Ground Control Station
 
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
-This file is part of the PIXHAWK project
+This file is part of the QGROUNDCONTROL project
 
-    PIXHAWK is free software: you can redistribute it and/or modify
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
 
-    PIXHAWK is distributed in the hope that it will be useful,
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
 
     You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
 

src/ui/ParameterInterface.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of class ParameterInterface
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
 #include <QTreeWidget>
 
 #include "ParameterInterface.h"

src/ui/ParameterInterface.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of class ParameterInterface
+ *
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
 #ifndef PARAMETERINTERFACE_H
 #define PARAMETERINTERFACE_H
 
@@ -11,7 +42,13 @@ namespace Ui {
     class ParameterInterface;
 }
 
-class ParameterInterface : public QWidget {
+/**
+ * @brief Container class for onboard parameter widgets
+ *
+ * @see QGCParamWidget
+ */
+class ParameterInterface : public QWidget
+{
     Q_OBJECT
 public:
     explicit ParameterInterface(QWidget *parent = 0);

src/ui/QGCParamWidget.h

@@ -2,9 +2,7 @@
 
 QGroundControl Open Source Ground Control Station
 
-(c) 2009, 2010 QGROUNDCONTROL/PIXHAWK PROJECT
-<http://www.qgroundcontrol.org>
-<http://pixhawk.ethz.ch>
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
 This file is part of the QGROUNDCONTROL project
 

src/ui/QGCPxImuFirmwareUpdate.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
 #include "QGCPxImuFirmwareUpdate.h"
 #include "ui_QGCPxImuFirmwareUpdate.h"
 

src/ui/QGCPxImuFirmwareUpdate.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Declaration of class QGCPxImuFirmwareUpdate
+ *   @author Lorenz Meier <mail@qgroundcontrol.org>
+ */
+
 #ifndef QGCPXIMUFIRMWAREUPDATE_H
 #define QGCPXIMUFIRMWAREUPDATE_H
 

src/ui/QGCSensorSettingsWidget.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
 #include "QGCSensorSettingsWidget.h"
 #include "ui_QGCSensorSettingsWidget.h"
 

src/ui/QGCSensorSettingsWidget.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Declaration of class QGCSensorSettingsWidget
+ *   @author Lorenz Meier <mail@qgroundcontrol.org>
+ */
+
 #ifndef QGCSENSORSETTINGSWIDGET_H
 #define QGCSENSORSETTINGSWIDGET_H
 

src/ui/SerialConfigurationWindow.cc

 /*=====================================================================
 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
-Please see our website at <http://pixhawk.ethz.ch>
+QGroundControl Open Source Ground Control Station
 
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
-This file is part of the PIXHAWK project
+This file is part of the QGROUNDCONTROL project
 
-    PIXHAWK is free software: you can redistribute it and/or modify
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
 
-    PIXHAWK is distributed in the hope that it will be useful,
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
 
     You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
 

src/ui/SerialConfigurationWindow.h

 /*=====================================================================
 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
-Please see our website at <http://pixhawk.ethz.ch>
+QGroundControl Open Source Ground Control Station
 
-(c) 2009 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
-This file is part of the PIXHAWK project
+This file is part of the QGROUNDCONTROL project
 
-    PIXHAWK is free software: you can redistribute it and/or modify
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
 
-    PIXHAWK is distributed in the hope that it will be useful,
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
 
     You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
 

src/ui/WaypointList.h

 /*=====================================================================
 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+QGroundControl Open Source Ground Control Station
 
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
-This file is part of the PIXHAWK project
+This file is part of the QGROUNDCONTROL project
 
-    PIXHAWK is free software: you can redistribute it and/or modify
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
 
-    PIXHAWK is distributed in the hope that it will be useful,
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
 
     You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
 

src/ui/WaypointView.h

 /*=====================================================================
 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+QGroundControl Open Source Ground Control Station
 
-(c) 2009 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
-This file is part of the PIXHAWK project
+This file is part of the QGROUNDCONTROL project
 
-    PIXHAWK is free software: you can redistribute it and/or modify
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
 
-    PIXHAWK is distributed in the hope that it will be useful,
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
 
     You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
 

src/ui/XMLCommProtocolWidget.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of class XMLCommProtocolWidget
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
 #ifndef XMLCOMMPROTOCOLWIDGET_H
 #define XMLCOMMPROTOCOLWIDGET_H
 

src/ui/uas/UASControlWidget.cc

@@ -59,8 +59,8 @@ This file is part of the PIXHAWK project
 #define CONTROL_MODE_TEST3_INDEX  8
 
 UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
-        uas(NULL),
-        engineOn(false)
+uas(NULL),
+engineOn(false)
 {
     ui.setupUi(this);
 
@@ -88,25 +88,27 @@ void UASControlWidget::setUAS(UASInterface* uas)
         disconnect(ui.shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
         disconnect(ui.modeComboBox, SIGNAL(activated(int)), this, SLOT(setMode(int)));
         disconnect(ui.setModeButton, SIGNAL(clicked()), this, SLOT(transmitMode()));
+        ui.modeComboBox->clear();
+
+        disconnect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
+        disconnect(uas, SIGNAL(statusChanged(int)), this, SLOT(updateState(int)));
     }
-    else
-    {
-        // Connect user interface controls
-        connect(ui.controlButton, SIGNAL(clicked()), this, SLOT(cycleContextButton()));
-        connect(ui.liftoffButton, SIGNAL(clicked()), uas, SLOT(launch()));
-        connect(ui.landButton, SIGNAL(clicked()), uas, SLOT(home()));
-        connect(ui.shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
-        connect(ui.modeComboBox, SIGNAL(activated(int)), this, SLOT(setMode(int)));
-        connect(ui.setModeButton, SIGNAL(clicked()), this, SLOT(transmitMode()));
-        ui.modeComboBox->insertItem(0, "Select..");
 
-        ui.controlStatusLabel->setText(tr("Connected to ") + uas->getUASName());
+    // Connect user interface controls
+    connect(ui.controlButton, SIGNAL(clicked()), this, SLOT(cycleContextButton()));
+    connect(ui.liftoffButton, SIGNAL(clicked()), uas, SLOT(launch()));
+    connect(ui.landButton, SIGNAL(clicked()), uas, SLOT(home()));
+    connect(ui.shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
+    connect(ui.modeComboBox, SIGNAL(activated(int)), this, SLOT(setMode(int)));
+    connect(ui.setModeButton, SIGNAL(clicked()), this, SLOT(transmitMode()));
+    ui.modeComboBox->insertItem(0, "Select..");
 
-        connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
-        connect(uas, SIGNAL(statusChanged(int)), this, SLOT(updateState(int)));
+    ui.controlStatusLabel->setText(tr("Connected to ") + uas->getUASName());
 
-        this->uas = uas;
-    }
+    connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
+    connect(uas, SIGNAL(statusChanged(int)), this, SLOT(updateState(int)));
+
+    this->uas = uas;
 }
 
 UASControlWidget::~UASControlWidget() {
@@ -210,8 +212,8 @@ void UASControlWidget::cycleContextButton()
             mav->disable_motors();
             ui.lastActionLabel->setText(QString("Attempted to disable motors on %1").arg(uas->getUASName()));
         }
-            //ui.controlButton->setText(tr("Force Landing"));
-            //ui.controlButton->setText(tr("KILL VEHICLE"));
+        //ui.controlButton->setText(tr("Force Landing"));
+        //ui.controlButton->setText(tr("KILL VEHICLE"));
     }
 
 }

src/ui/uas/UASControlWidget.h

 /*=====================================================================
 
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
+QGroundControl Open Source Ground Control Station
 
-(c) 2009 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
-This file is part of the PIXHAWK project
+This file is part of the QGROUNDCONTROL project
 
-    PIXHAWK is free software: you can redistribute it and/or modify
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
 
-    PIXHAWK is distributed in the hope that it will be useful,
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
 
     You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
 
 /**
  * @file
- *   @brief Definition of widget controlling one MAV
+ *   @brief Definition of class UASControlWidget
  *
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
  *
@@ -39,7 +39,11 @@ This file is part of the PIXHAWK project
 #include <ui_UASControl.h>
 #include <UASInterface.h>
 
-class UASControlWidget : public QWidget {
+/**
+ * @brief Widget controlling one MAV
+ */
+class UASControlWidget : public QWidget
+{
     Q_OBJECT
 
 public:

src/ui/watchdog/WatchdogControl.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Implementation of class WatchdogControl
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
 #include "WatchdogControl.h"
 #include "WatchdogView.h"
 #include "WatchdogProcessView.h"

src/ui/watchdog/WatchdogControl.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of class WatchdogControl
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
 #ifndef WATCHDOGCONTROL_H
 #define WATCHDOGCONTROL_H
 
@@ -19,6 +49,9 @@ namespace Ui {
     class WatchdogControl;
 }
 
+/**
+ * @brief Overall widget for controlling all watchdogs of all connected MAVs
+ */
 class WatchdogControl : public QWidget {
     Q_OBJECT
 public:

src/ui/watchdog/WatchdogProcessView.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Implementation of class WatchdogControl
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
 #include "WatchdogProcessView.h"
 #include "ui_WatchdogProcessView.h"
 

src/ui/watchdog/WatchdogProcessView.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of class WatchdogProcessView
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
 #ifndef WATCHDOGPROCESSVIEW_H
 #define WATCHDOGPROCESSVIEW_H
 
@@ -8,6 +38,9 @@ namespace Ui {
     class WatchdogProcessView;
 }
 
+/**
+ * @brief Represents one process monitored by the linux onboard watchdog
+ */
 class WatchdogProcessView : public QWidget {
     Q_OBJECT
 public:

src/ui/watchdog/WatchdogView.cc

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Implementation of class WatchdogControl
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
 #include "WatchdogView.h"
 #include "ui_WatchdogView.h"
 

src/ui/watchdog/WatchdogView.h

+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    QGROUNDCONTROL is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of class WatchdogView
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
 #ifndef WATCHDOGVIEW_H
 #define WATCHDOGVIEW_H
 
@@ -7,6 +37,9 @@ namespace Ui {
     class WatchdogView;
 }
 
+/**
+ * @brief Represents one onboard watchdog
+ */
 class WatchdogView : public QWidget {
     Q_OBJECT
 public: