Merge branch 'experimental' of git@github.com:pixhawk/qgroundcontrol into mergeRemote

qgroundcontrol.pro

@@ -249,7 +249,8 @@ HEADERS += src/MG.h \
     src/ui/SlugsHilSim.h \
     src/ui/SlugsPIDControl.h \
     src/ui/SlugsVideoCamControl.h \
-    src/ui/SlugsPadCameraControl.h
+    src/ui/SlugsPadCameraControl.h \
+    src/ui/QGCMainWindowAPConfigurator.h
 
 contains(DEPENDENCIES_PRESENT, osg) { 
     message("Including headers for OpenSceneGraph")
@@ -359,7 +360,8 @@ SOURCES += src/main.cc \
     src/ui/SlugsHilSim.cc \
     src/ui/SlugsPIDControl.cpp \
     src/ui/SlugsVideoCamControl.cpp \
-    src/ui/SlugsPadCameraControl.cpp
+    src/ui/SlugsPadCameraControl.cpp \
+    src/ui/QGCMainWindowAPConfigurator.cc
 contains(DEPENDENCIES_PRESENT, osg) { 
     message("Including sources for OpenSceneGraph")
     

src/Core.cc

@@ -157,6 +157,9 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
  **/
 Core::~Core()
 {
+    //mainWindow->storeSettings();
+    mainWindow->hide();
+    mainWindow->deleteLater();
     // Delete singletons
     delete LinkManager::instance();
     delete UASManager::instance();

src/QGC.h

@@ -14,6 +14,9 @@ namespace QGC
 
     /** @brief Get the current ground time in microseconds */
     quint64 groundTimeUsecs();
+
+    const QString APPNAME = "QGROUNDCONTROL";
+    const QString COMPANYNAME = "OPENMAV";
 }
 
 #endif // QGC_H

src/comm/LinkManager.cc

@@ -32,6 +32,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QList>
 #include <QApplication>
 #include "LinkManager.h"
+#include <iostream>
 
 #include <QDebug>
 
@@ -65,6 +66,7 @@ LinkManager::~LinkManager()
 
 void LinkManager::add(LinkInterface* link)
 {
+    if(!link) return;
     links.append(link);
     emit newLink(link);
 }
@@ -73,6 +75,7 @@ void LinkManager::addProtocol(LinkInterface* link, ProtocolInterface* protocol)
 {
     // Connect link to protocol
     // the protocol will receive new bytes from the link
+    if(!link || !protocol) return;
     connect(link, SIGNAL(bytesReceived(LinkInterface*, QByteArray)), protocol, SLOT(receiveBytes(LinkInterface*, QByteArray)));
     // Store the connection information in the protocol links map
     protocolLinks.insertMulti(protocol, link);
@@ -91,7 +94,8 @@ bool LinkManager::connectAll()
 	
         foreach (LinkInterface* link, links)
         {
-		if(! link->connect()) allConnected = false;
+            if(!link) {}
+            else if(!link->connect()) allConnected = false;
 	}
 	
 	return allConnected;
@@ -103,7 +107,9 @@ bool LinkManager::disconnectAll()
 	
         foreach (LinkInterface* link, links)
         {
-		if(! link->disconnect()) allDisconnected = false;
+            //static int i=0;
+            if(!link){}
+            else if(!link->disconnect()) allDisconnected = false;
 	}
 	
 	return allDisconnected;
@@ -111,14 +117,32 @@ bool LinkManager::disconnectAll()
 
 bool LinkManager::connectLink(LinkInterface* link)
 {
+        if(!link) return false;
 	return link->connect();
 }
 
 bool LinkManager::disconnectLink(LinkInterface* link)
 {
+        if(!link) return false;
 	return link->disconnect();
 }
 
+bool LinkManager::removeLink(LinkInterface* link)
+{
+        if(link)
+        {
+            for (int i=0; i < QList<LinkInterface*>(links).size(); i++)
+            {
+                if(link==links.at(i))
+                {
+                    links.removeAt(i); //remove from link list
+                }
+            }
+            return true;
+        }
+        return false;
+}
+
 /**
  * The access time is linear in the number of links.
  *

src/comm/LinkManager.h

@@ -67,6 +67,8 @@ public slots:
     void add(LinkInterface* link);
     void addProtocol(LinkInterface* link, ProtocolInterface* protocol);
 
+    bool removeLink(LinkInterface* link);
+
     bool connectAll();
     bool connectLink(LinkInterface* link);
 

src/comm/MAVLinkSimulationLink.cc

@@ -559,16 +559,17 @@ void MAVLinkSimulationLink::mainloop()
 
 
         // Send controller states
-//        uint8_t attControl = 1;
-//        uint8_t posXYControl = 1;
-//        uint8_t posZControl = 0;
-//        uint8_t posYawControl = 1;
 
-//        uint8_t gpsLock = 2;
-//        uint8_t visLock = 3;
-        //uint8_t posLock = qMax(gpsLock, visLock);
 
         #ifdef MAVLINK_ENABLED_PIXHAWK
+                uint8_t attControl = 1;
+                uint8_t posXYControl = 1;
+                uint8_t posZControl = 0;
+                uint8_t posYawControl = 1;
+
+                uint8_t gpsLock = 2;
+                uint8_t visLock = 3;
+                uint8_t posLock = qMax(gpsLock, visLock);
         messageSize = mavlink_msg_control_status_pack(systemId, componentId, &msg, posLock, visLock, gpsLock, attControl, posXYControl, posZControl, posYawControl);
         #endif
 

src/comm/SerialLink.cc

@@ -30,10 +30,13 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QTimer>
 #include <QDebug>
+#include <QSettings>
 #include <QMutexLocker>
 #include "SerialLink.h"
 #include "LinkManager.h"
+#include "QGC.h"
 #include <MG.h>
+#include <iostream>
 #ifdef _WIN32
 #include "windows.h"
 #endif
@@ -54,12 +57,41 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
 #endif
     // Set unique ID and add link to the list of links
     this->id = getNextLinkId();
-    this->baudrate = baudrate;
-    this->flow = flow;
-    this->parity = parity;
-    this->dataBits = dataBits;
-    this->stopBits = stopBits;
-    this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all.
+
+    // Load defaults from settings
+    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
+    settings.sync();
+    if (settings.contains("SERIALLINK_COMM_PORT"))
+    {
+        this->porthandle = settings.value("SERIALLINK_COMM_PORT").toString();
+    }
+
+    // *nix (Linux, MacOS tested) serial port support
+    port = new QextSerialPort(porthandle, QextSerialPort::Polling);
+    //port = new QextSerialPort(porthandle, QextSerialPort::EventDriven);
+
+    if (settings.contains("SERIALLINK_COMM_PORT"))
+    {
+        setBaudRate(settings.value("SERIALLINK_COMM_BAUD").toInt());
+        setParityType(settings.value("SERIALLINK_COMM_PARITY").toInt());
+        setStopBitsType(settings.value("SERIALLINK_COMM_STOPBITS").toInt());
+        setDataBitsType(settings.value("SERIALLINK_COMM_DATABITS").toInt());
+    }
+    else
+    {
+        this->baudrate = baudrate;
+        this->flow = flow;
+        this->parity = parity;
+        this->dataBits = dataBits;
+        this->stopBits = stopBits;
+        this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all.
+    }
+    port->setTimeout(timeout); // Timeout of 0 ms, we don't want to wait for data, we just poll again next time
+    port->setBaudRate(baudrate);
+    port->setFlowControl(flow);
+    port->setParity(parity);
+    port->setDataBits(dataBits);
+    port->setStopBits(stopBits);
 
     // Set the port name
     if (porthandle == "")
@@ -88,15 +120,7 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
         //some other error occurred. Inform user.
     }
 #else
-    // *nix (Linux, MacOS tested) serial port support
-    port = new QextSerialPort(porthandle, QextSerialPort::Polling);
-    //port = new QextSerialPort(porthandle, QextSerialPort::EventDriven);
-    port->setTimeout(timeout); // Timeout of 0 ms, we don't want to wait for data, we just poll again next time
-    port->setBaudRate(baudrate);
-    port->setFlowControl(flow);
-    port->setParity(parity);
-    port->setDataBits(dataBits);
-    port->setStopBits(stopBits);
+
 #endif
 
     // Link is setup, register it with link manager
@@ -106,7 +130,7 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
 SerialLink::~SerialLink()
 {
     disconnect();
-    delete port;
+    if(port) delete port;
     port = NULL;
 }
 
@@ -239,6 +263,8 @@ bool SerialLink::disconnect()
     port->close();
     dataMutex.unlock();
 
+    if(this->isRunning()) this->terminate(); //stop running the thread, restart it upon connect
+
     bool closed = true;
     //port->isOpen();
 
@@ -298,6 +324,15 @@ bool SerialLink::hardwareConnect()
     if(connectionUp) {
         emit connected();
         emit connected(true);
+
+        // Store settings
+        QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
+        settings.setValue("SERIALLINK_COMM_PORT", this->porthandle);
+        settings.setValue("SERIALLINK_COMM_BAUD", getBaudRate());
+        settings.setValue("SERIALLINK_COMM_PARITY", getParityType());
+        settings.setValue("SERIALLINK_COMM_STOPBITS", getStopBitsType());
+        settings.setValue("SERIALLINK_COMM_DATABITS", getDataBitsType());
+        settings.sync();
     }
 
     return connectionUp;
@@ -311,7 +346,14 @@ bool SerialLink::hardwareConnect()
  **/
 bool SerialLink::isConnected()
 {
-    return port->isOpen();
+    if (port)
+    {
+        return port->isOpen();
+    }
+    else
+    {
+        return false;
+    }
 }
 
 int SerialLink::getId()
@@ -516,7 +558,7 @@ bool SerialLink::setPortName(QString portName)
             this->porthandle = "\\\\.\\" + this->porthandle;
         }
 #endif
-        delete port;
+        if(port) delete port;
         port = new QextSerialPort(porthandle, QextSerialPort::Polling);
 
         port->setBaudRate(baudrate);
@@ -707,9 +749,16 @@ bool SerialLink::setBaudRate(int rate)
         break;
     }
 
-    port->setBaudRate(this->baudrate);
-    if(reconnect) connect();
-    return accepted;
+    if (port)
+    {
+        port->setBaudRate(this->baudrate);
+        if(reconnect) connect();
+        return accepted;
+    }
+    else
+    {
+        return false;
+    }
 }
 
 bool SerialLink::setFlowType(int flow)

src/input/Freenect.cc

@@ -341,7 +341,7 @@ Freenect::readConfigFile(void)
                                  settings.value("transform/R33").toDouble(),
                                  settings.value("transform/Tz").toDouble(),
                                  0.0, 0.0, 0.0, 1.0);
-    transformMatrix = transformMatrix.transposed();
+    transformMatrix = transformMatrix.inverted();
 
     baseline = settings.value("transform/baseline").toDouble();
     disparityOffset = settings.value("transform/disparity_offset").toDouble();

src/uas/PxQuadMAV.cc

@@ -41,12 +41,12 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 {
     // Let UAS handle the default message set
     UAS::receiveMessage(link, message);
-//    mavlink_message_t* msg = &message;
 
     //qDebug() << "PX RECEIVED" << msg->sysid << msg->compid << msg->msgid;
 
 // Only compile this portion if matching MAVLink packets have been compiled
 #ifdef MAVLINK_ENABLED_PIXHAWK
+    mavlink_message_t* msg = &message;
 
     if (message.sysid == uasId)
     {

src/uas/UAS.cc

@@ -95,6 +95,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
 UAS::~UAS()
 {
     delete links;
+    links=NULL;
 }
 
 int UAS::getUASID() const
@@ -126,6 +127,7 @@ void UAS::setSelected()
 
 void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 {
+    if (!link) return;
     if (!links->contains(link))
     {
         addLink(link);
@@ -371,11 +373,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     GAudioOutput::instance()->notifyPositive();
                 }
                 positionLock = true;
-
-                // Send to patch antenna
-                mavlink_message_t msg;
-                mavlink_msg_global_position_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, pos.usec, pos.lat, pos.lon, pos.alt, pos.vx, pos.vy, pos.vz);
-                sendMessage(msg);
             }
             break;
         case MAVLINK_MSG_ID_GPS_RAW:
@@ -839,6 +836,7 @@ void UAS::sendMessage(mavlink_message_t message)
 
 void UAS::sendMessage(LinkInterface* link, mavlink_message_t message)
 {
+    if(!link) return;
     // Create buffer
     uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
     // Write message into buffer, prepending start sign

src/uas/UASManager.cc

@@ -85,6 +85,11 @@ void UASManager::addUAS(UASInterface* uas)
     }
 }
 
+QList<UASInterface*> UASManager::getUASList()
+{
+    return systems.values();
+}
+
 UASInterface* UASManager::getActiveUAS()
 {
     if(!activeUAS)

src/uas/UASManager.h

@@ -69,6 +69,8 @@ public:
      **/
     UASInterface* getUASForId(int id);
 
+    QList<UASInterface*> getUASList();
+
 
 public slots:
 

src/ui/CommConfigurationWindow.cc

@@ -47,6 +47,7 @@ This file is part of the QGROUNDCONTROL project
 #endif
 #include "MAVLinkProtocol.h"
 #include "MAVLinkSettingsWidget.h"
+#include "LinkManager.h"
 
 CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolInterface* protocol, QWidget *parent, Qt::WindowFlags flags) : QWidget(parent, flags)
 {
@@ -58,6 +59,10 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
     // add link types
     ui.linkType->addItem("Serial",QGC_LINK_SERIAL);
     ui.linkType->addItem("UDP",QGC_LINK_UDP);
+    ui.linkType->addItem("Simulation",QGC_LINK_SIMULATION);
+    ui.linkType->addItem("Serial Forwarding",QGC_LINK_FORWARDING);
+
+    ui.connectionType->addItem("MAVLink", QGC_PROTOCOL_MAVLINK);
 
     // Create action to open this menu
     // Create configuration action for this link
@@ -195,11 +200,20 @@ void CommConfigurationWindow::setLinkName(QString name)
 
 void CommConfigurationWindow::remove()
 {
-    link->disconnect();
-    //delete link;
-    //delete action;
+    if(action) delete action; //delete action first since it has a pointer to link
+    action=NULL;
+
+    if(link)
+    {
+        LinkManager::instance()->removeLink(link); //remove link from LinkManager list
+        link->disconnect(); //disconnect port, and also calls terminate() to stop the thread
+        if (link->isRunning()) link->terminate(); // terminate() the serial thread just in case it is still running
+        link->wait(); // wait() until thread is stoped before deleting
+        delete link;
+    }
+    link=NULL;
+
     this->window()->close();
-    qDebug() << "TODO: Link cannot be deleted: CommConfigurationWindow::remove() NOT IMPLEMENTED!";
 }
 
 void CommConfigurationWindow::connectionState(bool connect)

src/ui/CommConfigurationWindow.h

@@ -42,7 +42,14 @@ This file is part of the QGROUNDCONTROL project
 enum qgc_link_t
 {
     QGC_LINK_SERIAL,
-    QGC_LINK_UDP
+    QGC_LINK_UDP,
+    QGC_LINK_SIMULATION,
+    QGC_LINK_FORWARDING
+};
+
+enum qgc_protocol_t
+{
+    QGC_PROTOCOL_MAVLINK
 };
 
 #ifdef OPAL_RT

src/ui/CommSettings.ui

@@ -43,23 +43,7 @@
       </widget>
      </item>
      <item row="0" column="1">
-      <widget class="QComboBox" name="linkType">
-       <item>
-        <property name="text">
-         <string>Serial Link</string>
-        </property>
-       </item>
-       <item>
-        <property name="text">
-         <string>UDP</string>
-        </property>
-       </item>
-       <item>
-        <property name="text">
-         <string>Simulation</string>
-        </property>
-       </item>
-      </widget>
+      <widget class="QComboBox" name="linkType"/>
      </item>
      <item row="1" column="0">
       <widget class="QLabel" name="label_5">
@@ -71,13 +55,8 @@
      <item row="1" column="1">
       <widget class="QComboBox" name="connectionType">
        <property name="currentIndex">
-        <number>0</number>
+        <number>-1</number>
        </property>
-       <item>
-        <property name="text">
-         <string>MAVLink</string>
-        </property>
-       </item>
       </widget>
      </item>
     </layout>

src/ui/HUD.cc

@@ -165,6 +165,19 @@ HUD::~HUD()
 
 }
 
+void HUD::showEvent(QShowEvent* event)
+{
+    Q_UNUSED(event);
+    if (isVisible())
+    {
+        refreshTimer->start();
+    }
+    else
+    {
+        refreshTimer->stop();
+    }
+}
+
 void HUD::start()
 {
     refreshTimer->start();

src/ui/HUD.h

@@ -123,6 +123,8 @@ protected:
     float refLineWidthToPen(float line);
     /** @brief Rotate a polygon around a point clockwise */
     void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin);
+    /** @brief Override base class show */
+    virtual void showEvent(QShowEvent* event);
 
     QImage* image; ///< Double buffer image
     QImage glImage; ///< The background / camera image

src/ui/MainWindow.cc

@@ -16,6 +16,7 @@
 #include <QHostInfo>
 
 #include "MG.h"
+#include "QGC.h"
 #include "MAVLinkSimulationLink.h"
 #include "SerialLink.h"
 #include "UDPLink.h"
@@ -82,6 +83,33 @@ MainWindow::MainWindow(QWidget *parent):
 
     // Adjust the size
     adjustSize();
+
+    // Load previous widget setup
+
+    // FIXME WORK IN PROGRESS
+    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
+
+    QList<QDockWidget *> dockwidgets = qFindChildren<QDockWidget *>(this);
+    if (dockwidgets.size())
+    {
+        settings.beginGroup("mainwindow/dockwidgets");
+        for (int i = 0; i < dockwidgets.size(); ++i)
+        {
+            QDockWidget *dockWidget = dockwidgets.at(i);
+            if (dockWidget->parentWidget() == this)
+            {
+                if (settings.contains(dockWidget->windowTitle()))
+                {
+                    dockWidget->setVisible(settings.value(dockWidget->windowTitle(), dockWidget->isVisible()).toBool());
+                }
+            }
+        }
+        settings.endGroup();
+    }
+
+
+
+    this->show();
 }
 
 MainWindow::~MainWindow()
@@ -127,6 +155,110 @@ void MainWindow::buildCommonWidgets()
 
 }
 
+//=======
+//void MainWindow::storeSettings()
+//{
+//    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
+
+//    QList<QDockWidget *> dockwidgets = qFindChildren<QDockWidget *>(this);
+//    if (dockwidgets.size())
+//    {
+//        settings.beginGroup("mainwindow/dockwidgets");
+//        for (int i = 0; i < dockwidgets.size(); ++i)
+//        {
+//            QDockWidget *dockWidget = dockwidgets.at(i);
+//            if (dockWidget->parentWidget() == this)
+//            {
+//                settings.setValue(dockWidget->windowTitle(), QVariant(dockWidget->isVisible()));
+//            }
+//        }
+//        settings.endGroup();
+//    }
+//    settings.sync();
+//}
+
+//QMenu* MainWindow::createCenterWidgetMenu()
+//{
+//    QMenu* menu = NULL;
+//    QStackedWidget* centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
+//    if (centerStack)
+//    {
+//        if (centerStack->count() > 0)
+//        {
+//            menu = new QMenu(this);
+//            for (int i = 0; i < centerStack->count(); ++i)
+//            {
+//                //menu->addAction(centerStack->widget(i)->actions())
+//            }
+//        }
+//    }
+//    return menu;
+//}
+
+//QMenu* MainWindow::createDockWidgetMenu()
+//{
+//    QMenu *menu = 0;
+//#ifndef QT_NO_DOCKWIDGET
+//    QList<QDockWidget *> dockwidgets = qFindChildren<QDockWidget *>(this);
+//    if (dockwidgets.size())
+//    {
+//        menu = new QMenu(this);
+//        for (int i = 0; i < dockwidgets.size(); ++i)
+//        {
+//            QDockWidget *dockWidget = dockwidgets.at(i);
+//            if (dockWidget->parentWidget() == this)
+//            {
+//                menu->addAction(dockwidgets.at(i)->toggleViewAction());
+//            }
+//        }
+//        menu->addSeparator();
+//    }
+//#endif
+//    return menu;
+//}
+
+////QList<QWidget* >* MainWindow::getMainWidgets()
+////{
+
+////}
+
+////QMenu* QMainWindow::getDockWidgetMenu()
+////{
+////    Q_D(QMainWindow);
+////    QMenu *menu = 0;
+////#ifndef QT_NO_DOCKWIDGET
+////    QList<QDockWidget *> dockwidgets = qFindChildren<QDockWidget *>(this);
+////    if (dockwidgets.size()) {
+////        menu = new QMenu(this);
+////        for (int i = 0; i < dockwidgets.size(); ++i) {
+////            QDockWidget *dockWidget = dockwidgets.at(i);
+////            if (dockWidget->parentWidget() == this
+////                && d->layout->contains(dockWidget)) {
+////                menu->addAction(dockwidgets.at(i)->toggleViewAction());
+////            }
+////        }
+////        menu->addSeparator();
+////    }
+////#endif // QT_NO_DOCKWIDGET
+////#ifndef QT_NO_TOOLBAR
+////    QList<QToolBar *> toolbars = qFindChildren<QToolBar *>(this);
+////    if (toolbars.size()) {
+////        if (!menu)
+////            menu = new QMenu(this);
+////        for (int i = 0; i < toolbars.size(); ++i) {
+////            QToolBar *toolBar = toolbars.at(i);
+////            if (toolBar->parentWidget() == this
+////                && d->layout->contains(toolBar)) {
+////                menu->addAction(toolbars.at(i)->toggleViewAction());
+////            }
+////        }
+////    }
+////#endif
+////    Q_UNUSED(d);
+////    return menu;
+////}
+//>>>>>>> master
+
 void MainWindow::buildPxWidgets()
 {
     //FIXME: memory of acceptList will never be freed again
@@ -172,6 +304,7 @@ void MainWindow::buildPxWidgets()
 #endif
 
     // Dock widgets
+
     detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
     detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
     addToToolsMenu (detectionDockWidget, tr("Object Recognition"), SLOT(showToolWidget()), MENU_DETECTION, Qt::RightDockWidgetArea);
@@ -189,9 +322,53 @@ void MainWindow::buildPxWidgets()
     hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
     hsiDockWidget->setWidget( new HSIDisplay(this) );
     addToToolsMenu (hsiDockWidget, tr("HSI"), SLOT(showToolWidget()), MENU_HSI, Qt::BottomDockWidgetArea);
-
-    headDown1DockWidget = new QDockWidget(tr("Primary Flight Display"), this);
+//=======
+//    controlDockWidget = new QDockWidget(tr("Control"), this);
+//    controlDockWidget->setWidget( new UASControlWidget(this) );
+//    addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
+//    controlDockWidget->hide();
+
+//    infoDockWidget = new QDockWidget(tr("Status Details"), this);
+//    infoDockWidget->setWidget( new UASInfoWidget(this) );
+//    addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
+//    //infoDockWidget->hide();
+
+//    listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
+//    listDockWidget->setWidget( new UASListWidget(this) );
+//    addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
+//    listDockWidget->hide();
+
+//    waypointsDockWidget = new QDockWidget(tr("Waypoint List"), this);
+//    waypointsDockWidget->setWidget( new WaypointList(this, NULL) );
+//    addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
+//    waypointsDockWidget->hide();
+
+//    detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
+//    detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
+//    addDockWidget(Qt::RightDockWidgetArea, detectionDockWidget);
+//    detectionDockWidget->hide();
+
+//    debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
+//    debugConsoleDockWidget->setWidget( new DebugConsole(this) );
+//    addDockWidget(Qt::BottomDockWidgetArea, debugConsoleDockWidget);
+
+//    parametersDockWidget = new QDockWidget(tr("Onboard Parameters"), this);
+//    parametersDockWidget->setWidget( new ParameterInterface(this) );
+//    addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
+
+//    watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
+//    watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
+//    addDockWidget(Qt::RightDockWidgetArea, watchdogControlDockWidget);
+//    watchdogControlDockWidget->hide();
+
+//    hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
+//    hsiDockWidget->setWidget( new HSIDisplay(this) );
+//    addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
+//>>>>>>> master
+
+    headDown1DockWidget = new QDockWidget(tr("System Stats"), this);
     headDown1DockWidget->setWidget( new HDDisplay(acceptList, this) );
+
     addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget()), MENU_HDD_1, Qt::RightDockWidgetArea);
 
     headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
@@ -201,6 +378,18 @@ void MainWindow::buildPxWidgets()
     rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
     rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
     addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget()), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
+//=======
+//    addDockWidget(Qt::RightDockWidgetArea, headDown1DockWidget);
+
+//    headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
+//    headDown2DockWidget->setWidget( new HDDisplay(acceptList2, this) );
+//    addDockWidget(Qt::RightDockWidgetArea, headDown2DockWidget);
+
+//    rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
+//    rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
+//    addDockWidget(Qt::BottomDockWidgetArea, rcViewDockWidget);
+//    rcViewDockWidget->hide();
+//>>>>>>> master
 
     headUpDockWidget = new QDockWidget(tr("HUD"), this);
     headUpDockWidget->setWidget( new HUD(320, 240, this));
@@ -234,16 +423,34 @@ void MainWindow::buildSlugsWidgets()
     slugsDataWidget->setWidget( new SlugsDataSensorView(this));
     addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget()), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
 
+//=======
+//    this->addDockWidget(Qt::LeftDockWidgetArea, headUpDockWidget);
 
-    slugsPIDControlWidget = new QDockWidget(tr("PID Control"), this);
+//    // SLUGS
+//    slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
+//    slugsDataWidget->setWidget( new SlugsDataSensorView(this));
+//    addDockWidget(Qt::LeftDockWidgetArea, slugsDataWidget);
+//    slugsDataWidget->hide();
+//>>>>>>> master
+
+    slugsPIDControlWidget = new QDockWidget(tr("Slugs PID Control"), this);
     slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));
     addToToolsMenu (slugsPIDControlWidget, tr("PID Configuration"), SLOT(showToolWidget()), MENU_SLUGS_PID, Qt::LeftDockWidgetArea);
 
     slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
     slugsHilSimWidget->setWidget( new SlugsHilSim(this));
     addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget()), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
+//=======
+//    addDockWidget(Qt::BottomDockWidgetArea, slugsPIDControlWidget);
+//    slugsPIDControlWidget->hide();
 
-    slugsCamControlWidget = new QDockWidget(tr("Video Camera Control"), this);
+//    slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
+//    slugsHilSimWidget->setWidget( new SlugsHilSim(this));
+//    addDockWidget(Qt::BottomDockWidgetArea, slugsHilSimWidget);
+//    slugsHilSimWidget->hide();
+//>>>>>>> master
+
+    slugsCamControlWidget = new QDockWidget(tr("Slugs Video Camera Control"), this);
     slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));
     addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget()), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
 
@@ -475,6 +682,13 @@ void MainWindow::updateLocationSettings (Qt::DockWidgetArea location){
         break;
       }
   }
+//=======
+//    addDockWidget(Qt::BottomDockWidgetArea, slugsCamControlWidget);
+//    slugsCamControlWidget->hide();
+
+//    //FIXME: free memory in destructor
+//    joystick    = new JoystickInput();
+//>>>>>>> master
 }
 
 /**
@@ -505,10 +719,6 @@ void MainWindow::connectPxWidgets()
 {
     if (linechartWidget)
     {
-        connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
-                linechartWidget, SLOT(addSystem(UASInterface*)));
-        connect(UASManager::instance(), SIGNAL(activeUASSet(int)),
-                linechartWidget, SLOT(selectSystem(int)));
         connect(linechartWidget, SIGNAL(logfileWritten(QString)),
                 this, SLOT(loadDataView(QString)));
     }
@@ -1006,7 +1216,8 @@ void MainWindow::clearView()
         if (dockWidget)
         {
             // Remove dock widget from main window
-            this->removeDockWidget(dockWidget);
+            //this->removeDockWidget(dockWidget);
+            dockWidget->setVisible(false);
             // Deletion of dockWidget would also delete all child
             // widgets of dockWidget
             // Is there a way to unset a widget from QDockWidget?
@@ -1048,6 +1259,14 @@ void MainWindow::loadMAVLinkView()
     currentView = VIEW_MAVLINK;
 
     presentView();
+//=======
+//    // Slugs Data View
+//    if (slugsHilSimWidget)
+//    {
+//        addDockWidget(Qt::LeftDockWidgetArea, slugsHilSimWidget);
+//        slugsHilSimWidget->show();
+//    }
+//>>>>>>> master
 }
 
 void MainWindow::presentView() {
@@ -1224,12 +1443,18 @@ void MainWindow::presentView() {
 
 }
 
-
-
-
 void MainWindow::showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SECTIONS view){
   bool tempVisible;
   QWidget* tempWidget = dockWidgets[centralWidget];
+//=======
+//    // ONBOARD PARAMETERS
+//    if (parametersDockWidget)
+//    {
+//        addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
+//        parametersDockWidget->show();
+//    }
+//}
+//>>>>>>> master
 
   tempVisible =  settings.value(buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view)).toBool();
   qDebug() << buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view) << tempVisible;
@@ -1281,6 +1506,24 @@ void MainWindow::loadAllView()
             hdd->start();
         }
     }
+//<<<<<<< HEAD
+//=======
+//}
+
+//void MainWindow::loadOperatorView()
+//{
+//    clearView();
+
+//    // MAP
+//    if (mapWidget)
+//    {
+//        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
+//        if (centerStack)
+//        {
+//            centerStack->setCurrentWidget(mapWidget);
+//        }
+//    }
+//>>>>>>> master
 
     // UAS CONTROL
     if (controlDockWidget)
@@ -1341,8 +1584,6 @@ void MainWindow::loadAllView()
         addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
         parametersDockWidget->show();
     }
-
-    this->show();
 }
 
 void MainWindow::loadWidgets()
@@ -1430,7 +1671,6 @@ void MainWindow::load3DMapView()
                 }
             }
 #endif
-            this->show();
 }
 
 void MainWindow::loadGoogleEarthView()
@@ -1480,7 +1720,6 @@ void MainWindow::loadGoogleEarthView()
                     hsiDockWidget->show();
                 }
             }
-            this->show();
 #endif
 
 }
@@ -1534,8 +1773,6 @@ void MainWindow::load3DView()
                 }
             }
 #endif
-            this->show();
-
 }
 
 /*
@@ -1586,15 +1823,26 @@ void MainWindow::buildWidgets()
     listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
     listDockWidget->setWidget( new UASListWidget(this) );
 
+<<<<<<< HEAD
     waypointsDockWidget = new QDockWidget(tr("Waypoint List"), this);
     waypointsDockWidget->setWidget( new WaypointList(this, NULL) );
 
     infoDockWidget = new QDockWidget(tr("Status Details"), this);
     infoDockWidget->setWidget( new UASInfoWidget(this) );
+=======
+    // RADIO CONTROL VIEW
+    if (rcViewDockWidget)
+    {
+        addDockWidget(Qt::BottomDockWidgetArea, rcViewDockWidget);
+        rcViewDockWidget->show();
+    }
+}
+>>>>>>> master
 
     detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
     detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
 
+<<<<<<< HEAD
     debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
     debugConsoleDockWidget->setWidget( new DebugConsole(this) );
 
@@ -1635,6 +1883,16 @@ void MainWindow::buildWidgets()
     slugsCamControlWidget = new QDockWidget(tr("Video Camera Control"), this);
     slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));
 
+=======
+    if (protocolWidget)
+    {
+        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
+        if (centerStack)
+        {
+            centerStack->setCurrentWidget(protocolWidget);
+        }
+    }
+>>>>>>> master
 }
 
 void MainWindow::connectWidgets()
@@ -1707,10 +1965,19 @@ void MainWindow::arrangeCenterStack()
     if (dataplotWidget) centerStack->addWidget(dataplotWidget);
 
     setCentralWidget(centerStack);
+=======
+    // ONBOARD PARAMETERS
+    if (parametersDockWidget)
+    {
+        addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
+        parametersDockWidget->show();
+    }
+>>>>>>> master
 }
 
 void MainWindow::connectActions()
 {
+<<<<<<< HEAD
     // Connect actions from ui
     connect(ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(addLink()));
 
@@ -1763,6 +2030,9 @@ void MainWindow::connectActions()
     //GlobalOperatorView
    // connect(ui.actionGlobalOperatorView,SIGNAL(triggered()),waypointsDockWidget->widget(),SLOT())
 
+=======
+    //loadEngineerView();
+>>>>>>> master
 }
 
 */

src/ui/MainWindow.h

@@ -87,6 +87,9 @@ public:
     ~MainWindow();
 
 public slots:
+//    /** @brief Store the mainwindow settings */
+//    void storeSettings();
+
     /**
      * @brief Shows a status message on the bottom status bar
      *
@@ -324,7 +327,6 @@ protected:
 
     void configureWindowName();
 
-
     // TODO Should be moved elsewhere, as the protocol does not belong to the UI
     MAVLinkProtocol* mavlink;
     AS4Protocol* as4link;
@@ -367,6 +369,7 @@ protected:
 
     QPointer<QDockWidget> hsiDockWidget;
     QPointer<QDockWidget> rcViewDockWidget;
+    QPointer<QDockWidget> hudDockWidget;
     QPointer<QDockWidget> slugsDataWidget;
     QPointer<QDockWidget> slugsPIDControlWidget;
     QPointer<QDockWidget> slugsHilSimWidget;

src/ui/MainWindow.ui

@@ -108,14 +108,7 @@
    <addaction name="menuPerspectives"/>
    <addaction name="menuHelp"/>
   </widget>
-  <widget class="QToolBar" name="mainToolBar">
-   <attribute name="toolBarArea">
-    <enum>TopToolBarArea</enum>
-   </attribute>
-   <attribute name="toolBarBreak">
-    <bool>false</bool>
-   </attribute>
-  </widget>
+
   <widget class="QStatusBar" name="statusBar"/>
   <action name="actionExit">
    <property name="icon">
@@ -461,3 +454,5 @@
   </connection>
  </connections>
 </ui>
+
+

src/ui/MapWidget.cc

@@ -593,21 +593,12 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double 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));
-        //    points.append(new CirclePoint(8.270476, 50.021426, 15, "Wiesbaden-Mainz-Kastel, Ruthof", Point::Middle, pointpen));
-        //    // "Blind" Points
-        //    points.append(new Point(8.266445, 50.025913, "Wiesbaden-Mainz-Kastel, Mudra Kaserne"));
-        //    points.append(new Point(8.260378, 50.030345, "Wiesbaden-Mainz-Amoneburg, Dyckerhoffstraße"));
 
         // Connect click events of the layer to this object
         // connect(osmLayer, SIGNAL(geometryClicked(Geometry*, QPoint)),
         //                  this, SLOT(geometryClicked(Geometry*, QPoint)));
 
         // Sets the view to the interesting area
-        //QList<QPointF> view;
-        //view.append(QPointF(8.24764, 50.0319));
-        //view.append(QPointF(8.28412, 49.9998));
-        // mc->setView(view);
         updatePosition(0, lat, lon);
     }
 }

src/ui/ParameterInterface.cc

@@ -51,6 +51,15 @@ ParameterInterface::ParameterInterface(QWidget *parent) :
     // Setup UI connections
     connect(m_ui->vehicleComboBox, SIGNAL(activated(int)), this, SLOT(selectUAS(int)));
 
+    // Get current MAV list
+    QList<UASInterface*> systems = UASManager::instance()->getUASList();
+
+    // Add each of them
+    foreach (UASInterface* sys, systems)
+    {
+        addUAS(sys);
+    }
+
     // Setup MAV connections
     connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
     this->setVisible(false);

src/ui/QGCMainWindowAPConfigurator.cc

+#include "QGCMainWindowAPConfigurator.h"
+
+QGCMainWindowAPConfigurator::QGCMainWindowAPConfigurator(QObject *parent) :
+    QObject(parent)
+{
+}

src/ui/QGCMainWindowAPConfigurator.h

+#ifndef QGCMAINWINDOWAPCONFIGURATOR_H
+#define QGCMAINWINDOWAPCONFIGURATOR_H
+
+#include <QObject>
+
+class QGCMainWindowAPConfigurator : public QObject
+{
+    Q_OBJECT
+public:
+    explicit QGCMainWindowAPConfigurator(QObject *parent = 0);
+
+signals:
+
+public slots:
+
+};
+
+#endif // QGCMAINWINDOWAPCONFIGURATOR_H

src/ui/SerialConfigurationWindow.cc

@@ -33,6 +33,7 @@ This file is part of the QGROUNDCONTROL project
 #include <SerialConfigurationWindow.h>
 #include <SerialLinkInterface.h>
 #include <QDir>
+#include <QSettings>
 #include <QFileInfoList>
 #ifdef _WIN32
 #include <QextSerialEnumerator.h>
@@ -509,12 +510,3 @@ void SerialConfigurationWindow::setLinkName(QString name)
     setWindowTitle(tr("Configuration of ") + link->getName());
 }
 
-void SerialConfigurationWindow::remove()
-{
-    link->disconnect();
-    //delete link;
-    //delete action;
-    this->window()->close();
-    qDebug() << "TODO: Link cannot be deleted: SerialConfigurationWindow::remove() NOT IMPLEMENTED!";
-}
-

src/ui/SerialConfigurationWindow.h

@@ -60,12 +60,6 @@ public slots:
     void setParityEven();
     void setPortName(QString port);
     void setLinkName(QString name);
-    /**
-         * @brief Remove this link
-         *
-         * Disconnects the associated link, removes it from all menus and closes the window.
-         */
-    void remove();
     void setupPortList();
 
 protected slots:

src/ui/XMLCommProtocolWidget.cc

@@ -7,6 +7,7 @@
 #include "ui_XMLCommProtocolWidget.h"
 #include "MAVLinkXMLParser.h"
 #include "MAVLinkSyntaxHighlighter.h"
+#include "QGC.h"
 
 #include <QDebug>
 #include <iostream>
@@ -31,7 +32,7 @@ XMLCommProtocolWidget::XMLCommProtocolWidget(QWidget *parent) :
 void XMLCommProtocolWidget::selectXMLFile()
 {
     //QString fileName = QFileDialog::getOpenFileName(this, tr("Load Protocol Definition File"), ".", "*.xml");
-    QSettings settings;
+    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
     const QString mavlinkXML = "MAVLINK_XML_FILE";
     QString dirPath = settings.value(mavlinkXML, QCoreApplication::applicationDirPath() + "../").toString();
     QFileDialog dialog;
@@ -56,6 +57,7 @@ void XMLCommProtocolWidget::selectXMLFile()
             setXML(instanceText);
             // Store filename for next time
             settings.setValue(mavlinkXML, QFileInfo(file).absoluteFilePath());
+            settings.sync();
         }
         else
         {
@@ -92,7 +94,7 @@ void XMLCommProtocolWidget::setXML(const QString& xml)
 
 void XMLCommProtocolWidget::selectOutputDirectory()
 {
-    QSettings settings;
+    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
     const QString mavlinkOutputDir = "MAVLINK_OUTPUT_DIR";
     QString dirPath = settings.value(mavlinkOutputDir, QCoreApplication::applicationDirPath() + "../").toString();
     QFileDialog dialog;
@@ -110,7 +112,8 @@ void XMLCommProtocolWidget::selectOutputDirectory()
     {
         m_ui->outputDirNameLabel->setText(fileNames.first());
         // Store directory for next time
-        settings.setValue(mavlinkOutputDir, fileNames.first());
+        settings.setValue(mavlinkOutputDir, QFileInfo(fileNames.first()).absoluteFilePath());
+        settings.sync();
         //QFile file(fileName);
     }
 }

src/ui/linechart/LinechartPlot.cc

@@ -56,7 +56,7 @@ maxInterval(MAX_STORAGE_INTERVAL),
 timeScaleStep(DEFAULT_SCALE_INTERVAL), // 10 seconds
 automaticScrollActive(false),
 m_active(true),
-m_groundTime(false),
+m_groundTime(true),
 d_data(NULL),
 d_curve(NULL)
 {

src/ui/linechart/LinechartWidget.cc

@@ -159,7 +159,9 @@ void LinechartWidget::createLayout()
     QToolButton* timeButton = new QToolButton(this);
     timeButton->setText(tr("Ground Time"));
     timeButton->setCheckable(true);
-    timeButton->setChecked(false);
+    bool gTimeDefault = true;
+    if (activePlot) activePlot->enforceGroundTime(gTimeDefault);
+    timeButton->setChecked(gTimeDefault);
     layout->addWidget(timeButton, 1, 4);
     layout->setColumnStretch(4, 0);
     connect(timeButton, SIGNAL(clicked(bool)), activePlot, SLOT(enforceGroundTime(bool)));
@@ -442,6 +444,12 @@ void LinechartWidget::removeCurve(QString curve)
     // Remove name
     }
 
+void LinechartWidget::showEvent(QShowEvent* event)
+{
+    Q_UNUSED(event);
+    setActive(isVisible());
+}
+
 void LinechartWidget::setActive(bool active)
 {
     if (activePlot)

src/ui/linechart/LinechartWidget.h

@@ -77,6 +77,8 @@ public slots:
     void setPlotWindowPosition(int scrollBarValue);
     void setPlotWindowPosition(quint64 position);
     void setPlotInterval(quint64 interval);
+    /** @brief Override base class show */
+    virtual void showEvent(QShowEvent* event);
     void setActive(bool active);
     /** @brief Set the number of values to average over */
     void setAverageWindow(int windowSize);

src/ui/linechart/Linecharts.cc

 #include "Linecharts.h"
+#include "UASManager.h"
 
 Linecharts::Linecharts(QWidget *parent) :
         QStackedWidget(parent),
@@ -6,6 +7,18 @@ Linecharts::Linecharts(QWidget *parent) :
         active(true)
 {
   this->setVisible(false);
+  // Get current MAV list
+  QList<UASInterface*> systems = UASManager::instance()->getUASList();
+
+  // Add each of them
+  foreach (UASInterface* sys, systems)
+  {
+      addSystem(sys);
+  }
+  connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
+          this, SLOT(addSystem(UASInterface*)));
+  connect(UASManager::instance(), SIGNAL(activeUASSet(int)),
+          this, SLOT(selectSystem(int)));
 }
 
 

src/ui/map/MAV2DIcon.cc

@@ -14,7 +14,10 @@ MAV2DIcon::MAV2DIcon(qreal x, qreal y, QString name, Alignment alignment, QPen*
 {
     int radius = 10;
     size = QSize(radius, radius);
-    drawIcon(pen);
+    if (pen)
+    {
+        drawIcon(pen);
+    }
 }
 
 MAV2DIcon::~MAV2DIcon()
@@ -24,8 +27,11 @@ MAV2DIcon::~MAV2DIcon()
 
 void MAV2DIcon::setPen(QPen* pen)
 {
-    mypen = pen;
-    drawIcon(pen);
+    if (pen)
+    {
+        mypen = pen;
+        drawIcon(pen);
+    }
 }
 
 /**
@@ -38,46 +44,49 @@ void MAV2DIcon::setYaw(float yaw)
 
 void MAV2DIcon::drawIcon(QPen* pen)
 {
-    mypixmap = new QPixmap(radius+1, radius+1);
-    mypixmap->fill(Qt::transparent);
-    QPainter painter(mypixmap);
+    if (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);
+        // 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));
+        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));
-//    }
+        //    // 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);
+        //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);
     }
-    painter.setBrush(Qt::NoBrush);
-    painter.drawPolygon(poly);
 }

src/ui/map3D/GCManipulator.cc

@@ -30,6 +30,7 @@ This file is part of the QGROUNDCONTROL project
  */
 
 #include "GCManipulator.h"
+#include <osg/Version>
 
 GCManipulator::GCManipulator()
 {
@@ -254,10 +255,10 @@ GCManipulator::calcMovement(void)
     if (buttonMask == GUIEventAdapter::LEFT_MOUSE_BUTTON)
     {
         // rotate camera
-#ifdef __WIN32__
-        osg::Vec3 axis;
-#else
+#if ((OPENSCENEGRAPH_MAJOR_VERSION == 2) & (OPENSCENEGRAPH_MINOR_VERSION > 8)) | (OPENSCENEGRAPH_MAJOR_VERSION > 2)
         osg::Vec3d axis;
+#else
+        osg::Vec3 axis;
 #endif
         float angle;
 

src/ui/map3D/QGCGoogleEarthView.cc

@@ -16,9 +16,11 @@
 QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
         QWidget(parent),
         updateTimer(new QTimer(this)),
+        refreshRateMs(200),
         mav(NULL),
         followCamera(true),
         trailEnabled(true),
+        webViewInitialized(false),
 #if (defined Q_OS_MAC)
         webViewMac(new QWebView(this)),
 #endif
@@ -34,22 +36,14 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
 #endif
 
     ui->setupUi(this);
-
 #if (defined Q_OS_MAC)
     ui->webViewLayout->addWidget(webViewMac);
-    webViewMac->setPage(new QGCWebPage(webViewMac));
-    webViewMac->settings()->setAttribute(QWebSettings::PluginsEnabled, true);
-    webViewMac->load(QUrl("earth.html"));
-#endif
-
-#if (defined Q_OS_WIN) & !(defined __MINGW32__)
-    webViewWin->load(QUrl("earth.html"));
 #endif
 
 #if ((defined Q_OS_MAC) | ((defined Q_OS_WIN) & !(defined __MINGW32__)))
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
     connect(updateTimer, SIGNAL(timeout()), this, SLOT(updateState()));
-    updateTimer->start(200);
+    updateTimer->start(refreshRateMs);
 #endif
 
     // Follow checkbox
@@ -94,53 +88,82 @@ void QGCGoogleEarthView::follow(bool follow)
     followCamera = follow;
 }
 
-void QGCGoogleEarthView::updateState()
+void QGCGoogleEarthView::hide()
 {
-#ifdef Q_OS_MAC
-    if (webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
+    updateTimer->stop();
+    QWidget::hide();
+}
+
+void QGCGoogleEarthView::show()
+{
+    if (!webViewInitialized)
     {
-        static bool initialized = false;
-        if (!initialized)
-        {
-            webViewMac->page()->currentFrame()->evaluateJavaScript("setGCSHome(22.679833,8.549444, 470);");
-            initialized = true;
-        }
-        int uasId = 0;
-        double lat = 22.679833;
-        double lon = 8.549444;
-        double alt = 470.0;
+#if (defined Q_OS_MAC)
+    webViewMac->setPage(new QGCWebPage(webViewMac));
+    webViewMac->settings()->setAttribute(QWebSettings::PluginsEnabled, true);
+    webViewMac->load(QUrl("earth.html"));
+#endif
 
-        float roll = 0.0f;
-        float pitch = 0.0f;
-        float yaw = 0.0f;
+#if (defined Q_OS_WIN) & !(defined __MINGW32__)
+    webViewWin->load(QUrl("earth.html"));
+#endif
+    webViewInitialized = true;
+    }
+    updateTimer->start();
+    QWidget::show();
+}
 
-        if (mav)
-        {
-            uasId = mav->getUASID();
-            lat = mav->getLatitude();
-            lon = mav->getLongitude();
-            alt = mav->getAltitude();
-            roll = mav->getRoll();
-            pitch = mav->getPitch();
-            yaw = mav->getYaw();
-        }
-        webViewMac->page()->currentFrame()->evaluateJavaScript(QString("setAircraftPositionAttitude(%1, %2, %3, %4, %6, %7, %8);")
-                                                                .arg(uasId)
-                                                                .arg(lat)
-                                                                .arg(lon)
-                                                                .arg(alt+500)
-                                                                .arg(roll)
-                                                                .arg(pitch)
-                                                                .arg(yaw));
-
-        if (followCamera)
+void QGCGoogleEarthView::updateState()
+{
+#ifdef Q_OS_MAC
+    if (isVisible())
+    {
+        if (webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
         {
-             webViewMac->page()->currentFrame()->evaluateJavaScript(QString("updateFollowAircraft()"));
+            static bool initialized = false;
+            if (!initialized)
+            {
+                webViewMac->page()->currentFrame()->evaluateJavaScript("setGCSHome(22.679833,8.549444, 470);");
+                initialized = true;
+            }
+            int uasId = 0;
+            double lat = 22.679833;
+            double lon = 8.549444;
+            double alt = 470.0;
+
+            float roll = 0.0f;
+            float pitch = 0.0f;
+            float yaw = 0.0f;
+
+            if (mav)
+            {
+                uasId = mav->getUASID();
+                lat = mav->getLatitude();
+                lon = mav->getLongitude();
+                alt = mav->getAltitude();
+                roll = mav->getRoll();
+                pitch = mav->getPitch();
+                yaw = mav->getYaw();
+            }
+            webViewMac->page()->currentFrame()->evaluateJavaScript(QString("setAircraftPositionAttitude(%1, %2, %3, %4, %6, %7, %8);")
+                                                                   .arg(uasId)
+                                                                   .arg(lat)
+                                                                   .arg(lon)
+                                                                   .arg(alt+500)
+                                                                   .arg(roll)
+                                                                   .arg(pitch)
+                                                                   .arg(yaw));
+
+            if (followCamera)
+            {
+                webViewMac->page()->currentFrame()->evaluateJavaScript(QString("updateFollowAircraft()"));
+            }
         }
     }
 #endif
 }
 
+
 void QGCGoogleEarthView::changeEvent(QEvent *e)
 {
     QWidget::changeEvent(e);

src/ui/map3D/QGCGoogleEarthView.h

@@ -62,13 +62,19 @@ public slots:
     void showWaypoints(bool state);
     /** @brief Follow the aircraft during flight */
     void follow(bool follow);
+    /** @brief Hide and deactivate */
+    void hide();
+    /** @brief Show and activate */
+    void show();
 
 protected:
     void changeEvent(QEvent *e);
     QTimer* updateTimer;
+    int refreshRateMs;
     UASInterface* mav;
     bool followCamera;
     bool trailEnabled;
+    bool webViewInitialized;
 #if (defined Q_OS_WIN) && !(defined __MINGW32__)
     WebAxWidget* webViewWin;
 #endif

src/ui/map3D/QMap3D.cc

@@ -38,8 +38,13 @@ This file is part of the QGROUNDCONTROL project
 QMap3D::QMap3D(QWidget * parent, const char * name, WindowFlags f) :
         QWidget(parent,f)
 {
+    Q_UNUSED(name);
     setupUi(this);
+#if ((OPENSCENEGRAPH_MAJOR_VERSION == 2) & (OPENSCENEGRAPH_MINOR_VERSION > 8)) | (OPENSCENEGRAPH_MAJOR_VERSION > 2)
     graphicsView->setCameraManipulator(new osgEarth::Util::EarthManipulator);
+#else
+    graphicsView->setCameraManipulator(new osgEarthUtil::EarthManipulator);
+#endif
     graphicsView->setSceneData(new osg::Group);
     graphicsView->updateCamera();
     show();

src/ui/uas/UASControlWidget.cc

@@ -50,7 +50,7 @@ This file is part of the PIXHAWK project
 #define CONTROL_MODE_TEST2  "MODE TEST2"
 #define CONTROL_MODE_TEST3  "MODE TEST3"
 #define CONTROL_MODE_READY  "MODE TEST3"
-#define CONTROL_MODE_RC_TRAINING  "MODE RC TRAINING"
+#define CONTROL_MODE_RC_TRAINING  "RC SIMULATION"
 
 #define CONTROL_MODE_LOCKED_INDEX 1
 #define CONTROL_MODE_MANUAL_INDEX 2