Added command to select target position for robot - command can be accessed...

Added command to select target position for robot - command can be accessed via a right-click in the 3D View perspective --Lionel

qgroundcontrol.pro

@@ -43,9 +43,8 @@ DEPENDPATH += . \
 INCLUDEPATH += . \
     lib/QMapControl \
     $$BASEDIR/../mavlink/contrib/slugs/include \
-    $$BASEDIR/../mavlink/include \
-    /usr/include/freetype2
-LIBS += /usr/lib/libftgl.so /usr/lib/libglut.so
+    $$BASEDIR/../mavlink/include
+LIBS += -lglut
 
 # ../mavlink/include \
 # MAVLink/include \
@@ -160,7 +159,6 @@ HEADERS += src/MG.h \
     src/ui/linechart/IncrementalPlot.h \
     src/ui/map/Waypoint2DIcon.h \
     src/ui/map/MAV2DIcon.h \
-    src/ui/map/QGC2DIcon.h \
     src/ui/QGCRemoteControlView.h \
     src/WaypointGlobal.h \
     src/ui/WaypointGlobalView.h \
@@ -230,7 +228,6 @@ SOURCES += src/main.cc \
     src/ui/linechart/IncrementalPlot.cc \
     src/ui/map/Waypoint2DIcon.cc \
     src/ui/map/MAV2DIcon.cc \
-    src/ui/map/QGC2DIcon.cc \
     src/ui/QGCRemoteControlView.cc \
     src/WaypointGlobal.cpp \
     src/ui/WaypointGlobalView.cpp \

src/comm/MAVLinkSimulationLink.cc

@@ -405,14 +405,14 @@ void MAVLinkSimulationLink::mainloop()
         streampointer += bufferlength;
 
         // GPS RAW
-        mavlink_msg_gps_raw_pack(systemId, componentId, &ret, 0, 3, 47.376417+x*0.001f, 8.548103+y*0.001f, z, 0, 0, 2.5f, 0.1f);
+        mavlink_msg_gps_raw_pack(systemId, componentId, &ret, 0, 3, 47.376417+(x*0.001), 8.548103+(y*0.001), z, 0, 0, 2.5f, 0.1f);
         bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);
         streampointer += bufferlength;
 
         // GLOBAL POSITION
-        mavlink_msg_global_position_pack(systemId, componentId, &ret, 0, 3, 47.376417+x*0.001f, 8.548103+y*0.001f, z, 0, 0);
+        mavlink_msg_global_position_pack(systemId, componentId, &ret, 0, 3, 47.376417+(x*0.001), 8.548103+(y*0.001), z, 0, 0);
         bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);

src/comm/OpalLink.cc

@@ -246,6 +246,29 @@ void OpalLink::getSignals()
                                              values[OpalRT::B_W_2]
                                              );
             receiveMessage(bias);
+
+            /* send radio outputs */
+            mavlink_message_t rc;
+            mavlink_msg_rc_channels_pack(systemID, componentID, &rc,
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_1]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_2]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_3]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_4]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_5]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_6]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_7]),
+                                             duty2PulseMicros(values[OpalRT::RAW_CHANNEL_8]),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_1]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_2]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_3]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_4]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_5]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_6]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_7]*255),
+                                             static_cast<uint8_t>(values[OpalRT::NORM_CHANNEL_8]*255),
+                                             0 //rssi unused
+                                             );
+            receiveMessage(rc);
         }        
         else if (returnVal != EAGAIN) // if returnVal == EAGAIN => data just wasn't ready
         {
@@ -294,6 +317,12 @@ bool OpalLink::isConnected() {
     return connectState;
 }
 
+uint16_t OpalLink::duty2PulseMicros(double duty)
+{
+    /* duty cycle assumed to be of a signal at 70 Hz */
+    return static_cast<uint16_t>(duty/70*1000000);
+}
+
 
 
 

src/comm/OpalLink.h

@@ -151,6 +151,8 @@ protected:
     OpalRT::ParameterList *params;
 
     unsigned short opalInstID;
+
+    uint16_t duty2PulseMicros(double duty);
 };
 
 #endif // OPALLINK_H

src/comm/OpalRT.h

@@ -41,7 +41,7 @@ namespace OpalRT
       Configuration info for the model
      */
 
-    const unsigned short NUM_OUTPUT_SIGNALS=39;
+    const unsigned short NUM_OUTPUT_SIGNALS=57;
 
     /*  ------------------------------ Outputs ------------------------------
     *
@@ -85,7 +85,25 @@ namespace OpalRT
         B_F_2,
         B_W_0,
         B_W_1,
-        B_W_2
+        B_W_2,
+        RAW_CHANNEL_1 = 39,
+        RAW_CHANNEL_2,
+        RAW_CHANNEL_3,
+        RAW_CHANNEL_4,
+        RAW_CHANNEL_5,
+        RAW_CHANNEL_6,
+        RAW_CHANNEL_7,
+        RAW_CHANNEL_8,
+        NORM_CHANNEL_1,
+        NORM_CHANNEL_2,
+        NORM_CHANNEL_3,
+        NORM_CHANNEL_4,
+        NORM_CHANNEL_5,
+        NORM_CHANNEL_6,
+        NORM_CHANNEL_7,
+        NORM_CHANNEL_8,
+        CONTROLLER_AILERON,
+        CONTROLLER_ELEVATOR
     };       
 
     /** Component IDs of the parameters.  Currently they are all 1 becuase there is no advantage

src/uas/UAS.cc

@@ -365,28 +365,34 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 // only accept values in a realistic range
                // quint64 time = getUnixTime(pos.usec);
                 quint64 time = MG::TIME::getGroundTimeNow();
+
                 emit valueChanged(uasId, "lat", pos.lat, time);
                 emit valueChanged(uasId, "lon", pos.lon, time);
-                // Check for NaN
-                int alt = pos.alt;
-                if (alt != alt)
-                {
-                    alt = 0;
-                    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
-                if (pos.v < 1000000 && pos.v == pos.v)
-                {
-                    emit valueChanged(uasId, "speed", pos.v, time);
-                    //qDebug() << "GOT GPS RAW";
-                    emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
-                }
-                else
+
+                if (pos.fix_type > 0)
                 {
-                     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, pos.alt, time);
+
+                    // Check for NaN
+                    int alt = pos.alt;
+                    if (alt != alt)
+                    {
+                        alt = 0;
+                        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
+                    if (pos.v < 1000000 && pos.v == pos.v)
+                    {
+                        emit valueChanged(uasId, "speed", pos.v, time);
+                        //qDebug() << "GOT GPS RAW";
+                        emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
+                    }
+                    else
+                    {
+                        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);
             }
             break;
         case MAVLINK_MSG_ID_GPS_STATUS:

src/ui/HSIDisplay.cc

@@ -100,7 +100,7 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
         topMargin(3.0f)
 {
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
-    refreshTimer->setInterval(60);
+    refreshTimer->setInterval(120);
 
 
 //    this->setScene(new QGraphicsScene(-metricWidth/2.0f, -metricWidth/2.0f, metricWidth, metricWidth, this));

src/ui/HUD.cc

@@ -448,7 +448,7 @@ void HUD::paintText(QString text, QColor color, float fontSize, float refX, floa
 
     QFont font("Bitstream Vera Sans");
     // Enforce minimum font size of 5 pixels
-    int fSize = qMax(1, (int)(fontSize*scalingFactor*1.26f));
+    int fSize = qMax(5, (int)(fontSize*scalingFactor*1.26f));
     font.setPixelSize(fSize);
 
     QFontMetrics metrics = QFontMetrics(font);

src/ui/MainWindow.cc

@@ -657,14 +657,14 @@ void MainWindow::loadPixhawkView()
     clearView();
     // Engineer view, used in EMAV2009
 
-    // LINE CHART
-    if (linechartWidget)
+    // 3D map
+    if (map3DWidget)
     {
         QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
         if (centerStack)
         {
-            linechartWidget->setActive(true);
-            centerStack->setCurrentWidget(linechartWidget);
+            //map3DWidget->setActive(true);
+            centerStack->setCurrentWidget(map3DWidget);
         }
     }
 
@@ -675,6 +675,18 @@ void MainWindow::loadPixhawkView()
         controlDockWidget->show();
     }
 
+    // HORIZONTAL SITUATION INDICATOR
+    if (hsiDockWidget)
+    {
+        HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
+        if (hsi)
+        {
+            hsi->start();
+            addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
+            hsiDockWidget->show();
+        }
+    }
+
     // UAS LIST
     if (listDockWidget)
     {
@@ -696,18 +708,6 @@ void MainWindow::loadPixhawkView()
         waypointsDockWidget->show();
     }
 
-    // HORIZONTAL SITUATION INDICATOR
-    if (hsiDockWidget)
-    {
-        HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
-        if (hsi)
-        {
-            hsi->start();
-            addDockWidget(Qt::BottomDockWidgetArea, hsiDockWidget);
-            hsiDockWidget->show();
-        }
-    }
-
     // DEBUG CONSOLE
     if (debugConsoleDockWidget)
     {
@@ -715,13 +715,6 @@ void MainWindow::loadPixhawkView()
         debugConsoleDockWidget->show();
     }
 
-    // RADIO CONTROL VIEW
-    if (rcViewDockWidget)
-    {
-        addDockWidget(Qt::BottomDockWidgetArea, rcViewDockWidget);
-        rcViewDockWidget->show();
-    }
-
     // ONBOARD PARAMETERS
     if (parametersDockWidget)
     {
@@ -981,6 +974,13 @@ void MainWindow::loadEngineerView()
         parametersDockWidget->show();
     }
 
+    // RADIO CONTROL VIEW
+    if (rcViewDockWidget)
+    {
+        addDockWidget(Qt::BottomDockWidgetArea, rcViewDockWidget);
+        rcViewDockWidget->show();
+    }
+
     this->show();
 }
 

src/ui/MapWidget.cc

@@ -37,6 +37,8 @@ This file is part of the QGROUNDCONTROL project
 #include "ui_MapWidget.h"
 #include "UASInterface.h"
 #include "UASManager.h"
+#include "MAV2DIcon.h"
+#include "Waypoint2DIcon.h"
 
 #include "MG.h"
 
@@ -53,7 +55,7 @@ MapWidget::MapWidget(QWidget *parent) :
     this->setFocusPolicy(Qt::StrongFocus);
 
     // create MapControl
-    mc = new MapControl(QSize(320, 240));
+    mc = new qmapcontrol::MapControl(QSize(320, 240));
     mc->showScale(true);
     mc->showCoord(true);
     mc->enablePersistentCache();
@@ -62,21 +64,21 @@ MapWidget::MapWidget(QWidget *parent) :
     // create MapAdapter to get maps from
     //TileMapAdapter* osmAdapter = new TileMapAdapter("tile.openstreetmap.org", "/%1/%2/%3.png", 256, 0, 17);
 
-    MapAdapter* mapadapter_overlay = new YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=2.2&t=h&s=256&x=%2&y=%3&z=%1");
+    qmapcontrol::MapAdapter* mapadapter_overlay = new qmapcontrol::YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=2.2&t=h&s=256&x=%2&y=%3&z=%1");
 
     // MAP BACKGROUND
-    mapadapter = new GoogleSatMapAdapter();
-    l = new MapLayer("Google Satellite", mapadapter);
+    mapadapter = new qmapcontrol::GoogleSatMapAdapter();
+    l = new qmapcontrol::MapLayer("Google Satellite", mapadapter);
     mc->addLayer(l);
 
     // STREET OVERLAY
-    overlay = new MapLayer("Overlay", mapadapter_overlay);
+    overlay = new qmapcontrol::MapLayer("Overlay", mapadapter_overlay);
     overlay->setVisible(false);
     mc->addLayer(overlay);
 
     // WAYPOINT LAYER
     // create a layer with the mapadapter and type GeometryLayer (for waypoints)
-    geomLayer = new GeometryLayer("Waypoints", mapadapter);
+    geomLayer = new qmapcontrol::GeometryLayer("Waypoints", mapadapter);
     mc->addLayer(geomLayer);
 
 //
@@ -188,6 +190,7 @@ MapWidget::MapWidget(QWidget *parent) :
 
     connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
             this, SLOT(addUAS(UASInterface*)));
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(activeUASSet(UASInterface*)));
 
     connect(mc, SIGNAL(mouseEventCoordinate(const QMouseEvent*, const QPointF)),
             this, SLOT(captureMapClick(const QMouseEvent*, const QPointF)));
@@ -208,7 +211,7 @@ MapWidget::MapWidget(QWidget *parent) :
     pointPen = new QPen(QColor(0, 255,0));
     pointPen->setWidth(3);
 
-    path = new LineString (wps, "UAV Path", pointPen);
+    path = new qmapcontrol::LineString (wps, "UAV Path", pointPen);
     mc->layer("Waypoints")->addGeometry(path);
 
     this->setVisible(false);
@@ -224,7 +227,7 @@ void MapWidget::mapproviderSelected(QAction* action)
         int zoom = mapadapter->adaptedZoom();
         mc->setZoom(0);
 
-        mapadapter = new OSMMapAdapter();
+        mapadapter = new qmapcontrol::OSMMapAdapter();
         l->setMapAdapter(mapadapter);
         geomLayer->setMapAdapter(mapadapter);
 
@@ -240,7 +243,7 @@ void MapWidget::mapproviderSelected(QAction* action)
         int zoom = mapadapter->adaptedZoom();
         mc->setZoom(0);
 
-        mapadapter = new YahooMapAdapter();
+        mapadapter = new qmapcontrol::YahooMapAdapter();
         l->setMapAdapter(mapadapter);
         geomLayer->setMapAdapter(mapadapter);
 
@@ -256,7 +259,7 @@ void MapWidget::mapproviderSelected(QAction* action)
         QPointF a = mc->currentCoordinate();
         mc->setZoom(0);
 
-        mapadapter = new YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=1.7&t=a&s=256&x=%2&y=%3&z=%1");
+        mapadapter = new qmapcontrol::YahooMapAdapter("us.maps3.yimg.com", "/aerial.maps.yimg.com/png?v=1.7&t=a&s=256&x=%2&y=%3&z=%1");
         l->setMapAdapter(mapadapter);
 
         mc->updateRequestNew();
@@ -267,7 +270,7 @@ void MapWidget::mapproviderSelected(QAction* action)
     {
         int zoom = mapadapter->adaptedZoom();
         mc->setZoom(0);
-        mapadapter = new GoogleMapAdapter();
+        mapadapter = new qmapcontrol::GoogleMapAdapter();
         l->setMapAdapter(mapadapter);
         geomLayer->setMapAdapter(mapadapter);
 
@@ -281,7 +284,7 @@ void MapWidget::mapproviderSelected(QAction* action)
     {
         int zoom = mapadapter->adaptedZoom();
         mc->setZoom(0);
-        mapadapter = new GoogleSatMapAdapter();
+        mapadapter = new qmapcontrol::GoogleSatMapAdapter();
         l->setMapAdapter(mapadapter);
         geomLayer->setMapAdapter(mapadapter); 
 
@@ -342,10 +345,19 @@ void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordina
     str = QString("%1").arg(path->numberOfPoints());
 
     // create the WP and set everything in the LineString to display the path
-    CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
+    Waypoint2DIcon* tempCirclePoint;
+
+    if (mav)
+    {
+        tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor()));
+    }
+    else
+    {
+        tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
+    }
     mc->layer("Waypoints")->addGeometry(tempCirclePoint);
 
-    Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str);
+    qmapcontrol::Point* tempPoint = new qmapcontrol::Point(coordinate.x(), coordinate.y(),str);
     wps.append(tempPoint);
     path->addPoint(tempPoint);
 
@@ -360,7 +372,7 @@ void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordina
   }
 }
 
-void MapWidget::captureGeometryClick(Geometry* geom, QPoint point){
+void MapWidget::captureGeometryClick(qmapcontrol::Geometry* geom, QPoint point){
   Q_UNUSED(geom);
   Q_UNUSED(point);
 
@@ -369,29 +381,35 @@ void MapWidget::captureGeometryClick(Geometry* geom, QPoint point){
 
 }
 
-void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate){
+void MapWidget::captureGeometryDrag(qmapcontrol::Geometry* geom, QPointF coordinate){
   Q_UNUSED(coordinate);
 
   // Refresh the screen
   mc->updateRequestNew();
 
   int temp = 0;
-  Point* point2Find;
+  qmapcontrol::Point* point2Find;
   point2Find = wpIndex[geom->name()];
-  point2Find->setCoordinate(coordinate);
 
-  point2Find = dynamic_cast <Point*> (geom);
-  point2Find->setCoordinate(coordinate);
+  if (point2Find)
+  {
+      point2Find->setCoordinate(coordinate);
 
- // qDebug() << geom->name();
-  temp = geom->get_myIndex();
-  //qDebug() << temp;
-  emit sendGeometryEndDrag(coordinate,temp);
+      point2Find = dynamic_cast <qmapcontrol::Point*> (geom);
+      if (point2Find)
+      {
+          point2Find->setCoordinate(coordinate);
 
+          // qDebug() << geom->name();
+          temp = geom->get_myIndex();
+          //qDebug() << temp;
+          emit sendGeometryEndDrag(coordinate,temp);
+      }
+  }
 
 }
 
-void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate)
+void MapWidget::captureGeometryEndDrag(qmapcontrol::Geometry* geom, QPointF coordinate)
 {
 
     mc->setMouseMode(qmapcontrol::MapControl::Panning);
@@ -411,10 +429,18 @@ MapWidget::~MapWidget()
  */
 void MapWidget::addUAS(UASInterface* uas)
 {
-    mav = uas;
     connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
 }
 
+void MapWidget::activeUASSet(UASInterface* uas)
+{
+    if (uas)
+    {
+        mav = uas;
+        path->setPen(new QPen(mav->getColor()));
+    }
+}
+
 /**
  * Updates the global position of one MAV and append the last movement to the trail
  *
@@ -446,19 +472,19 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
 
             // Icon
             QPen* pointpen = new QPen(uasColor);
-            CirclePoint* p = new CirclePoint(lat, lon, 10, uas->getUASName(), Point::Middle, pointpen);
+            MAV2DIcon* p = new MAV2DIcon(lat, lon, 20, uas->getUASName(), qmapcontrol::Point::Middle, pointpen);
             uasIcons.insert(uas->getUASID(), p);
             geomLayer->addGeometry(p);
 
             // Line
             // A QPen also can use transparency
 
-            QList<Point*> points;
-            points.append(new Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon)));
+            QList<qmapcontrol::Point*> points;
+            points.append(new qmapcontrol::Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon)));
             QPen* linepen = new QPen(uasColor.darker());
             linepen->setWidth(2);
             // Add the Points and the QPen to a LineString
-            LineString* ls = new LineString(points, uas->getUASName(), linepen);
+            qmapcontrol::LineString* ls = new qmapcontrol::LineString(points, uas->getUASName(), linepen);
             uasTrails.insert(uas->getUASID(), ls);
 
             // Add the LineString to the layer
@@ -466,10 +492,14 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
         }
         else
         {
-            CirclePoint* p = uasIcons.value(uas->getUASID());
-            p->setCoordinate(QPointF(lat, lon));
+            MAV2DIcon* p = dynamic_cast<MAV2DIcon*>(uasIcons.value(uas->getUASID()));
+            if (p)
+            {
+                p->setCoordinate(QPointF(lat, lon));
+                p->setYaw(uas->getYaw());
+            }
             // Extend trail
-            uasTrails.value(uas->getUASID())->addPoint(new Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon)));
+            uasTrails.value(uas->getUASID())->addPoint(new qmapcontrol::Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon)));
         }
 
         //    points.append(new CirclePoint(8.275145, 50.016992, 15, "Wiesbaden-Mainz-Kastel, Johannes-Goßner-Straße", Point::Middle, pointpen));

src/ui/MapWidget.h

@@ -44,8 +44,6 @@ namespace Ui {
     class MapWidget;
 }
 
-using namespace qmapcontrol;
-
 /**
  * @brief 2D Moving map
  *
@@ -60,6 +58,7 @@ public:
 
 public slots:
     void addUAS(UASInterface* uas);
+    void activeUASSet(UASInterface* uas);
     void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
     void updatePosition(float time, double lat, double lon);
 
@@ -86,8 +85,8 @@ protected:
     QMenu* mapMenu;
     QPushButton* mapButton;
 
-    MapControl* mc;                   ///< QMapControl widget
-    MapAdapter* mapadapter;           ///< Adapter to load the map data
+    qmapcontrol::MapControl* mc;                   ///< QMapControl widget
+    qmapcontrol::MapAdapter* mapadapter;           ///< Adapter to load the map data
     qmapcontrol::Layer* l;            ///< Current map layer (background)
     qmapcontrol::Layer* overlay;      ///< Street overlay (foreground)
     qmapcontrol::GeometryLayer* geomLayer; ///< Layer for waypoints
@@ -98,18 +97,18 @@ protected:
 
     //Layer* gSatLayer;
 
-    QMap<int, CirclePoint*> uasIcons;
-    QMap<int, LineString*> uasTrails;
+    QMap<int, qmapcontrol::Point*> uasIcons;
+    QMap<int, qmapcontrol::LineString*> uasTrails;
     UASInterface* mav;
     quint64 lastUpdate;
 
   protected slots:
     void captureMapClick (const QMouseEvent* event, const QPointF coordinate);
     void createPathButtonClicked(bool checked);
-    void captureGeometryClick(Geometry*, QPoint);
+    void captureGeometryClick(qmapcontrol::Geometry*, QPoint);
     void mapproviderSelected(QAction* action);
-    void captureGeometryDrag(Geometry* geom, QPointF coordinate);
-    void captureGeometryEndDrag(Geometry* geom, QPointF coordinate);
+    void captureGeometryDrag(qmapcontrol::Geometry* geom, QPointF coordinate);
+    void captureGeometryEndDrag(qmapcontrol::Geometry* geom, QPointF coordinate);
 
 
 
@@ -122,9 +121,9 @@ protected:
 
 private:
     Ui::MapWidget *m_ui;
-    QList<Point*> wps;
-    QHash <QString, Point*> wpIndex;
-    LineString* path;
+    QList<qmapcontrol::Point*> wps;
+    QHash <QString, qmapcontrol::Point*> wpIndex;
+    qmapcontrol::LineString* path;
     QPen* pointPen;
 };
 

src/ui/ParameterInterface.ui

@@ -13,7 +13,16 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
+  <layout class="QGridLayout" name="gridLayout" rowstretch="2,10,5">
+   <property name="horizontalSpacing">
+    <number>5</number>
+   </property>
+   <property name="verticalSpacing">
+    <number>2</number>
+   </property>
+   <property name="margin">
+    <number>6</number>
+   </property>
    <item row="0" column="0">
     <widget class="QLabel" name="label">
      <property name="text">
@@ -30,6 +39,9 @@
       <string>Onboard Parameters</string>
      </property>
      <layout class="QHBoxLayout" name="horizontalLayout">
+      <property name="margin">
+       <number>3</number>
+      </property>
       <item>
        <widget class="QStackedWidget" name="stackedWidget">
         <property name="currentIndex">

src/ui/QGCRemoteControlView.cc

@@ -45,6 +45,7 @@ QGCRemoteControlView::QGCRemoteControlView(QWidget *parent) :
     channelLayout(new QVBoxLayout()),
     ui(new Ui::QGCRemoteControlView)
 {
+
     //ui->setupUi(this);
     QGridLayout* layout = new QGridLayout(this);
     layout->addLayout(channelLayout, 1, 0, 1, 2);

src/ui/QGCSensorSettingsWidget.ui

@@ -6,135 +6,152 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>350</width>
-    <height>545</height>
+    <width>319</width>
+    <height>221</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout_4">
+  <layout class="QGridLayout" name="gridLayout_4" rowstretch="10,0">
    <property name="margin">
     <number>0</number>
    </property>
-   <item row="0" column="0">
-    <widget class="QGroupBox" name="groupBox">
+   <item row="1" column="0">
+    <widget class="QGroupBox" name="groupBox_3">
      <property name="title">
-      <string>Activate Extended Output</string>
+      <string>Calibration Wizards</string>
      </property>
-     <layout class="QGridLayout" name="gridLayout_2">
-      <property name="margin">
+     <layout class="QGridLayout" name="gridLayout" columnstretch="5,5">
+      <property name="leftMargin">
+       <number>6</number>
+      </property>
+      <property name="topMargin">
+       <number>2</number>
+      </property>
+      <property name="rightMargin">
+       <number>6</number>
+      </property>
+      <property name="bottomMargin">
+       <number>2</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>12</number>
+      </property>
+      <property name="verticalSpacing">
        <number>6</number>
       </property>
       <item row="0" column="0">
-       <widget class="QCheckBox" name="sendRawCheckBox">
+       <widget class="QPushButton" name="rcCalButton">
         <property name="text">
-         <string>Send RAW Sensor data</string>
+         <string>RC Calibration</string>
         </property>
        </widget>
       </item>
-      <item row="1" column="0">
-       <widget class="QCheckBox" name="sendExtendedCheckBox">
+      <item row="0" column="1">
+       <widget class="QPushButton" name="magCalButton">
         <property name="text">
-         <string>Send extended status</string>
+         <string>Mag. Calibration</string>
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
-       <widget class="QCheckBox" name="sendRCCheckBox">
+      <item row="1" column="1">
+       <widget class="QPushButton" name="gyroCalButton">
         <property name="text">
-         <string>Send RC-values</string>
+         <string>Gyro Calibration</string>
         </property>
        </widget>
       </item>
-      <item row="3" column="0">
-       <widget class="QCheckBox" name="sendControllerCheckBox">
+      <item row="1" column="0">
+       <widget class="QPushButton" name="pressureCalButton">
         <property name="text">
-         <string>Send raw controller outputs</string>
+         <string>Pressure Calibration</string>
         </property>
        </widget>
       </item>
-      <item row="4" column="0">
-       <widget class="QCheckBox" name="sendPositionCheckBox">
+     </layout>
+    </widget>
+   </item>
+   <item row="0" column="0">
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>Activate Extended Output</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <property name="leftMargin">
+       <number>6</number>
+      </property>
+      <property name="topMargin">
+       <number>2</number>
+      </property>
+      <property name="rightMargin">
+       <number>6</number>
+      </property>
+      <property name="bottomMargin">
+       <number>2</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>5</number>
+      </property>
+      <property name="verticalSpacing">
+       <number>2</number>
+      </property>
+      <item row="0" column="0">
+       <widget class="QCheckBox" name="sendRawCheckBox">
         <property name="text">
-         <string>Send position setpoint and estimate</string>
+         <string>RAW Sensor Data</string>
         </property>
        </widget>
       </item>
-      <item row="5" column="0">
-       <widget class="QCheckBox" name="sendExtra1CheckBox">
+      <item row="0" column="1">
+       <widget class="QCheckBox" name="sendRCCheckBox">
         <property name="text">
-         <string>Send Extra1</string>
+         <string>RC Values</string>
         </property>
        </widget>
       </item>
-      <item row="6" column="0">
-       <widget class="QCheckBox" name="sendExtra2CheckBox">
+      <item row="4" column="0">
+       <widget class="QCheckBox" name="sendPositionCheckBox">
         <property name="text">
-         <string>Send Extra2</string>
+         <string>Position setpoint</string>
         </property>
        </widget>
       </item>
-      <item row="7" column="0">
-       <widget class="QCheckBox" name="sendExtra3CheckBox">
+      <item row="5" column="0">
+       <widget class="QCheckBox" name="sendControllerCheckBox">
         <property name="text">
-         <string>Send Extra3</string>
+         <string>Raw Controller</string>
         </property>
        </widget>
       </item>
-     </layout>
-    </widget>
-   </item>
-   <item row="1" column="0">
-    <widget class="QGroupBox" name="groupBox_3">
-     <property name="title">
-      <string>Calibration Wizards</string>
-     </property>
-     <layout class="QGridLayout" name="gridLayout" columnstretch="0,50">
-      <property name="margin">
-       <number>6</number>
-      </property>
-      <item row="1" column="0">
-       <widget class="QPushButton" name="magCalButton">
+      <item row="1" column="1">
+       <widget class="QCheckBox" name="sendExtra1CheckBox">
         <property name="text">
-         <string>Start Mag. Calibration</string>
+         <string>Send Extra1</string>
         </property>
        </widget>
       </item>
-      <item row="4" column="0">
-       <widget class="QPushButton" name="gyroCalButton">
+      <item row="1" column="0">
+       <widget class="QCheckBox" name="sendExtendedCheckBox">
         <property name="text">
-         <string>Start Gyro Calibration</string>
+         <string>Attitude</string>
         </property>
        </widget>
       </item>
-      <item row="0" column="0">
-       <widget class="QPushButton" name="rcCalButton">
+      <item row="4" column="1">
+       <widget class="QCheckBox" name="sendExtra2CheckBox">
         <property name="text">
-         <string>Start RC Calibration</string>
+         <string>Send Extra2</string>
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
-       <widget class="QPushButton" name="pressureCalButton">
+      <item row="5" column="1">
+       <widget class="QCheckBox" name="sendExtra3CheckBox">
         <property name="text">
-         <string>Start Pressure Calibration</string>
+         <string>Send Extra3</string>
         </property>
        </widget>
       </item>
-      <item row="0" column="1">
-       <spacer name="horizontalSpacer">
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
-        </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-       </spacer>
-      </item>
      </layout>
     </widget>
    </item>

src/ui/WaypointGlobalView.ui

@@ -6,12 +6,12 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>869</width>
-    <height>60</height>
+    <width>774</width>
+    <height>184</height>
    </rect>
   </property>
   <property name="sizePolicy">
-   <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
+   <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
     <horstretch>0</horstretch>
     <verstretch>0</verstretch>
    </sizepolicy>
@@ -144,6 +144,15 @@ QProgressBar::chunk#thrustBar {
 }</string>
   </property>
   <layout class="QGridLayout" name="gridLayout">
+   <property name="sizeConstraint">
+    <enum>QLayout::SetDefaultConstraint</enum>
+   </property>
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <property name="spacing">
+    <number>0</number>
+   </property>
    <item row="0" column="0">
     <widget class="QGroupBox" name="groupBox_2">
      <property name="sizePolicy">
@@ -155,7 +164,13 @@ QProgressBar::chunk#thrustBar {
      <property name="title">
       <string/>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout">
+     <layout class="QHBoxLayout" name="horizontalLayout" stretch="20,0,0,50,0,0,50,10,0,20,20,20">
+      <property name="spacing">
+       <number>2</number>
+      </property>
+      <property name="margin">
+       <number>2</number>
+      </property>
       <item>
        <widget class="QLabel" name="idWP_label">
         <property name="text">
@@ -168,10 +183,13 @@ QProgressBar::chunk#thrustBar {
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
+        <property name="sizeType">
+         <enum>QSizePolicy::MinimumExpanding</enum>
+        </property>
         <property name="sizeHint" stdset="0">
          <size>
-          <width>135</width>
-          <height>13</height>
+          <width>2</width>
+          <height>0</height>
          </size>
         </property>
        </spacer>
@@ -184,26 +202,7 @@ QProgressBar::chunk#thrustBar {
        </widget>
       </item>
       <item>
-       <widget class="QTextEdit" name="m_latitudtextEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>120</width>
-          <height>25</height>
-         </size>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
+       <widget class="QLineEdit" name="m_latitudtextEdit"/>
       </item>
       <item>
        <spacer name="horizontalSpacer_2">
@@ -212,8 +211,8 @@ QProgressBar::chunk#thrustBar {
         </property>
         <property name="sizeHint" stdset="0">
          <size>
-          <width>50</width>
-          <height>30</height>
+          <width>2</width>
+          <height>0</height>
          </size>
         </property>
        </spacer>
@@ -226,30 +225,20 @@ QProgressBar::chunk#thrustBar {
        </widget>
       </item>
       <item>
-       <widget class="QTextEdit" name="m_longitudtextEdit">
-        <property name="maximumSize">
-         <size>
-          <width>120</width>
-          <height>25</height>
-         </size>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
+       <widget class="QLineEdit" name="m_longitudtextEdit"/>
       </item>
       <item>
        <spacer name="horizontalSpacer_3">
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
+        <property name="sizeType">
+         <enum>QSizePolicy::MinimumExpanding</enum>
+        </property>
         <property name="sizeHint" stdset="0">
          <size>
-          <width>50</width>
-          <height>30</height>
+          <width>2</width>
+          <height>0</height>
          </size>
         </property>
        </spacer>

src/ui/WaypointView.ui

@@ -160,7 +160,7 @@ QProgressBar::chunk#thrustBar {
        <number>2</number>
       </property>
       <property name="margin">
-       <number>5</number>
+       <number>2</number>
       </property>
       <item>
        <widget class="QCheckBox" name="selectedBox">
@@ -205,7 +205,7 @@ QProgressBar::chunk#thrustBar {
         <property name="sizeHint" stdset="0">
          <size>
           <width>25</width>
-          <height>12</height>
+          <height>0</height>
          </size>
         </property>
        </spacer>
@@ -355,7 +355,7 @@ QProgressBar::chunk#thrustBar {
          <string/>
         </property>
         <property name="icon">
-         <iconset>
+         <iconset resource="../../mavground.qrc">
           <normaloff>:/images/actions/go-up.svg</normaloff>:/images/actions/go-up.svg</iconset>
         </property>
        </widget>
@@ -375,7 +375,7 @@ QProgressBar::chunk#thrustBar {
          <string/>
         </property>
         <property name="icon">
-         <iconset>
+         <iconset resource="../../mavground.qrc">
           <normaloff>:/images/actions/go-down.svg</normaloff>:/images/actions/go-down.svg</iconset>
         </property>
        </widget>
@@ -395,7 +395,7 @@ QProgressBar::chunk#thrustBar {
          <string/>
         </property>
         <property name="icon">
-         <iconset>
+         <iconset resource="../../mavground.qrc">
           <normaloff>:/images/actions/list-remove.svg</normaloff>:/images/actions/list-remove.svg</iconset>
         </property>
        </widget>
@@ -405,6 +405,8 @@ QProgressBar::chunk#thrustBar {
    </item>
   </layout>
  </widget>
- <resources/>
+ <resources>
+  <include location="../../mavground.qrc"/>
+ </resources>
  <connections/>
 </ui>

src/ui/linechart/LinechartPlot.h

@@ -213,8 +213,8 @@ public:
     static const int SCALE_BEST_FIT = 1;
     static const int SCALE_LOGARITHMIC = 2;
 
-    static const int DEFAULT_REFRESH_RATE = 40; ///< The default refresh rate is 25 Hz / every 100 ms
-    static const int DEFAULT_PLOT_INTERVAL = 1000 * 15; ///< The default plot interval is 15 seconds
+    static const int DEFAULT_REFRESH_RATE = 50; ///< The default refresh rate is 25 Hz / every 100 ms
+    static const int DEFAULT_PLOT_INTERVAL = 1000 * 12; ///< The default plot interval is 15 seconds
     static const int DEFAULT_SCALE_INTERVAL = 1000 * 5;
 
 public slots:

src/ui/linechart/LinechartWidget.cc

@@ -90,7 +90,7 @@ updateTimer(new QTimer())
     connect(this, SIGNAL(plotWindowPositionUpdated(int)), scrollbar, SLOT(setValue(int)));
     connect(scrollbar, SIGNAL(sliderMoved(int)), this, SLOT(setPlotWindowPosition(int)));
 
-    updateTimer->setInterval(100);
+    updateTimer->setInterval(300);
     connect(updateTimer, SIGNAL(timeout()), this, SLOT(refresh()));
     updateTimer->start();
 }
@@ -247,13 +247,13 @@ void LinechartWidget::refresh()
         str.sprintf("%+.2f", activePlot->getMean(j.key()));
         j.value()->setText(str);
     }
-    QMap<QString, QLabel*>::iterator k;
-    for (k = curveMedians->begin(); k != curveMedians->end(); ++k)
-    {
-        // Median
-        str.sprintf("%+.2f", activePlot->getMedian(k.key()));
-        k.value()->setText(str);
-    }
+//    QMap<QString, QLabel*>::iterator k;
+//    for (k = curveMedians->begin(); k != curveMedians->end(); ++k)
+//    {
+//        // Median
+//        str.sprintf("%+.2f", activePlot->getMedian(k.key()));
+//        k.value()->setText(str);
+//    }
 }
 
 
@@ -397,11 +397,11 @@ QWidget* LinechartWidget::createCurveItem(QString curve)
     curveMeans->insert(curve, mean);
     horizontalLayout->addWidget(mean);
 
-    // Median
-    median = new QLabel(form);
-    value->setNum(0.00);
-    curveMedians->insert(curve, median);
-    horizontalLayout->addWidget(median);
+//    // Median
+//    median = new QLabel(form);
+//    value->setNum(0.00);
+//    curveMedians->insert(curve, median);
+//    horizontalLayout->addWidget(median);
 
     /* Color picker
     QColor color = QColorDialog::getColor(Qt::green, this);
@@ -418,7 +418,7 @@ QWidget* LinechartWidget::createCurveItem(QString curve)
     horizontalLayout->setStretchFactor(label, 80);
     horizontalLayout->setStretchFactor(value, 50);
     horizontalLayout->setStretchFactor(mean, 50);
-    horizontalLayout->setStretchFactor(median, 50);
+//    horizontalLayout->setStretchFactor(median, 50);
 
     // Connect actions
     QObject::connect(checkBox, SIGNAL(clicked(bool)), this, SLOT(takeButtonClick(bool)));

src/ui/map/MAV2DIcon.cc

 #include "MAV2DIcon.h"
 #include <QPainter>
 
-MAV2DIcon::MAV2DIcon(QGraphicsItem* parent) :
-    QGC2DIcon(parent)
+MAV2DIcon::MAV2DIcon(qreal x, qreal y, int radius, QString name, Alignment alignment, QPen* pen)
+    : Point(x, y, name, alignment),
+    yaw(0.0f)
 {
+    size = QSize(radius, radius);
+    drawIcon(pen);
 }
 
-/**
- * @return the bounding rectangle of the icon
- */
-QRectF MAV2DIcon::boundingRect() const
+MAV2DIcon::MAV2DIcon(qreal x, qreal y, QString name, Alignment alignment, QPen* pen)
+    : Point(x, y, name, alignment)
+{
+    int radius = 10;
+    size = QSize(radius, radius);
+    drawIcon(pen);
+}
+
+MAV2DIcon::~MAV2DIcon()
+{
+    delete mypixmap;
+}
+
+void MAV2DIcon::setPen(QPen* pen)
 {
-    qreal penWidth = 1;
-    return QRectF(-10 - penWidth / 2, -10 - penWidth / 2,
-                  20 + penWidth, 20 + penWidth);
+    mypen = pen;
+    drawIcon(pen);
 }
 
 /**
- * @param painter QPainter to draw with
- * @param option Visual style
- * @param widget Parent widget
+ * @param yaw in radians, 0 = north, positive = clockwise
  */
-void MAV2DIcon::paint(QPainter* painter, const QStyleOptionGraphicsItem* option, QWidget* widget)
+void MAV2DIcon::setYaw(float yaw)
 {
-    painter->drawRoundedRect(-10, -10, 20, 20, 5, 5);
+    this->yaw = yaw;
+}
+
+void MAV2DIcon::drawIcon(QPen* pen)
+{
+    mypixmap = new QPixmap(radius+1, radius+1);
+    mypixmap->fill(Qt::transparent);
+    QPainter painter(mypixmap);
+
+    // DRAW MICRO AIR VEHICLE
+    QPointF p(radius/2, radius/2);
+
+    float waypointSize = radius;
+    QPolygonF poly(3);
+    // Top point
+    poly.replace(0, QPointF(p.x(), p.y()+waypointSize/2.0f));
+    // Right point
+    poly.replace(1, QPointF(p.x()-waypointSize/2.0f, p.y()-waypointSize/2.0f));
+    // Left point
+    poly.replace(2, QPointF(p.x()+waypointSize/2.0f, p.y() + waypointSize/2.0f));
+
+//    // Select color based on if this is the current waypoint
+//    if (list.at(i)->getCurrent())
+//    {
+//        color = QGC::colorCyan;//uas->getColor();
+//        pen.setWidthF(refLineWidthToPen(0.8f));
+//    }
+//    else
+//    {
+//        color = uas->getColor();
+//        pen.setWidthF(refLineWidthToPen(0.4f));
+//    }
+
+    //pen.setColor(color);
+    if (pen)
+    {
+        pen->setWidthF(2);
+        painter.setPen(*pen);
+    }
+    else
+    {
+        QPen pen2(Qt::yellow);
+        pen2.setWidth(2);
+        painter.setPen(pen2);
+    }
+    painter.setBrush(Qt::NoBrush);
+    painter.drawPolygon(poly);
 }

src/ui/map/MAV2DIcon.h

 #ifndef MAV2DICON_H
 #define MAV2DICON_H
 
-#include "QGC2DIcon.h"
+#include "qmapcontrol.h"
 
-class MAV2DIcon : public QGC2DIcon
+class MAV2DIcon : public qmapcontrol::Point
 {
 public:
-    explicit MAV2DIcon(QGraphicsItem* parent = 0);
+    /*!
+     *
+     * @param x longitude
+     * @param y latitude
+     * @param name name of the circle point
+     * @param alignment alignment (Middle or TopLeft)
+     * @param pen QPen for drawing
+     */
+    MAV2DIcon(qreal x, qreal y, QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
+
+    //!
+    /*!
+     *
+     * @param x longitude
+     * @param y latitude
+     * @param radius the radius of the circle
+     * @param name name of the circle point
+     * @param alignment alignment (Middle or TopLeft)
+     * @param pen QPen for drawing
+     */
+    MAV2DIcon(qreal x, qreal y, int radius = 10, QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
+    virtual ~MAV2DIcon();
+
+    //! sets the QPen which is used for drawing the circle
+    /*!
+     * A QPen can be used to modify the look of the drawn circle
+     * @param pen the QPen which should be used for drawing
+     * @see http://doc.trolltech.com/4.3/qpen.html
+     */
+    virtual void setPen(QPen* pen);
+
+    void setYaw(float yaw);
+    void drawIcon(QPen* pen);
+
+protected:
+    float yaw;  ///< Yaw angle of the MAV
+    int radius; ///< Maximum dimension of the MAV icon
 
-    QRectF boundingRect() const;
-    void paint(QPainter*, const QStyleOptionGraphicsItem*, QWidget*);
 
 };
 

src/ui/map/QGC2DIcon.cc

-#include "QGC2DIcon.h"
-
-QGC2DIcon::QGC2DIcon(QPointF localOriginInGlobalCoords, bool onlyLocal, QGraphicsItem* parent) :
-    QGraphicsItem(parent),
-    localOriginInGlobalCoords(localOriginInGlobalCoords),
-    local(onlyLocal)
-{
-}
-
-QGC2DIcon::QGC2DIcon(bool onlyLocal, QGraphicsItem* parent) :
-    QGraphicsItem(parent),
-    localOriginInGlobalCoords(QPointF(0, 0)),
-    local(onlyLocal)
-{
-}
-
-QGC2DIcon::QGC2DIcon(QGraphicsItem* parent) :
-        QGraphicsItem(parent),
-        localOriginInGlobalCoords(QPointF(0, 0)),
-        local(false)
-{
-
-}
-
-QGC2DIcon::~QGC2DIcon()
-{
-
-}
-
-QPointF QGC2DIcon::getGlobalPosition()
-{
-
-}
-
-QPointF QGC2DIcon::getLocalPosition()
-{
-
-}
-
-void QGC2DIcon::setGlobalPosition(QPointF pos)
-{
-
-}
-
-void QGC2DIcon::setLocalPosition(QPointF pos)
-{
-
-}
-
-void QGC2DIcon::setLocalPosition(float x, float y)
-{
-
-}
-
-bool QGC2DIcon::isLocal()
-{
-    return local;
-}

src/ui/map/QGC2DIcon.h

-#ifndef QGC2DICON_H
-#define QGC2DICON_H
-
-#include <QGraphicsItem>
-#include <QPointF>
-
-class QGC2DIcon : public QGraphicsItem
-{
-public:
-    QGC2DIcon(QPointF localOriginInGlobalCoords, bool onlyLocal=false, QGraphicsItem* parent = 0);
-    QGC2DIcon(bool onlyLocal=false, QGraphicsItem* parent = 0);
-    explicit QGC2DIcon(QGraphicsItem* parent = 0);
-    ~QGC2DIcon();
-
-    QPointF getGlobalPosition();
-    QPointF getLocalPosition();
-
-    void setGlobalPosition(QPointF pos);
-    void setLocalPosition(QPointF pos);
-    void setLocalPosition(float x, float y);
-
-    bool isLocal();
-    virtual QRectF boundingRect() const = 0;
-    virtual void paint(QPainter*, const QStyleOptionGraphicsItem*, QWidget*) = 0;
-
-signals:
-
-public slots:
-
-protected:
-    QPointF localOriginInGlobalCoords;
-    QPointF globalPosition;
-    QPointF localPosition;
-    bool local;
-
-};
-
-#endif // QGC2DICON_H

src/ui/map/Waypoint2DIcon.cc

 #include "Waypoint2DIcon.h"
 #include <QPainter>
 
-#include <QDebug>
+Waypoint2DIcon::Waypoint2DIcon(qreal x, qreal y, int radius, QString name, Alignment alignment, QPen* pen)
+    : Point(x, y, name, alignment),
+    yaw(0.0f),
+    radius(radius)
+{
+    size = QSize(radius, radius);
+    drawIcon(pen);
+}
 
-Waypoint2DIcon::Waypoint2DIcon(QGraphicsItem* parent) :
-        QGC2DIcon(parent)
+Waypoint2DIcon::Waypoint2DIcon(qreal x, qreal y, QString name, Alignment alignment, QPen* pen)
+    : Point(x, y, name, alignment)
 {
+    int radius = 10;
+    size = QSize(radius, radius);
+    drawIcon(pen);
 }
 
-/**
- * @return the bounding rectangle of the icon
- */
-QRectF Waypoint2DIcon::boundingRect() const
+Waypoint2DIcon::~Waypoint2DIcon()
 {
-    qreal penWidth = 1;
-    return QRectF(-10 - penWidth / 2, -10 - penWidth / 2,
-                  20 + penWidth, 20 + penWidth);
+    delete mypixmap;
+}
+
+void Waypoint2DIcon::setPen(QPen* pen)
+{
+    mypen = pen;
+    drawIcon(pen);
 }
 
 /**
- * @param painter QPainter to draw with
- * @param option Visual style
- * @param widget Parent widget
+ * @param yaw in radians, 0 = north, positive = clockwise
  */
-void Waypoint2DIcon::paint(QPainter* painter, const QStyleOptionGraphicsItem* option, QWidget* widget)
+void Waypoint2DIcon::setYaw(float yaw)
 {
-    qDebug() << __FILE__ << __LINE__ << "DRAWING";
-    painter->setPen(QPen(Qt::red));
-    painter->drawRoundedRect(-10, -10, 20, 20, 5, 5);
+    this->yaw = yaw;
+}
+
+void Waypoint2DIcon::drawIcon(QPen* pen)
+{
+    mypixmap = new QPixmap(radius+1, radius+1);
+    mypixmap->fill(Qt::transparent);
+    QPainter painter(mypixmap);
+
+    // DRAW WAYPOINT
+    QPointF p(radius/2, radius/2);
+
+    float waypointSize = radius;
+    QPolygonF poly(4);
+    // Top point
+    poly.replace(0, QPointF(p.x(), p.y()-waypointSize/2.0f));
+    // Right point
+    poly.replace(1, QPointF(p.x()+waypointSize/2.0f, p.y()));
+    // Bottom point
+    poly.replace(2, QPointF(p.x(), p.y() + waypointSize/2.0f));
+    poly.replace(3, QPointF(p.x() - waypointSize/2.0f, p.y()));
+
+//    // Select color based on if this is the current waypoint
+//    if (list.at(i)->getCurrent())
+//    {
+//        color = QGC::colorCyan;//uas->getColor();
+//        pen.setWidthF(refLineWidthToPen(0.8f));
+//    }
+//    else
+//    {
+//        color = uas->getColor();
+//        pen.setWidthF(refLineWidthToPen(0.4f));
+//    }
+
+    //pen.setColor(color);
+    if (pen)
+    {
+        pen->setWidthF(2);
+        painter.setPen(*pen);
+    }
+    else
+    {
+        QPen pen2(Qt::red);
+        pen2.setWidth(2);
+        painter.setPen(pen2);
+    }
+    painter.setBrush(Qt::NoBrush);
+
+    float rad = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f));
+    painter.drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * rad);
+    painter.drawPolygon(poly);
 }

src/ui/map/Waypoint2DIcon.h

@@ -2,16 +2,49 @@
 #define WAYPOINT2DICON_H
 
 #include <QGraphicsItem>
-#include "QGC2DIcon.h"
+#include "qmapcontrol.h"
 
-class Waypoint2DIcon : public QGC2DIcon
+class Waypoint2DIcon : public qmapcontrol::Point
 {
 public:
-    explicit Waypoint2DIcon(QGraphicsItem* parent = 0);
+    /*!
+     *
+     * @param x longitude
+     * @param y latitude
+     * @param name name of the circle point
+     * @param alignment alignment (Middle or TopLeft)
+     * @param pen QPen for drawing
+     */
+    Waypoint2DIcon(qreal x, qreal y, QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
 
-    QRectF boundingRect() const;
-    void paint(QPainter*, const QStyleOptionGraphicsItem*, QWidget*);
+    //!
+    /*!
+     *
+     * @param x longitude
+     * @param y latitude
+     * @param radius the radius of the circle
+     * @param name name of the circle point
+     * @param alignment alignment (Middle or TopLeft)
+     * @param pen QPen for drawing
+     */
+    Waypoint2DIcon(qreal x, qreal y, int radius = 10, QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
+    virtual ~Waypoint2DIcon();
 
+    //! sets the QPen which is used for drawing the circle
+    /*!
+     * A QPen can be used to modify the look of the drawn circle
+     * @param pen the QPen which should be used for drawing
+     * @see http://doc.trolltech.com/4.3/qpen.html
+     */
+    virtual void setPen(QPen* pen);
+
+    void setYaw(float yaw);
+
+    void drawIcon(QPen* pen);
+
+protected:
+    float yaw;      ///< Yaw angle of the MAV
+    int radius;     ///<
 
 };
 

src/ui/map3D/CheetahGL.h

@@ -32,7 +32,11 @@ This file is part of the QGROUNDCONTROL project
 #ifndef CHEETAHGL_H_
 #define CHEETAHGL_H_
 
+#if (defined __APPLE__) & (defined __MACH__)
+#include <OpenGL/gl.h>
+#else
 #include <GL/gl.h>
+#endif
 
 /**
  * @brief Creates a display list which renders a Pixhawk Cheetah MAV.

src/ui/map3D/CheetahModel.h

@@ -32,7 +32,11 @@ This file is part of the QGROUNDCONTROL project
 #ifndef CHEETAHMODEL_H_
 #define CHEETAHMODEL_H_
 
+#if (defined __APPLE__) & (defined __MACH__)
+#include <OpenGL/gl.h>
+#else
 #include <GL/gl.h>
+#endif
 
 /**
  * @brief Container for display list which renders the Pixhawk Cheetah MAV.

src/ui/map3D/Q3DWidget.cc

@@ -32,8 +32,9 @@ This file is part of the QGROUNDCONTROL project
 #include "Q3DWidget.h"
 
 #include <cmath>
-#include <GL/gl.h>
-#include <GL/glu.h>
+
+//#include <GL/gl.h>
+//#include <GL/glu.h>
 
 static const float KEY_ROTATE_AMOUNT = 5.0f;
 static const float KEY_MOVE_AMOUNT   = 10.0f;
@@ -63,9 +64,9 @@ Q3DWidget::Q3DWidget(QWidget* parent)
   , timerFuncData(NULL)
 {
     cameraPose.state = IDLE;
-    cameraPose.pan = 0.0f;
-    cameraPose.tilt = 180.0f;
-    cameraPose.distance = 10.0f;
+    cameraPose.pan = 50.0f;
+    cameraPose.tilt = 200.0f;
+    cameraPose.distance = 5.0f;
     cameraPose.xOffset = 0.0f;
     cameraPose.yOffset = 0.0f;
     cameraPose.zOffset = 0.0f;

src/ui/map3D/Q3DWidget.h

@@ -32,7 +32,6 @@ This file is part of the QGROUNDCONTROL project
 #ifndef Q3DWIDGET_H_
 #define Q3DWIDGET_H_
 
-#include <boost/scoped_ptr.hpp>
 #include <inttypes.h>
 #include <string>
 #include <QtOpenGL>

src/ui/map3D/QMap3DWidget.cc

@@ -31,7 +31,6 @@ This file is part of the QGROUNDCONTROL project
 
 #include "QMap3DWidget.h"
 
-#include <FTGL/ftgl.h>
 #include <GL/glut.h>
 #include <QCheckBox>
 #include <sys/time.h>
@@ -44,7 +43,7 @@ QMap3DWidget::QMap3DWidget(QWidget* parent)
      : Q3DWidget(parent)
      , uas(NULL)
      , lastRedrawTime(0.0)
-     , displayGrid(false)
+     , displayGrid(true)
      , displayTrail(false)
      , lockCamera(true)
      , updateLastUnlockedPose(true)
@@ -52,7 +51,7 @@ QMap3DWidget::QMap3DWidget(QWidget* parent)
 {
     setFocusPolicy(Qt::StrongFocus);
 
-    initialize(10, 10, 1000, 900, 10.0f);
+    initialize(10, 10, 1000, 900, 15.0f);
     setCameraParams(0.05f, 0.5f, 0.01f, 0.5f, 30.0f, 0.01f, 400.0f);
 
     int32_t argc = 0;
@@ -64,7 +63,7 @@ QMap3DWidget::QMap3DWidget(QWidget* parent)
 
     buildLayout();
 
-    font.reset(new FTTextureFont("images/Vera.ttf"));
+    //font.reset(new FTTextureFont("images/Vera.ttf"));
 
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
             this, SLOT(setActiveUAS(UASInterface*)));
@@ -93,17 +92,21 @@ QMap3DWidget::buildLayout(void)
     lockCameraCheckBox->setText("Lock Camera");
     lockCameraCheckBox->setChecked(lockCamera);
 
+    //positionLabel = new QLabel(this);
+    //positionLabel->setText(tr("Waiting for first position update.. "));
+
     QGridLayout* layout = new QGridLayout(this);
     layout->setMargin(0);
     layout->setSpacing(2);
     layout->addWidget(gridCheckBox, 1, 0);
     layout->addWidget(trailCheckBox, 1, 1);
-    layout->addWidget(recenterButton, 1, 2);
-    layout->addWidget(lockCameraCheckBox, 1, 3);
+    layout->addItem(new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Expanding), 1, 2);
+    layout->addWidget(recenterButton, 1, 3);
+    layout->addWidget(lockCameraCheckBox, 1, 4);
     layout->setRowStretch(0, 100);
     layout->setRowStretch(1, 1);
-    layout->setColumnStretch(0, 1);
-    layout->setColumnStretch(1, 50);
+    //layout->setColumnStretch(0, 1);
+    layout->setColumnStretch(2, 50);
     setLayout(layout);
 
     connect(gridCheckBox, SIGNAL(stateChanged(int)),
@@ -208,31 +211,46 @@ QMap3DWidget::displayHandler(void)
     glVertex2f(getWindowWidth(), 0.0f);
     glEnd();
 
-    char buffer[7][255];
-
-    sprintf(buffer[0], "x = %.2f", robotX);
-    sprintf(buffer[1], "y = %.2f", robotY);
-    sprintf(buffer[2], "z = %.2f", robotZ);
-    sprintf(buffer[3], "r = %.2f", robotRoll);
-    sprintf(buffer[4], "p = %.2f", robotPitch);
-    sprintf(buffer[5], "y = %.2f", robotYaw);
-
     std::pair<float,float> mouseWorldCoords =
             getPositionIn3DMode(getMouseX(), getMouseY());
-    sprintf(buffer[6], "Cursor [%.2f %.2f]",
-            mouseWorldCoords.first + robotX, mouseWorldCoords.second + robotY);
 
-    font->FaceSize(10);
-    glColor3f(1.0f, 1.0f, 1.0f);
-    glPushMatrix();
+    // QT QPAINTER OPENGL PAINTING
+
+    QPainter painter;
+    painter.begin(this);
+    painter.setRenderHint(QPainter::Antialiasing, true);
+    painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
+    paintText(QString("x = %1 y = %2 z = %3 r = %4 p = %5 y = %6 Cursor [%7 %8]").arg(robotX, 0, 'f', 2).arg(robotY, 0, 'f', 2).arg(robotZ, 0, 'f', 2).arg(robotRoll, 0, 'f', 2).arg(robotPitch, 0, 'f', 2).arg(robotYaw, 0, 'f', 2).arg( mouseWorldCoords.first + robotX, 0, 'f', 2).arg( mouseWorldCoords.second + robotY, 0, 'f', 2),
+              QColor(255, 255, 255),
+              12,
+              5,
+              5,
+              &painter);
+}
 
-    glTranslatef(0.0f, 30.0f, 0.0f);
-    for (int32_t i = 0; i < 7; ++i)
-    {
-        glTranslatef(60.0f, 0.0f, 0.0f);
-        font->Render(buffer[i]);
-    }
-    glPopMatrix();
+void QMap3DWidget::paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter)
+{
+    QPen prevPen = painter->pen();
+
+    float pPositionX = refX;
+    float pPositionY = refY;
+
+    QFont font("Bitstream Vera Sans");
+    // Enforce minimum font size of 5 pixels
+    int fSize = qMax(5, (int)(fontSize));
+    font.setPixelSize(fSize);
+
+    QFontMetrics metrics = QFontMetrics(font);
+    int border = qMax(4, metrics.leading());
+    QRect rect = metrics.boundingRect(0, 0, width() - 2*border, int(height()*0.125),
+                                      Qt::AlignLeft | Qt::TextWordWrap, text);
+    painter->setPen(color);
+    painter->setFont(font);
+    painter->setRenderHint(QPainter::TextAntialiasing);
+    painter->drawText(pPositionX, pPositionY,
+                      rect.width(), rect.height(),
+                      Qt::AlignCenter | Qt::TextWordWrap, text);
+    painter->setPen(prevPen);
 }
 
 void
@@ -382,17 +400,33 @@ QMap3DWidget::drawPlatform(float roll, float pitch, float yaw)
 {
     glPushMatrix();
 
-    glRotatef(yaw, 0.0f, 0.0f, 1.0f);
-    glRotatef(pitch, 0.0f, 1.0f, 0.0f);
-    glRotatef(roll, 1.0f, 0.0f, 0.0f);
+    glRotatef((yaw*180.0f)/M_PI, 0.0f, 0.0f, 1.0f);
+    glRotatef((pitch*180.0f)/M_PI, 0.0f, 1.0f, 0.0f);
+    glRotatef((roll*180.0f)/M_PI, 1.0f, 0.0f, 0.0f);
 
     glLineWidth(3.0f);
-    glColor3f(0.0f, 1.0f, 0.0f);
+
+    // X AXIS
+    glColor3f(1.0f, 0.0f, 0.0f);
     glBegin(GL_LINES);
     glVertex3f(0.0f, 0.0f, 0.0f);
     glVertex3f(0.3f, 0.0f, 0.0f);
     glEnd();
 
+    // Y AXIS
+    glColor3f(0.0f, 1.0f, 0.0f);
+    glBegin(GL_LINES);
+    glVertex3f(0.0f, 0.0f, 0.0f);
+    glVertex3f(0.0f, 0.15f, 0.0f);
+    glEnd();
+
+    // Z AXIS
+    glColor3f(0.0f, 0.0f, 1.0f);
+    glBegin(GL_LINES);
+    glVertex3f(0.0f, 0.0f, 0.0f);
+    glVertex3f(0.0f, 0.0f, 0.15f);
+    glEnd();
+
     cheetahModel->draw();
 
     glPopMatrix();

src/ui/map3D/QMap3DWidget.h

@@ -32,10 +32,11 @@ This file is part of the QGROUNDCONTROL project
 #ifndef QMAP3DWIDGET_H
 #define QMAP3DWIDGET_H
 
+#include <QLabel>
+
 #include "Q3DWidget.h"
 
 class CheetahModel;
-class FTTextureFont;
 class UASInterface;
 
 /**
@@ -76,6 +77,7 @@ private slots:
 
 protected:
     UASInterface* uas;
+    void paintText(QString text, QColor color, float fontSize, float refX, float refY, QPainter* painter);
 
 private:
     void drawPlatform(float roll, float pitch, float yaw);
@@ -106,7 +108,6 @@ private:
     Pose3D targetPosition;
 
     QScopedPointer<CheetahModel> cheetahModel;
-    QScopedPointer<FTTextureFont> font;
 };
 
 #endif // QMAP3DWIDGET_H

src/ui/uas/UASView.cc

@@ -109,7 +109,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     // Heartbeat fade
     refreshTimer = new QTimer(this);
     connect(refreshTimer, SIGNAL(timeout()), this, SLOT(refresh()));
-    refreshTimer->start(180);
+    refreshTimer->start(updateInterval);
 }
 
 UASView::~UASView()
@@ -195,7 +195,7 @@ void UASView::receiveHeartbeat(UASInterface* uas)
         m_ui->heartbeatIcon->setStyleSheet(colorstyle);
         m_ui->heartbeatIcon->setAutoFillBackground(true);
         refreshTimer->stop();
-        refreshTimer->start(100);
+        refreshTimer->start(updateInterval);
     }
 }
 
@@ -330,6 +330,21 @@ void UASView::updateLoad(UASInterface* uas, double load)
 
 void UASView::refresh()
 {
+    //setUpdatesEnabled(false);
+    //setUpdatesEnabled(true);
+    //repaint();
+
+    static quint64 lastupdate = 0;
+    qDebug() << "UASVIEW update diff: " << MG::TIME::getGroundTimeNow() - lastupdate;
+    lastupdate = MG::TIME::getGroundTimeNow();
+
+    // FIXME
+    static int generalUpdateCount = 0;
+
+    if (generalUpdateCount == 4)
+    {
+        generalUpdateCount = 0;
+        qDebug() << "UPDATING EVERYTHING";
     // State
     m_ui->stateLabel->setText(state);
     m_ui->statusTextLabel->setText(stateDesc);
@@ -411,6 +426,8 @@ void UASView::refresh()
     QString timeText;
     timeText = timeText.sprintf("%02d:%02d:%02d", hours, min, sec);
     m_ui->timeElapsedLabel->setText(timeText);
+}
+    generalUpdateCount++;
 
     // Fade heartbeat icon
     // Make color darker
@@ -421,6 +438,9 @@ void UASView::refresh()
                                     heartbeatColor.red(), heartbeatColor.green(), heartbeatColor.blue());
     m_ui->heartbeatIcon->setStyleSheet(colorstyle);
     m_ui->heartbeatIcon->setAutoFillBackground(true);
+    //setUpdatesEnabled(true);
+
+    //setUpdatesEnabled(false);
 }
 
 void UASView::changeEvent(QEvent *e)

src/ui/uas/UASView.h

@@ -99,6 +99,7 @@ protected:
     float lon;
     float alt;
     float groundDistance;
+    static const int updateInterval = 300;
 
 
     void mouseDoubleClickEvent (QMouseEvent * event);