Improved performance of 2D map, trails need further debugging

src/GAudioOutput.cc

@@ -144,9 +144,6 @@ muted(false)
 
 GAudioOutput::~GAudioOutput()
 {
-    QSettings settings;
-    settings.setValue(QGC_GAUDIOOUTPUT_KEY+"muted", muted);
-    settings.sync();
 #ifdef _MSC_VER2
 	::CoUninitialize();
 #endif
@@ -155,6 +152,9 @@ GAudioOutput::~GAudioOutput()
 void GAudioOutput::mute(bool mute)
 {
     this->muted = mute;
+    QSettings settings;
+    settings.setValue(QGC_GAUDIOOUTPUT_KEY+"muted", muted);
+    settings.sync();
 }
 
 bool GAudioOutput::isMuted()

src/ui/HUD.cc

@@ -117,6 +117,9 @@ HUD::HUD(int width, int height, QWidget* parent)
     // Set auto fill to false
     setAutoFillBackground(false);
 
+    // Set minimum size
+    setMinimumSize(80, 60);
+
     // Fill with black background
     QImage fill = QImage(width, height, QImage::Format_Indexed8);
     fill.setNumColors(3);

src/ui/MainWindow.cc

@@ -703,7 +703,7 @@ void MainWindow::connectCommonWidgets()
     if (mapWidget && waypointsDockWidget->widget())
     {
         // clear path create on the map
-        connect(waypointsDockWidget->widget(), SIGNAL(clearPathclicked()), mapWidget, SLOT(clearPath()));
+        connect(waypointsDockWidget->widget(), SIGNAL(clearPathclicked()), mapWidget, SLOT(clearWaypoints()));
         // add Waypoint widget in the WaypointList widget when mouse clicked
         connect(mapWidget, SIGNAL(captureMapCoordinateClick(QPointF)), waypointsDockWidget->widget(), SLOT(addWaypointMouse(QPointF)));
 

src/ui/MapWidget.h

@@ -71,7 +71,9 @@ public slots:
     void updateCameraPosition(double distance, double bearing, QString dir);
     QPointF getPointxBearing_Range(double lat1, double lon1, double bearing, double distance);
 
-    //ROCA
+    /** @brief Clear the waypoints overlay layer */
+    void clearWaypoints();
+    /** @brief Clear the UAV tracks on the map */
     void clearPath();
     void changeGlobalWaypointPositionBySpinBox(int index, float lat, float lon);
     void drawBorderCamAtMap(bool status);
@@ -96,6 +98,7 @@ protected:
 
     QPushButton* followgps;
     QPushButton* createPath;
+    QPushButton* clearTracking;
     QLabel* gpsposition;
     QMenu* mapMenu;
     QPushButton* mapButton;
@@ -104,6 +107,7 @@ protected:
     qmapcontrol::MapAdapter* mapadapter;           ///< Adapter to load the map data
     qmapcontrol::Layer* l;            ///< Current map layer (background)
     qmapcontrol::Layer* overlay;      ///< Street overlay (foreground)
+    qmapcontrol::Layer* tracks;      ///< Layer for UAV tracks
     qmapcontrol::GeometryLayer* geomLayer; ///< Layer for waypoints
 
     //only for experiment
@@ -132,9 +136,6 @@ protected:
     void createWaypointGraphAtMap (const QPointF coordinate);
     void mapproviderSelected(QAction* action);
 
-
-
-
   signals:
     //void movePoint(QPointF newCoord);
     void captureMapCoordinateClick(const QPointF coordinate); //ROCA
@@ -145,8 +146,8 @@ protected:
 private:
     Ui::MapWidget *m_ui;
     QList<qmapcontrol::Point*> wps;
+    qmapcontrol::LineString* waypointPath;
     QHash <QString, qmapcontrol::Point*> wpIndex;
-    qmapcontrol::LineString* path;
     QPen* pointPen;
     int wpExists(const QPointF coordinate);
     bool waypointIsDrag;

src/ui/QGCDataPlot2D.cc

@@ -307,7 +307,8 @@ void QGCDataPlot2D::selectFile()
 
 void QGCDataPlot2D::loadRawLog(QString file, QString xAxisName, QString yAxisFilter)
 {
-    qDebug() << "LOADING RAW LOG!";
+    Q_UNUSED(xAxisName);
+    Q_UNUSED(yAxisFilter);
 
     if (logFile != NULL)
     {
@@ -320,23 +321,6 @@ void QGCDataPlot2D::loadRawLog(QString file, QString xAxisName, QString yAxisFil
     connect(compressor, SIGNAL(logProcessingStatusChanged(QString)), MainWindow::instance(), SLOT(showStatusMessage(QString)));
     connect(compressor, SIGNAL(finishedFile(QString)), this, SLOT(loadFile(QString)));
     compressor->startCompression();
-
-//    // Block UI
-//    QProgressDialog progress("Transforming RAW log file to CSV", "Abort Transformation", 0, 1, this);
-//    progress.setWindowModality(Qt::WindowModal);
-
-//    while (!compressor->isFinished())
-//    {
-//        MG::SLEEP::usleep(100000);
-////        progress.setMaximum(compressor->getDataLines());
-////        progress.setValue(compressor->getCurrentLine());
-//    }
-//    // Enforce end
-//    progress.setMaximum(compressor->getDataLines());
-//    progress.setValue(compressor->getDataLines());
-
-    // Done with preprocessing - now load csv log
-    //loadFile(logFile->fileName());
 }
 
 /**

src/ui/WaypointList.cc

@@ -197,20 +197,28 @@ void WaypointList::add()
         {
 
             const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+            Waypoint *wp;
+
+
             if (waypoints.size() > 0)
             {
+                // Create waypoint with last frame
                 Waypoint *last = waypoints.at(waypoints.size()-1);
-                Waypoint *wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(),
+                wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(),
                                             last->getHoldTime(), last->getFrame(), last->getAction());
                 uas->getWaypointManager().addWaypoint(wp);
             }
             else
             {
-                    //isLocalWP = true;
-                    Waypoint *wp = new Waypoint(0, uas->getLongitude(), uas->getLatitude(), uas->getAltitude(),
+                    // Create global frame waypoint per default
+                    wp = new Waypoint(0, uas->getLongitude(), uas->getLatitude(), uas->getAltitude(),
                                                 0.0, true, true, 0.15, 2000);
                     uas->getWaypointManager().addWaypoint(wp);
             }
+            if (wp->getFrame() == MAV_FRAME_GLOBAL)
+            {
+                emit createWaypointAtMap(QPointF(wp->getX(), wp->getY()));
+            }
         }
     }
 }