Cleanup, moved output files, added set home button

qgroundcontrol.pri

@@ -65,7 +65,7 @@ macx {
 
     QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.5
 
-    DESTDIR = $$BASEDIR/bin/mac
+    #DESTDIR = $$BASEDIR/bin/mac
     INCLUDEPATH += -framework SDL
 
     LIBS += -framework IOKit \
@@ -146,12 +146,12 @@ macx {
 linux-g++ {
 
     debug {
-        DESTDIR = $$BUILDDIR/debug
+        #DESTDIR = $$BUILDDIR/debug
         CONFIG += debug
     }
 
     release {
-        DESTDIR = $$BUILDDIR/release
+        #DESTDIR = $$BUILDDIR/release
     }
 
     QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
@@ -214,12 +214,12 @@ linux-g++ {
 linux-g++-64 {
 
     debug {
-        DESTDIR = $$BUILDDIR/debug
+        #DESTDIR = $$BUILDDIR/debug
         CONFIG += debug
     }
 
     release {
-        DESTDIR = $$BUILDDIR/release
+        #DESTDIR = $$BUILDDIR/release
     }
 
     QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
@@ -364,11 +364,11 @@ win32-g++ {
 
 
     debug {
-        DESTDIR = $$BUILDDIR/debug
+        #DESTDIR = $$BUILDDIR/debug
     }
 
     release {
-        DESTDIR = $$BUILDDIR/release
+        #DESTDIR = $$BUILDDIR/release
     }
         
     RC_FILE = $$BASEDIR/qgroundcontrol.rc

src/uas/UAS.cc

@@ -421,6 +421,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 }
             }
             break;
+        case MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET:
+            {
+                mavlink_gps_local_origin_set_t pos;
+                mavlink_msg_gps_local_origin_set_decode(&message, &pos);
+                // FIXME Emit to other components
+            }
+            break;
         case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
             {
                 mavlink_rc_channels_raw_t channels;
@@ -657,6 +664,36 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
     }
 }
 
+void UAS::setLocalOriginAtCurrentGPSPosition()
+{
+
+    bool result = false;
+    QMessageBox msgBox;
+    msgBox.setIcon(QMessageBox::Warning);
+    msgBox.setText("Setting new World Coordinate Frame Origin");
+    msgBox.setInformativeText("Do you want to set a new origin? Waypoints defined in the local frame will be shifted in their physical location");
+    msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
+    msgBox.setDefaultButton(QMessageBox::Cancel);
+    int ret = msgBox.exec();
+
+    // Close the message box shortly after the click to prevent accidental clicks
+    QTimer::singleShot(5000, &msgBox, SLOT(reject()));
+
+
+    if (ret == QMessageBox::Yes)
+    {
+        mavlink_message_t msg;
+        mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getSystemId(), &msg, this->getUASID(), 0, MAV_ACTION_SET_ORIGIN);
+        // Send message twice to increase chance that it reaches its goal
+        sendMessage(msg);
+        // Wait 5 ms
+        MG::SLEEP::usleep(5000);
+        // Send again
+        sendMessage(msg);
+        result = true;
+    }
+}
+
 void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
 {
     #ifdef MAVLINK_ENABLED_PIXHAWK

src/uas/UAS.h

@@ -243,6 +243,8 @@ public slots:
     /** @brief Update the system state */
     void updateState();
 
+    /** @brief Set world frame origin at current GPS position */
+    void setLocalOriginAtCurrentGPSPosition();
     /** @brief Set local position setpoint */
     void setLocalPositionSetpoint(float x, float y, float z, float yaw);
     /** @brief Add an offset in body frame to the setpoint */

src/uas/UASInterface.h

@@ -194,6 +194,8 @@ public slots:
     //virtual void requestWaypoints() = 0;
     /** @brief Clear all existing waypoints on the robot */
     //virtual void clearWaypointList() = 0;
+    /** @brief Set world frame origin at current GPS position */
+    virtual void setLocalOriginAtCurrentGPSPosition() = 0;
     /** @brief Request all onboard parameters of all components */
     virtual void requestParameters() = 0;
     /** @brief Write parameter to permanent storage */

src/ui/UASControl.ui

@@ -219,7 +219,7 @@
       </size>
      </property>
      <property name="text">
-      <string>Set Home</string>
+      <string>Set Origin</string>
      </property>
      <property name="icon">
       <iconset resource="../../mavground.qrc">

src/ui/uas/UASControlWidget.cc

@@ -95,6 +95,7 @@ void UASControlWidget::setUAS(UASInterface* uas)
         disconnect(ui.liftoffButton, SIGNAL(clicked()), oldUAS, SLOT(launch()));
         disconnect(ui.landButton, SIGNAL(clicked()), oldUAS, SLOT(home()));
         disconnect(ui.shutdownButton, SIGNAL(clicked()), oldUAS, SLOT(shutdown()));
+        connect(ui.setHomeButton, SIGNAL(clicked()), uas, SLOT(setLocalOriginAtCurrentGPSPosition()));
         disconnect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
         disconnect(uas, SIGNAL(statusChanged(int)), this, SLOT(updateState(int)));
     }
@@ -104,6 +105,7 @@ void UASControlWidget::setUAS(UASInterface* uas)
     connect(ui.liftoffButton, SIGNAL(clicked()), uas, SLOT(launch()));
     connect(ui.landButton, SIGNAL(clicked()), uas, SLOT(home()));
     connect(ui.shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
+    connect(ui.setHomeButton, SIGNAL(clicked()), uas, SLOT(setLocalOriginAtCurrentGPSPosition()));
     connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
     connect(uas, SIGNAL(statusChanged(int)), this, SLOT(updateState(int)));