Merge remote-tracking branch 'soren/master'

README

+maah
 QGroundControl Open Source Micro Air Vehicle Ground Control Station
 
 Project:

dongfang_qgroundcontrol_notes.txt

+From where is the 3D mouse used?
+
+
+Comm folder:
+============
+
+LinkInterface is a QThread. Appears to describe an interface on the host system (TCP port, serial port, ....).
+  Does it suppport multiple connections?
+SerialLinkInterface: Extension of above
+SerialLink: Implementation
+
+XBeeLinkInterface: Extension of LinkInterface (but without other serial stuff than baudrate, is the rest assumed?)
+XBeeLink: Implementation (with address resetting probably it's Series 1)
+
+UDPLink: UDP implementation. Port is defaulted.
+
+MAVLinkSimulationLink: Simulation/dummy implementation of LinkInterface. Does some file IO.
+MAVLinkSimulationUAV:  Simulation/dummy basic (remote) UAV state (minus mission state) for MAVLinkSimulationLink.
+MAVLinkSimulationWaypointPlanner: imulation/dummy basic (remote) UAV mission state for MAVLinkSimulationLink.
+
+
+ProtocolInterface describes a protocol. Major method:
+    virtual void receiveBytes(LinkInterface *link, QByteArray b) = 0;
+
+MavlinkProtocol: MAVLink implementation of ProtocolInterface
+
+
+Parameter: Identity of a parameter (the value types are not handled here. Oddly there is no type metainfo either)
+ParameterList: Is pretty much what the name impiles.
+QGCParamID: Wrapper if parameter text IDs, conversion to byte* and back
+
+QGCHilLink: Link to a HIL external system
+    QCGFlightGearLink, QGCJSBSimLink, QGCXPlaneLink : Implementations of QGCHilLink
+
+
+QGCMAVLink: Nothing more than in include to raw mavlink.h
+
+
+input folder:
+=============
+Some exotic input devices
+
+
+
+uas folder:
+===========
+UAS.h: Local UAV model. Claims to support some sort of RPC. Uses some properties with notifications. Assumes MAVLink.
+Some methods:
+    int getUASID() const; // the systemId
+    QList<LinkInterface*>* getLinks(); // it knows its links
+
+    virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
+
+    float receiveDropRate;      ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
+    float sendDropRate;         ///< Percentage of packets that were not received from the MAV by the GCS
+
+Some fields:
+    bool positionLock;          ///< Status if position information is available or not
+    double localX;  // (what is this?)
+    double localY;
+    double localZ;
+    double latitude;            ///< Global latitude as estimated by position estimator
+    double longitude;           ///< Global longitude as estimated by position estimator
+    double altitude;            ///< Global altitude as estimated by position estimator
+    double satelliteCount;      ///< Number of satellites visible to raw GPS
+    bool globalEstimatorActive; ///< Global position estimator present, do not fall back to GPS raw for position
+    double latitude_gps;        ///< Global latitude as estimated by raw GPS
+    double longitude_gps;       ///< Global longitude as estimated by raw GPS
+    double altitude_gps;        ///< Global altitude as estimated by raw GPS
+
+    and lots ans lots more...
+
+
+*MAV.h: Implementations of UAS
+
+
+QGCUASParamManager.h: A mixture of a widget and a parameter up/download state machine. Has a reference to its associated UAV.
+
+UASWaypointManager: API to waypoint / mission control. Not a widget. Has a reference to its associated UAV.
+
+UASManager.h: Singleton interface to all UASs on all interfaces. Maintains a single selected/active UAS.
+
+Ideas to do
+TCPLink
+XBee Series2 implementation
+Less stress on uplink
+Get rid of hardcoded SystemId of 255
+Quick View should print all altitudes (GPS, mix, ground and/or home), letting user see errors.
+Console debugging is hopefully removed?
+

dongfang_qgroundcontrol_wishlist.txt

+Major
+1) Absolute altitude should absolutely work. Also in face of bad GPS init.
+   How does the mission planning part work with that, how is alt. stored in waypoints?
+   When is home altitude stored in the UAV?
+
+2) Some people have worse datalinks than average - eg. slow or noisy telemetry. GPRS data also easily gets
+   flooded. All data rates should be configurable and uplinks eased off a little.
+
+3) Some streams should be sent always even if not in use. For example using RC override and then stopping
+   using it: If the UAV does not received the final RC override message with zero values for all channels,
+   it will not get out of RC override. A solution is to make the message non final, repeating it every
+   now and then.
+
+Minor
+1) I would like to see initial dummy values for eg. battery voltage go away and be replaced by "unknown".
+   Dummy values confuse, you won't know if your sensors and link are working or not.
+
+2) Suggestion if the DO_JUMP behavior of APM today (where DO_JUMP requires a waypoint command after it):
+   Modify APM code so DO_JUMP is regarded a navigation command. Make non navigation commands appear in
+   planning as sub commands of navigation commands (indent them). Easier to understand.
+
+3) Old style audio with signals/bells/beeps / Morse may be prefered by some. Maybe add slots'n'signals for
+   all audio and different implementation types (speech, beep, ...). Or a generic operator messaging thing.

qgroundcontrol.pro

@@ -386,7 +386,8 @@ HEADERS += src/MG.h \
     src/ui/uas/UASActionsWidget.h \
     src/ui/designer/QGCRadioChannelDisplay.h \
     src/ui/QGCTabbedInfoView.h \
-    src/ui/UASRawStatusView.h
+    src/ui/UASRawStatusView.h \
+    src/ui/PrimaryFlightDisplay.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -560,7 +561,8 @@ SOURCES += src/main.cc \
     src/ui/uas/UASActionsWidget.cpp \
     src/ui/designer/QGCRadioChannelDisplay.cpp \
     src/ui/QGCTabbedInfoView.cpp \
-    src/ui/UASRawStatusView.cpp
+    src/ui/UASRawStatusView.cpp \
+    src/ui/PrimaryFlightDisplay.cpp
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
@@ -693,3 +695,7 @@ win32-msvc2008|win32-msvc2010|win32-msvc2012 {
 }
 
 unix:!macx:!symbian: LIBS += -losg
+
+OTHER_FILES += \
+    dongfang_notes.txt \
+    src/ui/dongfang-scrapyard.txt

src/uas/UASInterface.h

@@ -51,6 +51,42 @@ This file is part of the QGROUNDCONTROL project
 #endif
 #endif
 
+enum BatteryType
+{
+    NICD = 0,
+    NIMH = 1,
+    LIION = 2,
+    LIPOLY = 3,
+    LIFE = 4,
+    AGZN = 5
+}; ///< The type of battery used
+
+/*
+enum SpeedMeasurementSource
+{
+    PRIMARY_SPEED = 0,          // ArduPlane: Measured airspeed or estimated airspeed. ArduCopter: Ground (XY) speed.
+    GROUNDSPEED_BY_UAV = 1,     // Ground speed as reported by UAS
+    GROUNDSPEED_BY_GPS = 2,     // Ground speed as calculated from received GPS velocity data
+    LOCAL_SPEED = 3
+}; ///< For velocity data, the data source
+
+enum AltitudeMeasurementSource
+{
+    PRIMARY_ALTITUDE = 0,                  // ArduPlane: air and ground speed mix. This is the altitude used for navigastion.
+    BAROMETRIC_ALTITUDE = 1,               // Altitude is pressure altitude. Ardupilot reports no altitude purely by barometer,
+                                           // however when ALT_MIX==1, mix-altitude is purely barometric.
+    GPS_ALTITUDE = 2                       // GPS ASL altitude
+}; ///< For altitude data, the data source
+
+// TODO!!! The different frames are probably represented elsewhere. There should really only
+// be one set of frames. We also need to keep track of the home alt. somehow.
+enum AltitudeMeasurementFrame
+{
+    ABSOLUTE = 0,               // Altitude is pressure altitude
+    ABOVE_HOME_POSITION = 1
+}; ///< For altitude data, a reference frame
+*/
+
 /**
  * @brief Interface for all robots.
  *
@@ -470,14 +506,14 @@ signals:
      * @param percent remaining capacity in percent
      * @param seconds estimated remaining flight time in seconds
      */
-    void batteryChanged(UASInterface* uas, double voltage, double percent, int seconds);
+    void batteryChanged(UASInterface* uas, double voltage, double current, double percent, int seconds);
     void statusChanged(UASInterface* uas, QString status);
     void actuatorChanged(UASInterface*, int actId, double value);
     void thrustChanged(UASInterface*, double thrust);
     void heartbeat(UASInterface* uas);
     void attitudeChanged(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
     void attitudeChanged(UASInterface*, int component, double roll, double pitch, double yaw, quint64 usec);
-    void attitudeSpeedChanged(int uas, double rollspeed, double pitchspeed, double yawspeed, quint64 usec);
+    void attitudeRotationRatesChanged(int uas, double rollrate, double pitchrate, double yawrate, quint64 usec);
     void attitudeThrustSetPointChanged(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
     /** @brief The MAV set a new setpoint in the local (not body) NED X, Y, Z frame */
     void positionSetPointsChanged(int uasid, float xDesired, float yDesired, float zDesired, float yawDesired, quint64 usec);
@@ -486,10 +522,21 @@ signals:
     void localPositionChanged(UASInterface*, double x, double y, double z, quint64 usec);
     void localPositionChanged(UASInterface*, int component, double x, double y, double z, quint64 usec);
     void globalPositionChanged(UASInterface*, double lat, double lon, double alt, quint64 usec);
-    void altitudeChanged(int uasid, double altitude);
+    void primaryAltitudeChanged(UASInterface*, double altitude, quint64 usec);
+    void gpsAltitudeChanged(UASInterface*, double altitude, quint64 usec);
     /** @brief Update the status of one satellite used for localization */
     void gpsSatelliteStatusChanged(int uasid, int satid, float azimuth, float direction, float snr, bool used);
-    void speedChanged(UASInterface*, double x, double y, double z, quint64 usec);
+
+    // The horizontal speed (a scalar)
+    void primarySpeedChanged(UASInterface*, double speed, quint64 usec);
+    void gpsSpeedChanged(UASInterface*, double speed, quint64 usec);
+    // The vertical speed (a scalar)
+    void climbRateChanged(UASInterface*, double climb, quint64 usec);
+    // Consider adding a MAV_FRAME parameter to this; could help specifying what the 3 scalars are.
+    void velocityChanged_NED(UASInterface*, double vx, double vy, double vz, quint64 usec);
+
+    void navigationControllerErrorsChanged(UASInterface*, double altitudeError, double speedError, double xtrackError);
+
     void imageStarted(int imgid, int width, int height, int depth, int channels);
     void imageDataReceived(int imgid, const unsigned char* imageData, int length, int startIndex);
     /** @brief Emit the new system type */

src/uas/senseSoarMAV.cpp

@@ -41,7 +41,7 @@ void senseSoarMAV::receiveMessage(LinkInterface *link, mavlink_message_t message
 				emit valueChanged(uasId, "rollspeed", "rad/s", this->m_rotVel[0], time);
                 emit valueChanged(uasId, "pitchspeed", "rad/s", this->m_rotVel[1], time);
                 emit valueChanged(uasId, "yawspeed", "rad/s", this->m_rotVel[2], time);
-				emit attitudeSpeedChanged(uasId, this->m_rotVel[0], this->m_rotVel[1], this->m_rotVel[2], time);
+                emit attitudeRotationRatesChanged(uasId, this->m_rotVel[0], this->m_rotVel[1], this->m_rotVel[2], time);
 				break;
 			}
 		case MAVLINK_MSG_ID_LLC_OUT: // low level controller output
@@ -62,7 +62,7 @@ void senseSoarMAV::receiveMessage(LinkInterface *link, mavlink_message_t message
 				mavlink_obs_air_temp_t airTMsg;
 				mavlink_msg_obs_air_temp_decode(&message,&airTMsg);
 				quint64 time = getUnixTime();
-				emit valueChanged(uasId, "Air Temp", "", airTMsg.airT, time);
+				emit valueChanged(uasId, "Air Temp", "°", airTMsg.airT, time);
 				break;
 			}
 		case MAVLINK_MSG_ID_OBS_AIR_VELOCITY:
@@ -211,4 +211,4 @@ void senseSoarMAV::quat2euler(const double *quat, double &roll, double &pitch, d
 	pitch = std::asin(qMax(-1.0,qMin(1.0,2*(quat[0]*quat[2] - quat[1]*quat[3]))));
 	yaw = std::atan2(2*(quat[1]*quat[2] + quat[0]*quat[3]),quat[0]*quat[0] + quat[1]*quat[1] - quat[2]*quat[2] - quat[3]*quat[3]);
 	return;
-}
\ No newline at end of file
+}

src/ui/HSIDisplay.cc

@@ -178,7 +178,10 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
     connect(&statusClearTimer, SIGNAL(timeout()), this, SLOT(clearStatusMessage()));
     statusClearTimer.start(3000);
 
-    setActiveUAS(UASManager::instance()->getActiveUAS());
+    if (UASManager::instance()->getActiveUAS())
+    {
+        setActiveUAS(UASManager::instance()->getActiveUAS());
+    }
 
     setFocusPolicy(Qt::StrongFocus);
 }
@@ -864,7 +867,7 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
         disconnect(this->uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeSetpoints(UASInterface*,double,double,double,double,quint64)));
         disconnect(this->uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)), this, SLOT(updatePositionSetpoints(int,float,float,float,float,quint64)));
         disconnect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)), this, SLOT(updateUserPositionSetpoints(int,float,float,float,float)));
-        disconnect(this->uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
+        disconnect(this->uas, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
         disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
 
         disconnect(this->uas, SIGNAL(attitudeControlEnabled(bool)), this, SLOT(updateAttitudeControllerEnabled(bool)));
@@ -895,7 +898,7 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
     connect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeSetpoints(UASInterface*,double,double,double,double,quint64)));
     connect(uas, SIGNAL(positionSetPointsChanged(int,float,float,float,float,quint64)), this, SLOT(updatePositionSetpoints(int,float,float,float,float,quint64)));
     connect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)), this, SLOT(updateUserPositionSetpoints(int,float,float,float,float)));
-    connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
+    connect(uas, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
     connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
 
     connect(uas, SIGNAL(attitudeControlEnabled(bool)), this, SLOT(updateAttitudeControllerEnabled(bool)));

src/ui/HUD.cc

@@ -119,7 +119,7 @@ HUD::HUD(int width, int height, QWidget* parent)
       load(0.0f),
       offlineDirectory(""),
       nextOfflineImage(""),
-      hudInstrumentsEnabled(true),
+      HUDInstrumentsEnabled(true),
       videoEnabled(false),
       xImageFactor(1.0),
       yImageFactor(1.0),
@@ -218,7 +218,7 @@ void HUD::contextMenuEvent (QContextMenuEvent* event)
 {
     QMenu menu(this);
     // Update actions
-    enableHUDAction->setChecked(hudInstrumentsEnabled);
+    enableHUDAction->setChecked(HUDInstrumentsEnabled);
     enableVideoAction->setChecked(videoEnabled);
 
     menu.addAction(enableHUDAction);
@@ -234,7 +234,7 @@ void HUD::createActions()
     enableHUDAction = new QAction(tr("Enable HUD"), this);
     enableHUDAction->setStatusTip(tr("Show the HUD instruments in this window"));
     enableHUDAction->setCheckable(true);
-    enableHUDAction->setChecked(hudInstrumentsEnabled);
+    enableHUDAction->setChecked(HUDInstrumentsEnabled);
     connect(enableHUDAction, SIGNAL(triggered(bool)), this, SLOT(enableHUDInstruments(bool)));
 
     enableVideoAction = new QAction(tr("Enable Video Live feed"), this);
@@ -261,16 +261,16 @@ void HUD::setActiveUAS(UASInterface* uas)
 {
     if (this->uas != NULL) {
         // Disconnect any previously connected active MAV
-        disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
-        disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,int,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,int,double, double, double, quint64)));
-        disconnect(this->uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
+        disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*, double, double, double, quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
+        disconnect(this->uas, SIGNAL(attitudeChanged(UASInterface*,int, double, double, double, quint64)), this, SLOT(updateAttitude(UASInterface*,int,double, double, double, quint64)));
+        disconnect(this->uas, SIGNAL(batteryChanged(UASInterface*, double, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, double, int)));
         disconnect(this->uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
         disconnect(this->uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
         disconnect(this->uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
 
         disconnect(this->uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
         disconnect(this->uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
-        disconnect(this->uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
+        disconnect(this->uas, SIGNAL(velocityChanged_NEDspeedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
         disconnect(this->uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
 
         // Try to disconnect the image link
@@ -286,14 +286,14 @@ void HUD::setActiveUAS(UASInterface* uas)
         // Setup communication
         connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
         connect(uas, SIGNAL(attitudeChanged(UASInterface*,int,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,int,double, double, double, quint64)));
-        connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
+        connect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, double, int)));
         connect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
         connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
         connect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
 
         connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
         connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
-        connect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
+        connect(uas, SIGNAL(velocityChanged_NED(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
         connect(uas, SIGNAL(waypointSelected(int,int)), this, SLOT(selectWaypoint(int, int)));
 
         // Try to connect the image link
@@ -338,10 +338,11 @@ void HUD::updateAttitude(UASInterface* uas, int component, double roll, double p
     }
 }
 
-void HUD::updateBattery(UASInterface* uas, double voltage, double percent, int seconds)
+void HUD::updateBattery(UASInterface* uas, double voltage, double current, double percent, int seconds)
 {
     Q_UNUSED(uas);
     Q_UNUSED(seconds);
+    Q_UNUSED(current);
     fuelStatus = tr("BAT [%1% | %2V]").arg(percent, 2, 'f', 0, QChar('0')).arg(voltage, 4, 'f', 1, QChar('0'));
     if (percent < 20.0f) {
         fuelColor = warningColor;
@@ -711,7 +712,7 @@ void HUD::paintHUD()
 
         // END OF OPENGL PAINTING
 
-        if (hudInstrumentsEnabled) {
+        if (HUDInstrumentsEnabled) {
 
             //glEnable(GL_MULTISAMPLE);
 
@@ -1459,7 +1460,7 @@ void HUD::selectOfflineDirectory()
 
 void HUD::enableHUDInstruments(bool enabled)
 {
-    hudInstrumentsEnabled = enabled;
+    HUDInstrumentsEnabled = enabled;
 }
 
 void HUD::enableVideo(bool enabled)
@@ -1509,7 +1510,7 @@ void HUD::setPixels(int imgid, const unsigned char* imageData, int length, int s
 
 void HUD::copyImage()
 {
-    if (isVisible() && hudInstrumentsEnabled)
+    if (isVisible() && HUDInstrumentsEnabled)
     {
         //qDebug() << "HUD::copyImage()";
         UAS* u = dynamic_cast<UAS*>(this->uas);

src/ui/HUD.h

@@ -69,7 +69,7 @@ public slots:
     /** @brief Attitude from one specific component / redundant autopilot */
     void updateAttitude(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp);
 //    void updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
-    void updateBattery(UASInterface*, double, double, int);
+    void updateBattery(UASInterface*, double, double, double, int);
     void receiveHeartbeat(UASInterface*);
     void updateThrust(UASInterface*, double);
     void updateLocalPosition(UASInterface*,double,double,double,quint64);
@@ -184,7 +184,7 @@ protected:
     int warningBlinkRate;      ///< Blink rate of warning messages, will be rounded to the refresh rate
 
     QTimer* refreshTimer;      ///< The main timer, controls the update rate
-    QPainter* hudPainter;
+    QPainter* HUDPainter;
     QFont font;                ///< The HUD font, per default the free Bitstream Vera SANS, which is very close to actual HUD fonts
     QFontDatabase fontDatabase;///< Font database, only used to load the TrueType font file (the HUD font is directly loaded from file rather than from the system)
     bool noCamera;             ///< No camera images available, draw the ground/sky box to indicate the horizon
@@ -218,7 +218,7 @@ protected:
     float load;
     QString offlineDirectory;
     QString nextOfflineImage;
-    bool hudInstrumentsEnabled;
+    bool HUDInstrumentsEnabled;
     bool videoEnabled;
     bool dataStreamEnabled;
     bool imageLoggingEnabled;

src/ui/MainWindow.cc

@@ -62,6 +62,8 @@ This file is part of the QGROUNDCONTROL project
 #include "UASActionsWidget.h"
 #include "QGCTabbedInfoView.h"
 #include "UASRawStatusView.h"
+#include "PrimaryFlightDisplay.h"
+
 #ifdef QGC_OSG_ENABLED
 #include "Q3DWidgetFactory.h"
 #endif
@@ -357,7 +359,6 @@ QString MainWindow::getWindowStateKey()
         return QString::number(currentView)+"_windowstate_" + UASManager::instance()->getActiveUAS()->getAutopilotTypeName();
     }
     else
-
         return QString::number(currentView)+"_windowstate";
 }
 
@@ -589,11 +590,11 @@ void MainWindow::buildCommonWidgets()
         connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
     }
 
-
-    createDockWidget(simView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
+    // createDockWidget(simView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
+    createDockWidget(simView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
 
     createDockWidget(pilotView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_FLIGHT,Qt::RightDockWidgetArea);
-    createDockWidget(pilotView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
+//    createDockWidget(pilotView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
     //createDockWidget(pilotView,new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
 
     //UASQuickView *quickview = new UASQuickView(this);
@@ -607,6 +608,14 @@ void MainWindow::buildCommonWidgets()
     createDockWidget(pilotView,infoview,tr("Info View"),"UAS_INFO_INFOVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
 
 
+    //createDockWidget(pilotView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
+    createDockWidget(pilotView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
+
+//    createDockWidget(pilotView,new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
+//    createDockWidget(pilotView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
+//    pilotView->setTabPosition(Qt::LeftDockWidgetArea,QTabWidget::North);
+//    pilotView->tabifyDockWidget((QDockWidget*)centralWidgetToDockWidgetsMap[VIEW_FLIGHT]["HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET"],(QDockWidget*)centralWidgetToDockWidgetsMap[VIEW_FLIGHT]["UAS_INFO_QUICKVIEW_DOCKWIDGET"]);
+
     //UASRawStatusView *view = new UASRawStatusView();
     //view->setDecoder(mavlinkDecoder);
     //view->show();
@@ -764,7 +773,12 @@ void MainWindow::loadDockWidget(QString name)
     {
         return;
     }
-    if (name == "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET")
+    if (name.startsWith("HIL_CONFIG"))
+    {
+        //It's a HIL widget.
+        showHILConfigurationWidget(UASManager::instance()->getActiveUAS());
+    }
+    else if (name == "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET")
     {
         createDockWidget(centerStack->currentWidget(),new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",currentView,Qt::LeftDockWidgetArea);
     }
@@ -823,9 +837,10 @@ void MainWindow::loadDockWidget(QString name)
         qDebug() << "Error loading window:" << name << "Unknown window type";
         //createDockWidget(centerStack->currentWidget(),hddisplay,tr("Actuator Status"),"HEADS_DOWN_DISPLAY_2_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
     }
-    else if (name == "HEAD_UP_DISPLAY_DOCKWIDGET")
+    else if (name == "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET")
     {
-        createDockWidget(centerStack->currentWidget(),new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
+        // createDockWidget(centerStack->currentWidget(),new HUD(320,240,this),tr("Head Up Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
+        createDockWidget(centerStack->currentWidget(),new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
     }
     else if (name == "UAS_INFO_QUICKVIEW_DOCKWIDGET")
     {
@@ -921,8 +936,11 @@ void MainWindow::showHILConfigurationWidget(UASInterface* uas)
 
     if (mav && !hilDocks.contains(mav->getUASID()))
     {
+        //QGCToolWidget* tool = new QGCToolWidget("Unnamed Tool " + QString::number(ui.menuTools->actions().size()));
+        //createDockWidget(centerStack->currentWidget(),tool,"Unnamed Tool " + QString::number(ui.menuTools->actions().size()),"UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size())+"DOCK",currentView,Qt::BottomDockWidgetArea);
+
         QGCHilConfiguration* hconf = new QGCHilConfiguration(mav, this);
-        QString hilDockName = tr("HIL Config %1").arg(uas->getUASName());
+       QString hilDockName = tr("HIL Config %1").arg(uas->getUASName());
         QDockWidget* hilDock = createDockWidget(simView, hconf,hilDockName, hilDockName.toUpper().replace(" ", "_"),VIEW_SIMULATION,Qt::LeftDockWidgetArea);
         hilDocks.insert(mav->getUASID(), hilDock);
 
@@ -936,8 +954,8 @@ void MainWindow::showHILConfigurationWidget(UASInterface* uas)
 void MainWindow::closeEvent(QCloseEvent *event)
 {
     if (isVisible()) storeViewState();
-    storeSettings();
     aboutToCloseFlag = true;
+    storeSettings();
     mavlink->storeSettings();
     UASManager::instance()->storeSettings();
     QMainWindow::closeEvent(event);

src/ui/PrimaryFlightDisplay.h

+#ifndef PRIMARYFLIGHTDISPLAY_H
+#define PRIMARYFLIGHTDISPLAY_H
+
+#include <QWidget>
+#include <QPen>
+#include "UASInterface.h"
+
+#define SEPARATE_COMPASS_ASPECTRATIO (3.0f/4.0f)
+
+#define LINEWIDTH 0.0036f
+
+//#define TAPES_TEXT_SIZE 0.028
+//#define AI_TEXT_SIZE 0.040
+//#define AI_TEXT_MIN_PIXELS 12
+//#define AI_TEXT_MAX_PIXELS 36
+//#define PANELS_TEXT_SIZE 0.030
+//#define COMPASS_SCALE_TEXT_SIZE 0.16
+
+#define SMALL_TEXT_SIZE 0.03f
+#define MEDIUM_TEXT_SIZE (SMALL_TEXT_SIZE*1.2f)
+#define LARGE_TEXT_SIZE (MEDIUM_TEXT_SIZE*1.2f)
+
+#define SHOW_ZERO_ON_SCALES true
+
+// all in units of display height
+#define ROLL_SCALE_RADIUS 0.42f
+#define ROLL_SCALE_TICKMARKLENGTH 0.04f
+#define ROLL_SCALE_MARKERWIDTH 0.06f
+#define ROLL_SCALE_MARKERHEIGHT 0.04f
+// scale max. degrees
+#define ROLL_SCALE_RANGE 60
+
+// fraction of height to translate for each degree of pitch.
+#define PITCHTRANSLATION 65.0
+// 10 degrees for each line
+#define PITCH_SCALE_RESOLUTION 5
+#define PITCH_SCALE_MAJORWIDTH 0.1
+#define PITCH_SCALE_MINORWIDTH 0.066
+
+// Beginning from PITCH_SCALE_WIDTHREDUCTION_FROM degrees of +/- pitch, the
+// width of the lines is reduced, down to PITCH_SCALE_WIDTHREDUCTION times
+// the normal width. This helps keep orientation in extreme attitudes.
+#define PITCH_SCALE_WIDTHREDUCTION_FROM 30
+#define PITCH_SCALE_WIDTHREDUCTION 0.3
+
+#define PITCH_SCALE_HALFRANGE 15
+
+// The number of degrees to either side of the heading to draw the compass disk.
+// 180 is valid, this will draw a complete disk. If the disk is partly clipped
+// away, less will do.
+
+#define COMPASS_DISK_MAJORTICK 10
+#define COMPASS_DISK_ARROWTICK 45
+#define COMPASS_DISK_MAJORLINEWIDTH 0.006
+#define COMPASS_DISK_MINORLINEWIDTH 0.004
+#define COMPASS_DISK_RESOLUTION 10
+#define COMPASS_SEPARATE_DISK_RESOLUTION 5
+#define COMPASS_DISK_MARKERWIDTH 0.2
+#define COMPASS_DISK_MARKERHEIGHT 0.133
+
+#define CROSSTRACK_MAX 1000
+#define CROSSTRACK_RADIUS 0.6
+
+#define TAPE_GAUGES_TICKWIDTH_MAJOR 0.25
+#define TAPE_GAUGES_TICKWIDTH_MINOR 0.15
+
+// The altitude difference between top and bottom of scale
+#define ALTIMETER_LINEAR_SPAN 50
+// every 5 meters there is a tick mark
+#define ALTIMETER_LINEAR_RESOLUTION 5
+// every 10 meters there is a number
+#define ALTIMETER_LINEAR_MAJOR_RESOLUTION 10
+
+// Projected: An experiment. Make tape appear projected from a cylinder, like a French "drum" style gauge.
+// The altitude difference between top and bottom of scale
+#define ALTIMETER_PROJECTED_SPAN 50
+// every 5 meters there is a tick mark
+#define ALTIMETER_PROJECTED_RESOLUTION 5
+// every 10 meters there is a number
+#define ALTIMETER_PROJECTED_MAJOR_RESOLUTION 10
+// min. and max. vertical velocity
+//#define ALTIMETER_PROJECTED
+
+// min. and max. vertical velocity
+#define ALTIMETER_VVI_SPAN 5
+#define ALTIMETER_VVI_WIDTH 0.2
+
+// Now the same thing for airspeed!
+#define AIRSPEED_LINEAR_SPAN 15
+#define AIRSPEED_LINEAR_RESOLUTION 1
+#define AIRSPEED_LINEAR_MAJOR_RESOLUTION 5
+
+#define UNKNOWN_BATTERY -1
+#define UNKNOWN_ATTITUDE 0
+#define UNKNOWN_ALTITUDE -1000
+#define UNKNOWN_SPEED -1
+#define UNKNOWN_COUNT -1
+#define UNKNOWN_GPSFIXTYPE -1
+
+class PrimaryFlightDisplay : public QWidget
+{
+    Q_OBJECT
+public:
+    PrimaryFlightDisplay(int width = 640, int height = 480, QWidget* parent = NULL);
+    ~PrimaryFlightDisplay();
+
+public slots:
+    /** @brief Attitude from main autopilot / system state */
+    void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp);
+    /** @brief Attitude from one specific component / redundant autopilot */
+    void updateAttitude(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 timestamp);
+
+    void updatePrimarySpeed(UASInterface* uas, double speed, quint64 timstamp);
+    void updateGPSSpeed(UASInterface* uas, double speed, quint64 timstamp);
+    void updateClimbRate(UASInterface* uas, double altitude, quint64 timestamp);
+    void updatePrimaryAltitude(UASInterface* uas, double altitude, quint64 timestamp);
+    void updateGPSAltitude(UASInterface* uas, double altitude, quint64 timestamp);
+    void updateNavigationControllerErrors(UASInterface* uas, double altitudeError, double speedError, double xtrackError);
+
+    /** @brief Set the currently monitored UAS */
+    virtual void setActiveUAS(UASInterface* uas);
+
+protected:
+    enum Layout {
+        COMPASS_INTEGRATED,
+        COMPASS_SEPARATED               // For a very high container. Feature panels are at bottom.
+    };
+
+    enum Style {
+        NO_OVERLAYS,                    // Hzon not visible through tapes nor through feature panels. Frames with margins between.
+        OVERLAY_HORIZONTAL,             // Hzon visible through tapes and (frameless) feature panels.
+        OVERLAY_HSI                     // Hzon visible through everything except bottom feature panels.
+    };
+
+    void paintEvent(QPaintEvent *event);
+    void resizeEvent(QResizeEvent *e);
+
+    // from HUD.h:
+
+    /** @brief Preferred Size */
+    QSize sizeHint() const;
+    /** @brief Start updating widget */
+    void showEvent(QShowEvent* event);
+    /** @brief Stop updating widget */
+    void hideEvent(QHideEvent* event);
+
+    // dongfang: We have no context menu. Viewonly.
+    // void contextMenuEvent (QContextMenuEvent* event);
+
+    // dongfang: What is that?
+    // dongfang: OK it's for UI interaction. Presently, there is none.
+    void createActions();
+
+signals:
+    void visibilityChanged(bool visible);
+
+private:
+    enum AltimeterMode {
+        PRIMARY_MAIN_GPS_SUB,   // Show the primary alt. on tape and GPS as extra info
+        GPS_MAIN                // Show GPS on tape and no extra info
+    };
+
+    enum AltimeterFrame {
+        ASL,                    // Show ASL altitudes (plane pilots' normal preference)
+        RELATIVE_TO_HOME        // Show relative-to-home altitude (copter pilots)
+    };
+
+    enum SpeedMode {
+        PRIMARY_MAIN_GROUND_SUB,// Show primary speed (often airspeed) on tape and groundspeed as extra
+        GROUND_MAIN             // Show groundspeed on tape and no extra info
+    };
+
+    /*
+     * There are at least these differences between airplane and copter PDF view:
+     * - Airplane show absolute altutude in altimeter, copter shows relative to home
+     */
+    bool isAirplane();
+    bool shouldDisplayNavigationData();
+
+    void drawTextCenter(QPainter& painter, QString text, float fontSize, float x, float y);
+    void drawTextLeftCenter(QPainter& painter, QString text, float fontSize, float x, float y);
+    void drawTextRightCenter(QPainter& painter, QString text, float fontSize, float x, float y);
+    void drawTextCenterBottom(QPainter& painter, QString text, float fontSize, float x, float y);
+    void drawTextCenterTop(QPainter& painter, QString text, float fontSize, float x, float y);
+    void drawAIGlobalFeatures(QPainter& painter, QRectF mainArea, QRectF paintArea);
+    void drawAIAirframeFixedFeatures(QPainter& painter, QRectF area);
+    void drawPitchScale(QPainter& painter, QRectF area, float intrusion, bool drawNumbersLeft, bool drawNumbersRight);
+    void drawRollScale(QPainter& painter, QRectF area, bool drawTicks, bool drawNumbers);
+    void drawAIAttitudeScales(QPainter& painter