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>