3D View perspective now uses the OpenSceneGraph framework. Imagery feature is based on osgEarth.

qgroundcontrol.pro

-#-------------------------------------------------
-#
+# -------------------------------------------------
 # QGroundControl - Micro Air Vehicle Groundstation
-#
 # Please see our website at <http://qgroundcontrol.org>
-#
 # Author:
 # Lorenz Meier <mavteam@student.ethz.ch>
-#
 # (c) 2009-2010 PIXHAWK Team
-#
 # This file is part of the mav groundstation 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
@@ -20,10 +15,7 @@
 # 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 QMapControl map library
 # prefer version from external directory /
 # from http://github.com/pixhawk/qmapcontrol/
@@ -31,7 +23,6 @@
 # Version from GIT repository is preferred
 # include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
 # Include bundled version if necessary
-
 include(lib/QMapControl/QMapControl.pri)
 
 # message("Including bundled QMapControl version as FALLBACK. This is fine on Linux and MacOS, but not the best choice in Windows")
@@ -50,40 +41,43 @@ CONFIG += debug_and_release \
 OBJECTS_DIR = $$BUILDDIR/obj
 MOC_DIR = $$BUILDDIR/moc
 UI_HEADERS_DIR = src/ui/generated
-
 MAVLINK_CONF = ""
-
-exists(user_config.pri) {
+exists(user_config.pri) { 
     message("----- USING USER QGROUNDCONTROL CONFIG FROM user_config.pri -----")
     include(user_config.pri)
 }
-
 INCLUDEPATH += $$BASEDIR/../mavlink/include/common
-
-contains(MAVLINK_CONF, pixhawk) {
-# Remove the default set - it is included anyway
-INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
-# PIXHAWK SPECIAL MESSAGES
-INCLUDEPATH += $$BASEDIR/../mavlink/include/pixhawk
-DEFINES += QGC_USE_PIXHAWK_MESSAGES
+contains(MAVLINK_CONF, pixhawk) { 
+    # Remove the default set - it is included anyway
+    INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
+    
+    # PIXHAWK SPECIAL MESSAGES
+    INCLUDEPATH += $$BASEDIR/../mavlink/include/pixhawk
+    DEFINES += QGC_USE_PIXHAWK_MESSAGES
 }
-
-contains(MAVLINK_CONF, slugs) {
-# Remove the default set - it is included anyway
-INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
-# SLUGS SPECIAL MESSAGES
-INCLUDEPATH += $$BASEDIR/../mavlink/include/slugs
-DEFINES += QGC_USE_SLUGS_MESSAGES
+contains(MAVLINK_CONF, slugs) { 
+    # Remove the default set - it is included anyway
+    INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
+    
+    # SLUGS SPECIAL MESSAGES
+    INCLUDEPATH += $$BASEDIR/../mavlink/include/slugs
+    DEFINES += QGC_USE_SLUGS_MESSAGES
 }
-
-contains(MAVLINK_CONF, ualberta) {
-# Remove the default set - it is included anyway
-INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
-# UALBERTA SPECIAL MESSAGES
-INCLUDEPATH += $$BASEDIR/../mavlink/include/ualberta
-DEFINES += QGC_USE_UALBERTA_MESSAGES
+contains(MAVLINK_CONF, ualberta) { 
+    # Remove the default set - it is included anyway
+    INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
+    
+    # UALBERTA SPECIAL MESSAGES
+    INCLUDEPATH += $$BASEDIR/../mavlink/include/ualberta
+    DEFINES += QGC_USE_UALBERTA_MESSAGES
 }
 
+# Include OpenSceneGraph and osgEarth libraries
+LIBS += -losg \
+    -losgViewer \
+    -losgEarth
+QMAKE_CXXFLAGS += -Wl,-E
+
 # }
 # Include general settings for MAVGround
 # necessary as last include to override any non-acceptable settings
@@ -226,15 +220,15 @@ HEADERS += src/MG.h \
     src/ui/RadioCalibration/CurveCalibrator.h \
     src/ui/RadioCalibration/AbstractCalibrator.h \
     src/ui/map3D/Q3DWidget.h \
-    src/ui/map3D/CheetahModel.h \
-    src/ui/map3D/CheetahGL.h \
-    src/ui/map3D/QMap3DWidget.h \
+    src/ui/map3D/PixhawkCheetahGeode.h \
     src/ui/map3D/Texture.h \
     src/ui/map3D/TextureCache.h \
     src/ui/map3D/WebImage.h \
     src/ui/map3D/WebImageCache.h \
     src/ui/map3D/Imagery.h \
-    src/comm/QGCMAVLink.h
+    src/comm/QGCMAVLink.h \
+    src/ui/map3D/Pixhawk3DWidget.h \
+    src/ui/map3D/Q3DWidgetFactory.h
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -306,14 +300,14 @@ SOURCES += src/main.cc \
     src/ui/RadioCalibration/RadioCalibrationData.cc \
     src/ui/WaypointGlobalView.cc \
     src/ui/map3D/Q3DWidget.cc \
-    src/ui/map3D/CheetahModel.cc \
-    src/ui/map3D/CheetahGL.cc \
-    src/ui/map3D/QMap3DWidget.cc \
+    src/ui/map3D/PixhawkCheetahGeode.cc \
     src/ui/map3D/Texture.cc \
     src/ui/map3D/TextureCache.cc \
     src/ui/map3D/WebImageCache.cc \
     src/ui/map3D/WebImage.cc \
-    src/ui/map3D/Imagery.cc
+    src/ui/map3D/Imagery.cc \
+    src/ui/map3D/Pixhawk3DWidget.cc \
+    src/ui/map3D/Q3DWidgetFactory.cc
 RESOURCES = mavground.qrc
 
 # Include RT-LAB Library

src/ui/MainWindow.cc

@@ -45,7 +45,7 @@ This file is part of the QGROUNDCONTROL project
 #include "MainWindow.h"
 #include "JoystickWidget.h"
 #include "GAudioOutput.h"
-#include "QMap3DWidget.h"
+#include "Q3DWidgetFactory.h"
 
 // FIXME Move
 #include "PxQuadMAV.h"
@@ -132,7 +132,7 @@ void MainWindow::buildWidgets()
     mapWidget         = new MapWidget(this);
     protocolWidget    = new XMLCommProtocolWidget(this);
     dataplotWidget    = new QGCDataPlot2D(this);
-    map3DWidget       = new QMap3DWidget(this);
+    _3DWidget         = Q3DWidgetFactory::get("PIXHAWK");
 
     // Dock widgets
     controlDockWidget = new QDockWidget(tr("Control"), this);
@@ -224,7 +224,7 @@ void MainWindow::arrangeCenterStack()
     if (linechartWidget) centerStack->addWidget(linechartWidget);
     if (protocolWidget) centerStack->addWidget(protocolWidget);
     if (mapWidget) centerStack->addWidget(mapWidget);
-    if (map3DWidget) centerStack->addWidget(map3DWidget);
+    if (_3DWidget) centerStack->addWidget(_3DWidget);
     if (hudWidget) centerStack->addWidget(hudWidget);
     if (dataplotWidget) centerStack->addWidget(dataplotWidget);
 
@@ -665,13 +665,13 @@ void MainWindow::loadPixhawkView()
     // Engineer view, used in EMAV2009
 
     // 3D map
-    if (map3DWidget)
+    if (_3DWidget)
     {
         QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
         if (centerStack)
         {
             //map3DWidget->setActive(true);
-            centerStack->setCurrentWidget(map3DWidget);
+            centerStack->setCurrentWidget(_3DWidget);
         }
     }
 
@@ -955,13 +955,13 @@ void MainWindow::load3DView()
             clearView();
 
             // 3D map
-            if (map3DWidget)
+            if (_3DWidget)
             {
                 QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
                 if (centerStack)
                 {
                     //map3DWidget->setActive(true);
-                    centerStack->setCurrentWidget(map3DWidget);
+                    centerStack->setCurrentWidget(_3DWidget);
                 }
             }
 

src/ui/MainWindow.h

@@ -63,7 +63,7 @@ This file is part of the QGROUNDCONTROL project
 #include "HSIDisplay.h"
 #include "QGCDataPlot2D.h"
 #include "QGCRemoteControlView.h"
-#include "QMap3DWidget.h"
+#include "Q3DWidget.h"
 
 #include "LogCompressor.h"
 
@@ -163,7 +163,7 @@ protected:
     QPointer<MapWidget> mapWidget;
     QPointer<XMLCommProtocolWidget> protocolWidget;
     QPointer<QGCDataPlot2D> dataplotWidget;
-    QPointer<QMap3DWidget> map3DWidget;
+    QPointer<Q3DWidget> _3DWidget;
     // Dock widgets
     QPointer<QDockWidget> controlDockWidget;
     QPointer<QDockWidget> infoDockWidget;

src/ui/map3D/Pixhawk3DWidget.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 the class Pixhawk3DWidget.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
+#ifndef PIXHAWK3DWIDGET_H
+#define PIXHAWK3DWIDGET_H
+
+#include <osgText/Text>
+
+#include "Q3DWidget.h"
+
+class UASInterface;
+
+/**
+ * @brief A 3D View widget which displays vehicle-centric information.
+ **/
+class Pixhawk3DWidget : public Q3DWidget
+{
+    Q_OBJECT
+
+public:
+    explicit Pixhawk3DWidget(QWidget* parent = 0);
+    ~Pixhawk3DWidget();
+
+    void buildLayout(void);
+
+    static void display(void* clientData);
+    void displayHandler(void);
+
+    static void mouse(Qt::MouseButton button, MouseState state,
+                      int32_t x, int32_t y, void* clientData);
+    void mouseHandler(Qt::MouseButton button, MouseState state,
+                      int32_t x, int32_t y);
+
+    static void timer(void* clientData);
+    void timerHandler(void);
+
+    double getTime(void) const;
+
+public slots:
+    void setActiveUAS(UASInterface* uas);
+    void markTarget(void);
+
+private slots:
+    void showGrid(int state);
+    void showTrail(int state);
+    void recenterCamera(void);
+    void toggleLockCamera(int state);
+
+protected:
+    UASInterface* uas;
+
+private:
+    osg::ref_ptr<osg::Geode> createGrid(void);
+    osg::ref_ptr<osg::Geode> createTrail(void);
+    osg::ref_ptr<osg::Group> createTarget(void);
+    osg::ref_ptr<osg::Group> createWaypoints(void);
+
+    void setupHUD(void);
+
+    void updateHUD(float robotX, float robotY, float robotZ,
+                   float robotRoll, float robotPitch, float robotYaw);
+    void updateTrail(float robotX, float robotY, float robotZ);
+    void updateTarget(float robotX, float robotY, float robotZ);
+    void updateWaypoints(void);
+
+    double lastRedrawTime;
+
+    bool displayGrid;
+    bool displayTrail;
+    bool displayTarget;
+    bool displayWaypoints;
+
+    typedef struct
+    {
+        float x;
+        float y;
+        float z;
+    } Pose3D;
+
+    bool lockCamera;
+
+    osg::ref_ptr<osg::Vec3Array> trailVertices;
+    QVarLengthArray<osg::Vec3, 10000> trail;
+
+    osg::Vec3 targetPosition;
+
+    osg::ref_ptr<osg::Geometry> hudBackgroundGeometry;
+    osg::ref_ptr<osgText::Text> statusText;
+    osg::ref_ptr<osg::Geode> gridNode;
+    osg::ref_ptr<osg::Geode> trailNode;
+    osg::ref_ptr<osg::Geometry> trailGeometry;
+    osg::ref_ptr<osg::DrawArrays> trailDrawArrays;
+    osg::ref_ptr<osg::Group> targetNode;
+    osg::ref_ptr<osg::Group> waypointsNode;
+};
+
+#endif // PIXHAWK3DWIDGET_H

src/ui/map3D/PixhawkCheetahGeode.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 Generates a geode which renders a Pixhawk Cheetah MAV.
+ *
+ *   @author Lionel Heng <hengli@student.ethz.ch>
+ *
+ */
+
+#ifndef PIXHAWKCHEETAHGEODE_H_
+#define PIXHAWKCHEETAHGEODE_H_
+
+#include <osg/Geode>
+
+/**
+ * @brief Creates a geode which renders a Pixhawk Cheetah MAV.
+ * @param red Red intensity of the MAV model
+ * @param green Green intensity of the MAV model
+ * @param blue Blue intensity of the MAV model
+ *
+ * @return The pointer to the geode.
+ **/
+
+class PixhawkCheetahGeode
+{
+public:
+    PixhawkCheetahGeode();
+
+    static osg::ref_ptr<osg::Geode> instance(void);
+
+private:
+    static osg::ref_ptr<osg::Geode> create(float red, float green, float blue);
+
+    static osg::ref_ptr<osg::Geode> _instance;
+};
+
+#endif

src/ui/map3D/Q3DWidget.h

@@ -29,47 +29,14 @@ This file is part of the QGROUNDCONTROL project
  *
  */
 
-#ifndef Q3DWIDGET_H_
-#define Q3DWIDGET_H_
+#ifndef Q3DWIDGET_H
+#define Q3DWIDGET_H
 
-#include <inttypes.h>
-#include <string>
 #include <QtOpenGL>
-#include <QtGui>
 
-//class GLUquadricObj;
-
-enum CameraState
-{
-    IDLE = 0,
-    ROTATING = 1,
-    MOVING = 2,
-    ZOOMING = 3
-};
-
-struct CameraPose
-{
-    CameraState state;
-    float pan, tilt, distance;
-    float xOffset, yOffset, zOffset;
-    float xOffset2D, yOffset2D, rotation2D, zoom, warpX, warpY;
-};
-
-struct CameraParams
-{
-    float zoomSensitivity;
-    float rotateSensitivity;
-    float moveSensitivity;
-
-    float minZoomRange;
-    float cameraFov;
-    float minClipRange;
-    float maxClipRange;
-
-    float zoomSensitivity2D;
-    float rotateSensitivity2D;
-    float moveSensitivity2D;
-};
+#include <osg/LineSegment>
+#include <osg/PositionAttitudeTransform>
+#include <osgViewer/Viewer>
 
 enum MouseState
 {
@@ -79,148 +46,113 @@ enum MouseState
 
 typedef void (*DisplayFunc)(void *);
 typedef void (*KeyboardFunc)(char, void *);
-typedef void (*MouseFunc)(Qt::MouseButton, MouseState, int32_t, int32_t, void *);
-typedef void (*MotionFunc)(int32_t, int32_t, void *);
+typedef void (*MouseFunc)(Qt::MouseButton, MouseState, int, int, void *);
+typedef void (*MotionFunc)(int, int, void *);
 
-/**
- * @brief A base 3D widget which executes OpenGL commands.
- **/
-class Q3DWidget: public QGLWidget
+class Q3DWidget : public QGLWidget, public osgViewer::Viewer
 {
     Q_OBJECT
 
 public:
-    explicit Q3DWidget(QWidget* parent);
-    ~Q3DWidget();
+    Q3DWidget(QWidget* parent = 0);
+    virtual ~Q3DWidget();
 
-    void initialize(int32_t windowX, int32_t windowY,
-                    int32_t windowWidth, int32_t windowHeight, float fps);
-
-    void setCameraParams(float zoomSensitivity, float rotateSensitivity,
-                         float moveSensitivity, float minZoomRange,
-                         float cameraFov, float minClipRange,
+    void init(float fps);
+    void setCameraParams(float minZoomRange, float cameraFov,
+                         float minClipRange,
                          float maxClipRange);
 
-    void setCameraLimit(bool onoff);
-
-    void set2DCameraParams(float zoomSensitivity,
-                           float rotateSensitivity,
-                           float moveSensitivity);
-
-    void set3D(bool onoff);
-    bool is3D(void) const;
-
-    void setInitialCameraPos(float pan, float tilt, float range,
-                             float xOffset, float yOffset, float zOffset);
-    void setInitial2DCameraPos(float xOffset, float yOffset,
-                               float rotation, float zoom);
-    void setCameraPose(const CameraPose& cameraPose);
-    CameraPose getCameraPose(void) const;
+    void forceRedraw(void);
+    void recenter(void);
+    void setDisplayMode3D(void);
 
     void setDisplayFunc(DisplayFunc func, void* clientData);
     void setKeyboardFunc(KeyboardFunc func, void* clientData);
     void setMouseFunc(MouseFunc func, void* clientData);
     void setMotionFunc(MotionFunc func, void* clientData);
-    void addTimerFunc(uint32_t msecs, void(*func)(void *),
+    void addTimerFunc(uint msecs, void(*func)(void *),
                       void* clientData);
 
-    void forceRedraw(void);
-
-    void set2DWarping(float warpX, float warpY);
-
-    void recenter(void);
-    void recenter2D(void);
-
-    void set2DRotation(bool onoff);
-
-    void setDisplayMode2D(void);
+    std::pair<float,float> getGlobalCursorPosition(int32_t mouseX,
+                                                   int32_t mouseY);
 
-    std::pair<float,float> getPositionIn3DMode(int32_t mouseX,
-                                               int32_t mouseY);
-
-    std::pair<float,float> getPositionIn2DMode(int32_t mouseX,
-                                               int32_t mouseY);
-
-    int32_t getWindowWidth(void);
-    int32_t getWindowHeight(void);
-    int32_t getLastMouseX(void);
-    int32_t getLastMouseY(void);
-    int32_t getMouseX(void);
-    int32_t getMouseY(void);
-
-private Q_SLOTS:
+protected slots:
+    void redraw(void);
     void userTimer(void);
 
 protected:
-    void rotateCamera(float dx, float dy);
-    void zoomCamera(float dy);
-    void moveCamera(float dx, float dy);
-    void rotateCamera2D(float dx);
-    void zoomCamera2D(float dx);
-    void moveCamera2D(float dx, float dy);
-
-    void switchTo3DMode(void);
-    void setDisplayMode3D(void);
-
-    float r2d(float angle) const;
-    float d2r(float angle) const;
-
-    void wireSphere(double radius, int slices, int stacks) const;
-    void solidSphere(double radius, int slices, int stacks) const;
-    void wireCone(double base, double height, int slices, int stacks) const;
-    void solidCone(double base, double height, int slices, int stacks) const;
-    void drawBox(float size, GLenum type) const;
-    void wireCube(double size) const;
-    void solidCube(double size) const;
-    void doughnut(float r, float R, int nsides, int rings) const;
-    void wireTorus(double innerRadius, double outerRadius,
-                   int nsides, int rings) const;
-    void solidTorus(double innerRadius, double outerRadius,
-                    int nsides, int rings) const;
-
-    GLUquadricObj* quadObj;
-
-    // QGLWidget events
-    void initializeGL(void);
-    void paintGL(void);
-    void resizeGL(int32_t width, int32_t height);
-
-    // Qt events
-    void keyPressEvent(QKeyEvent* event);
-    void mousePressEvent(QMouseEvent* event);
-    void mouseReleaseEvent(QMouseEvent* event);
-    void mouseMoveEvent(QMouseEvent* event);
-    void wheelEvent(QWheelEvent *wheel);
-    void timerEvent(QTimerEvent* event);
-    void closeEvent(QCloseEvent* event);
+    osg::ref_ptr<osg::Geode> createRobot(void);
+    osg::ref_ptr<osg::Node> createHUD(void);
+
+    int getMouseX(void);
+    int getMouseY(void);
+    int getLastMouseX(void);
+    int getLastMouseY(void);
+
+    osgViewer::GraphicsWindow* getGraphicsWindow(void);
+    const osgViewer::GraphicsWindow* getGraphicsWindow(void) const;
+
+    virtual void resizeGL(int width, int height);
+    virtual void paintGL(void);
+    virtual void keyPressEvent(QKeyEvent* event);
+    virtual void keyReleaseEvent(QKeyEvent* event);
+    virtual void mousePressEvent(QMouseEvent* event);
+    virtual void mouseReleaseEvent(QMouseEvent* event);
+    virtual void mouseMoveEvent(QMouseEvent* event);
+    virtual void wheelEvent(QWheelEvent* event);
+
+    float r2d(float angle);
+    float d2r(float angle);
+    osgGA::GUIEventAdapter::KeySymbol convertKey(int key) const;
+    osg::ref_ptr<osg::LineSegment> projectNormalizedXYIntoObjectCoordinates(
+            const osg::Matrix& projectionMatrix,
+            const osg::Matrix& viewMatrix,
+            float x,
+            float y) const;
+    bool getPlaneLineIntersection(const osg::Vec4d& plane,
+                                  const osg::LineSegment& line,
+                                  osg::Vec3d& isect);
+
+    osg::ref_ptr<osg::Group> root;
+    osg::ref_ptr<osg::Switch> allocentricMap;
+    osg::ref_ptr<osg::Switch> rollingMap;
+    osg::ref_ptr<osg::Switch> egocentricMap;
+    osg::ref_ptr<osg::PositionAttitudeTransform> robotPosition;
+    osg::ref_ptr<osg::PositionAttitudeTransform> robotAttitude;
+
+    osg::ref_ptr<osg::Geode> hudGeode;
+    osg::ref_ptr<osg::Projection> hudProjectionMatrix;
 
     DisplayFunc userDisplayFunc;
     KeyboardFunc userKeyboardFunc;
     MouseFunc userMouseFunc;
     MotionFunc userMotionFunc;
+    void (*userTimerFunc)(void *);
 
     void* userDisplayFuncData;
     void* userKeyboardFuncData;
     void* userMouseFuncData;
     void* userMotionFuncData;
+    void* userTimerFuncData;
 
-    int32_t windowWidth, windowHeight;
-    float requestedFps;
-    CameraPose cameraPose;
-    int32_t lastMouseX, lastMouseY;
+    osg::ref_ptr<osgViewer::GraphicsWindowEmbedded> osgGW;
 
-    bool _is3D;
+    QTimer timer;
 
-    bool _forceRedraw;
-    bool allow2DRotation;
-    bool limitCamera;
+    struct CameraParams
+    {
+        float minZoomRange;
+        float cameraFov;
+        float minClipRange;
+        float maxClipRange;
+    };
 
     CameraParams cameraParams;
 
-    QBasicTimer timer;
+    int lastMouseX;
+    int lastMouseY;
 
-    void (*timerFunc)(void *);
-    void* timerFuncData;
+    bool _forceRedraw;
 };
 
-#endif
+#endif // Q3DWIDGET_H

src/ui/map3D/Q3DWidgetFactory.cc

+#include "Q3DWidgetFactory.h"
+
+#include "Pixhawk3DWidget.h"
+
+QPointer<Q3DWidget>
+Q3DWidgetFactory::get(const std::string& type)
+{
+    if (type == "PIXHAWK")
+    {
+        return QPointer<Q3DWidget>(new Pixhawk3DWidget);
+    }
+    else
+    {
+        return QPointer<Q3DWidget>(new Q3DWidget);
+    }
+}

src/ui/map3D/Q3DWidgetFactory.h

+#ifndef Q3DWIDGETFACTORY_H
+#define Q3DWIDGETFACTORY_H
+
+#include <QPointer>
+
+#include "Q3DWidget.h"
+
+class Q3DWidgetFactory
+{
+public:
+    static QPointer<Q3DWidget> get(const std::string& type);
+};
+
+#endif // Q3DWIDGETFACTORY_H