Last fixes to yaw angle displaying / representation

src/uas/UAS.cc

@@ -402,12 +402,21 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "yawspeed", "rad/s", attitude.yawspeed, time);
 
                 // Emit in angles
-                emit valueChanged(uasId, "roll", "deg", (roll/M_PI)*180.0, time);
-                emit valueChanged(uasId, "pitch", "deg", (pitch/M_PI)*180.0, time);
-                emit valueChanged(uasId, "yaw", "deg", (yaw/M_PI)*180.0, time);
-                emit valueChanged(uasId, "rollspeed", "deg/s", (attitude.rollspeed/M_PI)*180.0, time);
-                emit valueChanged(uasId, "pitchspeed", "deg/s", (attitude.pitchspeed/M_PI)*180.0, time);
-                emit valueChanged(uasId, "yawspeed", "deg/s", (attitude.yawspeed/M_PI)*180.0, time);
+
+                // Convert yaw angle to compass value
+                // in 0 - 360 deg range
+                float compass = (yaw/M_PI)*180.0+360.0f;
+                while (compass > 360.0f)
+                {
+                    compass -= 360.0f;
+                }
+
+                emit valueChanged(uasId, "roll deg", "deg", (roll/M_PI)*180.0, time);
+                emit valueChanged(uasId, "pitch deg", "deg", (pitch/M_PI)*180.0, time);
+                emit valueChanged(uasId, "yaw deg", "deg", compass, time);
+                emit valueChanged(uasId, "rollspeed d/s", "deg/s", (attitude.rollspeed/M_PI)*180.0, time);
+                emit valueChanged(uasId, "pitchspeed d/s", "deg/s", (attitude.pitchspeed/M_PI)*180.0, time);
+                emit valueChanged(uasId, "yawspeed d/s", "deg/s", (attitude.yawspeed/M_PI)*180.0, time);
 
                 emit attitudeChanged(this, roll, pitch, yaw, time);
                 emit attitudeSpeedChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);

src/ui/HUD.cc

@@ -805,9 +805,10 @@ void HUD::paintHUD()
             //    const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;
 
             // YAW is in compass-human readable format, so 0 - 360deg. This is normal in aviation, not -180 - +180.
-            const float yawDeg = ((yawLP/M_PI)*180.0f)+180.0f;
-            yawAngle.sprintf("%03d", (int)yawDeg);
-            paintText(yawAngle, defaultColor, 3.5f, -3.7f, compassY+ 0.9f, &painter);
+            const float yawDeg = ((yawLP/M_PI)*180.0f)+180.0f+180.0f;
+            int yawCompass = static_cast<int>(yawDeg) % 360;
+            yawAngle.sprintf("%03d", yawCompass);
+            paintText(yawAngle, defaultColor, 3.5f, -4.3f, compassY+ 0.97f, &painter);
 
             // CHANGE RATE STRIPS
             drawChangeRateStrip(-51.0f, -50.0f, 15.0f, -1.0f, 1.0f, -zSpeed, &painter);

src/ui/MainWindow.cc

@@ -255,12 +255,12 @@ void MainWindow::resizeEvent(QResizeEvent * event)
 
 QString MainWindow::getWindowStateKey()
 {
-    return QString::number(currentView)+"/windowstate";
+    return QString::number(currentView)+"_windowstate";
 }
 
 QString MainWindow::getWindowGeometryKey()
 {
-    return QString::number(currentView)+"/geometry";
+    return QString::number(currentView)+"_geometry";
 }
 
 void MainWindow::buildCustomWidget()
@@ -912,7 +912,7 @@ void MainWindow::closeEvent(QCloseEvent *event)
     // Save the last current view in any case
     settings.setValue("CURRENT_VIEW", currentView);
     // Save the current window state, but only if a system is connected (else no real number of widgets would be present)
-    if (UASManager::instance()->getActiveUAS()) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
+    if (UASManager::instance()->getUASList().length() > 0) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
     // Save the current view only if a UAS is connected
     if (UASManager::instance()->getUASList().length() > 0) settings.setValue("CURRENT_VIEW_WITH_UAS_CONNECTED", currentView);
     settings.sync();