Merged dev-mac

files/quadrotor/pixhawk/parameters/parameters-bravo-icra2012.txt

+# Onboard parameters for system BRAVO
+#
+# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
+42	1	HANDLEWPDELAY	            0.20000000298
+42	1	POSFILTER	                        1
+42	1	PROTDELAY	                       40
+42	1	PROTTIMEOUT	                        2
+42	1	SETPOINTDELAY	                        1
+42	1	YAWTOLERANCE	           0.174500003457
+42	200	ACC_NAV_OFFS_X	                        0
+42	200	ACC_NAV_OFFS_Y	                        0
+42	200	ACC_NAV_OFFS_Z	                    -1000
+42	200	ATT_KAL_KACC	         0.00329999998212
+42	200	ATT_KAL_YAWMOD	                        3
+42	200	ATT_OFFSET_X	                        0
+42	200	ATT_OFFSET_Y	                        0
+42	200	ATT_OFFSET_Z	                        0
+42	200	CAL_ACC_X	                        0
+42	200	CAL_ACC_Y	                        0
+42	200	CAL_ACC_Z	                        0
+42	200	CAL_FIT_ACTIVE	                        0
+42	200	CAL_FIT_GYRO_X	            31496.8007812
+42	200	CAL_FIT_GYRO_Y	            29383.4003906
+42	200	CAL_FIT_GYRO_Z	            30151.0996094
+42	200	CAL_GYRO_X	                    29760
+42	200	CAL_GYRO_Y	                    29671
+42	200	CAL_GYRO_Z	                    29572
+42	200	CAL_MAG_X	                      375
+42	200	CAL_MAG_Y	                      -25
+42	200	CAL_MAG_Z	                    -1000
+42	200	CAL_PRES_DIFF	                    10000
+42	200	CAL_TEMP	                    29557
+42	200	CAM_ANG_X_FAC	                        0
+42	200	CAM_ANG_X_OFF	                        0
+42	200	CAM_ANG_Y_FAC	                        0
+42	200	CAM_ANG_Y_OFF	            0.81099998951
+42	200	CAM_EXP	                     1000
+42	200	CAM_INTERVAL	                   200000
+42	200	DEBUG_1	                        0
+42	200	DEBUG_2	                        0
+42	200	DEBUG_3	                        0
+42	200	DEBUG_4	                        0
+42	200	DEBUG_5	                        1
+42	200	DEBUG_6	                        0
+42	200	GPS_MODE	                        0
+42	200	KAL_VEL_AX	                        1
+42	200	KAL_VEL_AY	                        1
+42	200	KAL_VEL_BX	                        0
+42	200	KAL_VEL_BY	                        0
+42	200	MIX_OFFSET	                        1
+42	200	MIX_POSITION	                        1
+42	200	MIX_POS_YAW	                        1
+42	200	MIX_REMOTE	                        0
+42	200	MIX_Z_POSITION	                        1
+42	200	PID_ATT_AWU	           0.300000011921
+42	200	PID_ATT_D	                       30
+42	200	PID_ATT_I	                       60
+42	200	PID_ATT_LIM	                      100
+42	200	PID_ATT_P	                       90
+42	200	PID_POS_AWU	                        5
+42	200	PID_POS_D	            2.20000004768
+42	200	PID_POS_I	            0.10000000149
+42	200	PID_POS_LIM	            0.20000000298
+42	200	PID_POS_P	                        2
+42	200	PID_POS_Z_AWU	                        3
+42	200	PID_POS_Z_D	                     0.25
+42	200	PID_POS_Z_I	           0.300000011921
+42	200	PID_POS_Z_LIM	           0.300000011921
+42	200	PID_POS_Z_P	                     0.25
+42	200	PID_YAWPOS_AWU	                        1
+42	200	PID_YAWPOS_D	                        1
+42	200	PID_YAWPOS_I	            0.10000000149
+42	200	PID_YAWPOS_LIM	                        3
+42	200	PID_YAWPOS_P	                        5
+42	200	PID_YAWSPEED_D	                        0
+42	200	PID_YAWSPEED_I	                        5
+42	200	PID_YAWSPEED_P	                       15
+42	200	PID_YAWSPE_AWU	                        1
+42	200	PID_YAWSPE_LIM	                       50
+42	200	POS_ESTIM_MODE	                        1
+42	200	POS_HOV_TRUST	           0.550000011921
+42	200	POS_SON_MODE	                        0
+42	200	POS_SON_SCALE	                        1
+42	200	POS_SP_ACCEPT	                        1
+42	200	POS_SP_X	         -0.0329026989639
+42	200	POS_SP_Y	         -0.0478124991059
+42	200	POS_SP_YAW	                        0
+42	200	POS_SP_Z	          -0.643148005009
+42	200	POS_TIMEOUT	                  2000000
+42	200	POS_YAW_TRACK	                        0
+42	200	RC_NICK_CHAN	                        1
+42	200	RC_ROLL_CHAN	                        2
+42	200	RC_SAFETY_CHAN	                        6
+42	200	RC_THRUST_CHAN	                        3
+42	200	RC_TRIM_CHAN	                        0
+42	200	RC_TUNE_CHAN1	                        5
+42	200	RC_TUNE_CHAN2	                        6
+42	200	RC_TUNE_CHAN3	                        7
+42	200	RC_TUNE_CHAN4	                        5
+42	200	RC_YAW_CHAN	                        4
+42	200	SEND_DEBUGCHAN	                        0
+42	200	SLOT_ATTITUDE	                        1
+42	200	SLOT_CONTROL	                        0
+42	200	SLOT_RAW_IMU	                        0
+42	200	SLOT_RC	                        1
+42	200	SYS_COMP_ID	                      200
+42	200	SYS_ID	                       42
+42	200	SYS_IMU_RESET	                        0
+42	200	SYS_SW_VER	                     2000
+42	200	SYS_TYPE	                        2
+42	200	UART_0_BAUD	                   115200
+42	200	UART_1_BAUD	                   115200
+42	200	VEL_DAMP	           0.949999988079
+42	200	VEL_OFFSET_X	                        0
+42	200	VEL_OFFSET_Y	                        0
+42	200	VEL_OFFSET_Z	                        0
+42	200	VICON_TKO_DIST	                      0.5
+42	200	VICON_TKO_TIME	                        2
+42	200	VIS_OUTL_TRESH	            0.20000000298

files/quadrotor/pixhawk/parameters/parameters-bravo-vicon.txt

+# Onboard parameters for system BRAVO
+#
+# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
+42	200	ACC_NAV_OFFS_X	                        0
+42	200	ACC_NAV_OFFS_Y	                        0
+42	200	ACC_NAV_OFFS_Z	                    -1000
+42	200	ATT_KAL_KACC	         0.00329999998212
+42	200	ATT_KAL_YAWMOD	                        3
+42	200	ATT_OFFSET_X	                        0
+42	200	ATT_OFFSET_Y	                        0
+42	200	ATT_OFFSET_Z	                        0
+42	200	CAL_ACC_X	                        0
+42	200	CAL_ACC_Y	                        0
+42	200	CAL_ACC_Z	                        0
+42	200	CAL_FIT_ACTIVE	                        0
+42	200	CAL_FIT_GYRO_X	            31496.8007812
+42	200	CAL_FIT_GYRO_Y	            29383.4003906
+42	200	CAL_FIT_GYRO_Z	            30151.0996094
+42	200	CAL_GYRO_X	                    29760
+42	200	CAL_GYRO_Y	                    29671
+42	200	CAL_GYRO_Z	                    29572
+42	200	CAL_MAG_X	                      375
+42	200	CAL_MAG_Y	                      -25
+42	200	CAL_MAG_Z	                    -1000
+42	200	CAL_PRES_DIFF	                    10000
+42	200	CAL_TEMP	                    29557
+42	200	CAM_ANG_X_FAC	                        0
+42	200	CAM_ANG_X_OFF	                        0
+42	200	CAM_ANG_Y_FAC	                        0
+42	200	CAM_ANG_Y_OFF	           0.898000001907
+42	200	CAM_EXP	                     1000
+42	200	CAM_INTERVAL	                   200000
+42	200	DEBUG_1	                        0
+42	200	DEBUG_2	                        0
+42	200	DEBUG_3	                        0
+42	200	DEBUG_4	                        0
+42	200	DEBUG_5	                        1
+42	200	DEBUG_6	                        0
+42	200	GPS_MODE	                        0
+42	200	KAL_VEL_AX	                        1
+42	200	KAL_VEL_AY	                        1
+42	200	KAL_VEL_BX	                        0
+42	200	KAL_VEL_BY	                        0
+42	200	MIX_OFFSET	                        1
+42	200	MIX_POSITION	                        1
+42	200	MIX_POS_YAW	                        1
+42	200	MIX_REMOTE	                        0
+42	200	MIX_Z_POSITION	                        1
+42	200	PID_ATT_AWU	           0.300000011921
+42	200	PID_ATT_D	                       30
+42	200	PID_ATT_I	                       60
+42	200	PID_ATT_LIM	                      100
+42	200	PID_ATT_P	                       90
+42	200	PID_POS_AWU	                        5
+42	200	PID_POS_D	                      3.5
+42	200	PID_POS_I	           0.300000011921
+42	200	PID_POS_LIM	            0.20000000298
+42	200	PID_POS_P	                        3
+42	200	PID_POS_Z_AWU	                        3
+42	200	PID_POS_Z_D	                     0.25
+42	200	PID_POS_Z_I	           0.300000011921
+42	200	PID_POS_Z_LIM	           0.300000011921
+42	200	PID_POS_Z_P	                     0.25
+42	200	PID_YAWPOS_AWU	                        1
+42	200	PID_YAWPOS_D	                        1
+42	200	PID_YAWPOS_I	            0.10000000149
+42	200	PID_YAWPOS_LIM	                        3
+42	200	PID_YAWPOS_P	                        5
+42	200	PID_YAWSPEED_D	                        0
+42	200	PID_YAWSPEED_I	                        5
+42	200	PID_YAWSPEED_P	                       15
+42	200	PID_YAWSPE_AWU	                        1
+42	200	PID_YAWSPE_LIM	                       50
+42	200	POS_ESTIM_MODE	                        3
+42	200	POS_HOV_TRUST	                      0.5
+42	200	POS_SON_MODE	                        0
+42	200	POS_SON_SCALE	                        1
+42	200	POS_SP_ACCEPT	                        1
+42	200	POS_SP_X	           0.254168212414
+42	200	POS_SP_Y	          -0.378409773111
+42	200	POS_SP_YAW	                        0
+42	200	POS_SP_Z	         -0.0880969688296
+42	200	POS_TIMEOUT	                  2000000
+42	200	POS_YAW_TRACK	                        0
+42	200	RC_NICK_CHAN	                        1
+42	200	RC_ROLL_CHAN	                        2
+42	200	RC_SAFETY_CHAN	                        6
+42	200	RC_THRUST_CHAN	                        3
+42	200	RC_TRIM_CHAN	                        0
+42	200	RC_TUNE_CHAN1	                        5
+42	200	RC_TUNE_CHAN2	                        6
+42	200	RC_TUNE_CHAN3	                        7
+42	200	RC_TUNE_CHAN4	                        5
+42	200	RC_YAW_CHAN	                        4
+42	200	SEND_DEBUGCHAN	                        0
+42	200	SLOT_ATTITUDE	                        1
+42	200	SLOT_CONTROL	                        0
+42	200	SLOT_RAW_IMU	                        0
+42	200	SLOT_RC	                        1
+42	200	SYS_COMP_ID	                      200
+42	200	SYS_ID	                       42
+42	200	SYS_IMU_RESET	                        0
+42	200	SYS_SW_VER	                     2000
+42	200	SYS_TYPE	                        2
+42	200	UART_0_BAUD	                   115200
+42	200	UART_1_BAUD	                   115200
+42	200	VEL_DAMP	           0.949999988079
+42	200	VEL_OFFSET_X	                        0
+42	200	VEL_OFFSET_Y	                        0
+42	200	VEL_OFFSET_Z	                        0
+42	200	VICON_TKO_DIST	                      0.5
+42	200	VICON_TKO_TIME	                        2
+42	200	VIS_OUTL_TRESH	            0.20000000298

images/style-mission.css

@@ -338,6 +338,7 @@ QProgressBar {
 	padding: 2px;
 	color: #DDDDDF;
 	background-color: #111118;
+    height: 10px;
 }
 
 QProgressBar:horizontal {
@@ -398,3 +399,28 @@ QDialog {
  QTabBar::tab:selected {
      border: 2px solid #379AC3;
  }
+
+QLabel {
+    background-color: transparent;
+}
+
+QLabel#toolBarNameLabel {
+	font: bold 16px;
+	color: #3C7B9E;
+}
+
+QLabel#toolBarModeLabel {
+	font: 12px;
+}
+
+QLabel#toolBarStateLabel {
+	font: 12px;
+	color: #3C7B9E;
+}
+
+QLabel#toolBarMessageLabel {
+	font: 12px;
+    font-style: italic;
+	color: #3C7B9E;
+}
+

src/uas/UAS.cc

@@ -44,7 +44,7 @@ warnVoltage(9.5f),
 warnLevelPercent(20.0f),
 currentVoltage(12.0f),
 lpVoltage(12.0f),
-batteryRemainingEstimateEnabled(false),
+batteryRemainingEstimateEnabled(true),
 mode(-1),
 status(-1),
 navMode(-1),
@@ -603,19 +603,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit textMessageReceived(uasId, message.compid, 0, tr("FAILURE: Rejected CMD: %1").arg(ack.command));
             }
             break;
-        case MAVLINK_MSG_ID_DEBUG:
-            // FIXME REMOVE LATER emit valueChanged(uasId, QString("debug ") + QString::number(mavlink_msg_debug_get_ind(&message)), "raw", mavlink_msg_debug_get_value(&message), MG::TIME::getGroundTimeNow());
-            break;
         case MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT:
             {
                 mavlink_roll_pitch_yaw_thrust_setpoint_t out;
                 mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(&message, &out);
                 quint64 time = getUnixTimeFromMs(out.time_boot_ms);
                 emit attitudeThrustSetPointChanged(this, out.roll, out.pitch, out.yaw, out.thrust, time);
-                // FIXME REMOVE LATER emit valueChanged(uasId, "att control roll", "rad", out.roll, time);
-                // FIXME REMOVE LATER emit valueChanged(uasId, "att control pitch", "rad", out.pitch, time);
-                // FIXME REMOVE LATER emit valueChanged(uasId, "att control yaw", "rad", out.yaw, time);
-                // FIXME REMOVE LATER emit valueChanged(uasId, "att control thrust", "0-1", out.thrust, time);
             }
             break;
         case MAVLINK_MSG_ID_MISSION_COUNT:
@@ -877,6 +870,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
         case MAVLINK_MSG_ID_OPTICAL_FLOW:
         case MAVLINK_MSG_ID_DEBUG_VECT:
+        case MAVLINK_MSG_ID_DEBUG:
             break;
         default:
             {
@@ -1914,7 +1908,6 @@ void UAS::receiveButton(int buttonIndex)
 }
 
 
-
 void UAS::halt()
 {
     // FIXME MAVLINKV10PORTINGNEEDED

src/uas/UASWaypointManager.cc

@@ -48,6 +48,8 @@ UASWaypointManager::UASWaypointManager(UAS &_uas)
       protocol_timer(this)
 {
     connect(&protocol_timer, SIGNAL(timeout()), this, SLOT(timeout()));
+    connect(&uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(handleLocalPositionChanged(UASInterface*,double,double,double,quint64)));
+    connect(&uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(handleGlobalPositionChanged(UASInterface*,double,double,double,quint64)));
 }
 
 void UASWaypointManager::timeout()
@@ -85,6 +87,25 @@ void UASWaypointManager::timeout()
     }
 }
 
+void UASWaypointManager::handleLocalPositionChanged(UASInterface* mav, double x, double y, double z, quint64 time)
+{
+    Q_UNUSED(mav);
+    Q_UNUSED(time);
+    if (waypoints.count() > 0 && (waypoints[current_wp_id]->getFrame() == MAV_FRAME_LOCAL || waypoints[current_wp_id]->getFrame() == MAV_FRAME_LOCAL_ENU))
+    {
+        double xdiff = x-waypoints[current_wp_id]->getX();
+        double ydiff = y-waypoints[current_wp_id]->getY();
+        double zdiff = z-waypoints[current_wp_id]->getZ();
+        double dist = sqrt(xdiff*xdiff + ydiff*ydiff + zdiff*zdiff);
+        emit waypointDistanceChanged(dist);
+    }
+}
+
+void UASWaypointManager::handleGlobalPositionChanged(UASInterface* mav, double lat, double lon, double alt, quint64 time)
+{
+
+}
+
 void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, quint16 count)
 {
     if (current_state == WP_GETLIST && systemId == current_partner_systemid && compId == current_partner_compid) {

src/uas/UASWaypointManager.h

@@ -38,6 +38,7 @@ This file is part of the QGROUNDCONTROL project
 #include "Waypoint.h"
 #include "QGCMAVLink.h"
 class UAS;
+class UASInterface;
 
 /**
  * @brief Implementation of the MAVLINK waypoint protocol
@@ -138,6 +139,8 @@ public slots:
     void loadWaypoints(const QString &loadFile);           ///< loads a waypoint list from loadFile
     void notifyOfChange(Waypoint* wp);                     ///< Notifies manager to changes to a waypoint
     /*@}*/
+    void handleLocalPositionChanged(UASInterface* mav, double x, double y, double z, quint64 time);
+    void handleGlobalPositionChanged(UASInterface* mav, double lat, double lon, double alt, quint64 time);
 
 signals:
     void waypointListChanged(void);                 ///< emits signal that the waypoint list has been changed
@@ -145,6 +148,7 @@ signals:
     void waypointChanged(int uasid, Waypoint* wp);  ///< emits signal that waypoint has been changed
     void currentWaypointChanged(quint16);           ///< emits the new current waypoint sequence number
     void updateStatusString(const QString &);       ///< emits the current status string
+    void waypointDistanceChanged(double distance);   ///< Distance to next waypoint changed (in meters)
 
     void loadWPFile();                              ///< emits signal that a file wp has been load
     void readGlobalWPFromUAS(bool value);           ///< emits signal when finish to read Global WP from UAS

src/ui/MainWindow.cc

@@ -124,6 +124,15 @@ MainWindow::MainWindow(QWidget *parent):
     centerStack = new QStackedWidget(this);
     setCentralWidget(centerStack);
 
+    // Load Toolbar
+    toolBar = new QGCToolBar(this);
+    this->addToolBar(toolBar);
+    // Add actions
+    toolBar->addPerspectiveChangeAction(ui.actionOperatorsView);
+    toolBar->addPerspectiveChangeAction(ui.actionEngineersView);
+    toolBar->addPerspectiveChangeAction(ui.actionPilotsView);
+    toolBar->addPerspectiveChangeAction(ui.actionUnconnectedView);
+
     buildCommonWidgets();
     connectCommonWidgets();
 
@@ -348,7 +357,9 @@ void MainWindow::buildCommonWidgets()
     if (!logPlayerDockWidget)
     {
         logPlayerDockWidget = new QDockWidget(tr("MAVLink Log Player"), this);
-        logPlayerDockWidget->setWidget( new QGCMAVLinkLogPlayer(mavlink, this) );
+        logPlayer = new QGCMAVLinkLogPlayer(mavlink, this);
+        toolBar->setLogPlayer(logPlayer);
+        logPlayerDockWidget->setWidget(logPlayer);
         logPlayerDockWidget->setObjectName("MAVLINK_LOG_PLAYER_DOCKWIDGET");
         addTool(logPlayerDockWidget, tr("MAVLink Log Replay"), Qt::RightDockWidgetArea);
     }

src/ui/MainWindow.h

@@ -76,7 +76,7 @@ This file is part of the QGROUNDCONTROL project
 #include "SlugsPadCameraControl.h"
 #include "UASControlParameters.h"
 #include "QGCMAVLinkInspector.h"
-
+#include "QGCMAVLinkLogPlayer.h"
 #include "MAVLinkDecoder.h"
 
 class QGCMapTool;
@@ -213,6 +213,17 @@ public slots:
      */
     void showCentralWidget();
 
+public:
+    QGCMAVLinkLogPlayer* getLogPlayer()
+    {
+        return logPlayer;
+    }
+
+    MAVLinkProtocol* getMAVLink()
+    {
+        return mavlink;
+    }
+
 protected:
 
     MainWindow(QWidget *parent = 0);
@@ -332,7 +343,7 @@ protected:
 
     QPointer<QDockWidget> mavlinkInspectorWidget;
     QPointer<MAVLinkDecoder> mavlinkDecoder;
-
+    QGCMAVLinkLogPlayer* logPlayer;
 
     // Popup widgets
     JoystickWidget* joystickWidget;

src/ui/QGCMAVLinkLogPlayer.h

@@ -27,8 +27,21 @@ class QGCMAVLinkLogPlayer : public QWidget
 public:
     explicit QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *parent = 0);
     ~QGCMAVLinkLogPlayer();
+    bool isPlayingLogFile()
+    {
+        return isPlaying;
+    }
+
+    bool isLogFileSelected()
+    {
+        return logFile.isOpen();
+    }
 
 public slots:
+    /** @brief Toggle between play and pause */
+    void playPauseToggle();
+    /** @brief Play / pause the log */
+    void playPause(bool play);
     /** @brief Replay the logfile */
     void play();
     /** @brief Pause the logfile */
@@ -36,9 +49,9 @@ public slots:
     /** @brief Reset the logfile */
     bool reset(int packetIndex=0);
     /** @brief Select logfile */
-    void selectLogFile();
+    bool selectLogFile();
     /** @brief Load log file */
-    void loadLogFile(const QString& file);
+    bool loadLogFile(const QString& file);
     /** @brief Jump to a position in the logfile */
     void jumpToSliderVal(int slidervalue);
     /** @brief The logging mainloop */
@@ -64,6 +77,7 @@ protected:
     int loopCounter;
     bool mavlinkLogFormat;
     int binaryBaudRate;
+    bool isPlaying;
     static const int packetLen = MAVLINK_MAX_PACKET_LEN;
     static const int timeLen = sizeof(quint64);
     void changeEvent(QEvent *e);

src/ui/QGCMAVLinkLogPlayer.ui

@@ -75,32 +75,6 @@
      </property>
     </widget>
    </item>
-   <item row="3" column="5">
-    <widget class="QToolButton" name="pauseButton">
-     <property name="toolTip">
-      <string>Pause the logfile</string>
-     </property>
-     <property name="statusTip">
-      <string>Pause the logfile</string>
-     </property>
-     <property name="whatsThis">
-      <string>Pause the logfile</string>
-     </property>
-     <property name="text">
-      <string>...</string>
-     </property>
-     <property name="icon">
-      <iconset resource="../../mavground.qrc">
-       <normaloff>:/images/actions/media-playback-pause.svg</normaloff>:/images/actions/media-playback-pause.svg</iconset>
-     </property>
-     <property name="checkable">
-      <bool>true</bool>
-     </property>
-     <property name="checked">
-      <bool>true</bool>
-     </property>
-    </widget>
-   </item>
    <item row="1" column="0">
     <widget class="QLabel" name="speedLabel">
      <property name="toolTip">
@@ -117,7 +91,23 @@
      </property>
     </widget>
    </item>
-   <item row="3" column="4">
+   <item row="4" column="0" colspan="6">
+    <widget class="QSlider" name="positionSlider">
+     <property name="maximum">
+      <number>10000</number>
+     </property>
+     <property name="pageStep">
+      <number>100</number>
+     </property>
+     <property name="tracking">
+      <bool>false</bool>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="5">
     <widget class="QToolButton" name="playButton">
      <property name="toolTip">
       <string>Start to replay the logfile</string>
@@ -132,7 +122,7 @@
       <string>...</string>
      </property>
      <property name="icon">
-      <iconset resource="../../mavground.qrc">
+      <iconset resource="../../qgroundcontrol.qrc">
        <normaloff>:/images/actions/media-playback-start.svg</normaloff>:/images/actions/media-playback-start.svg</iconset>
      </property>
      <property name="checkable">
@@ -140,26 +130,10 @@
      </property>
     </widget>
    </item>
-   <item row="4" column="0" colspan="6">
-    <widget class="QSlider" name="positionSlider">
-     <property name="maximum">
-      <number>10000</number>
-     </property>
-     <property name="pageStep">
-      <number>100</number>
-     </property>
-     <property name="tracking">
-      <bool>false</bool>
-     </property>
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-    </widget>
-   </item>
   </layout>
  </widget>
  <resources>
-  <include location="../../mavground.qrc"/>
+  <include location="../../qgroundcontrol.qrc"/>
  </resources>
  <connections/>
 </ui>

src/ui/QGCToolBar.h

@@ -28,14 +28,16 @@ This file is part of the QGROUNDCONTROL project
 #include <QAction>
 #include <QToolButton>
 #include <QLabel>
+#include <QProgressBar>
 #include "UASInterface.h"
+#include "QGCMAVLinkLogPlayer.h"
 
 class QGCToolBar : public QToolBar
 {
     Q_OBJECT
 
 public:
-    explicit QGCToolBar(QWidget *parent = 0);
+    explicit QGCToolBar(QWidget* parent = 0);
     void addPerspectiveChangeAction(QAction* action);
     ~QGCToolBar();
 
@@ -52,6 +54,18 @@ public slots:
     void setSystemType(UASInterface* uas, unsigned int systemType);
     /** @brief Received system text message */
     void receiveTextMessage(int uasid, int componentid, int severity, QString text);
+    /** @brief Start / stop logging */
+    void logging(bool enabled);
+    /** @brief Start playing logfile */
+    void playLogFile(bool enabled);
+    /** @brief Set log playing component */
+    void setLogPlayer(QGCMAVLinkLogPlayer* player);
+    /** @brief Update battery charge state */
+    void updateBatteryRemaining(UASInterface* uas, double voltage, double percent, int seconds);
+    /** @brief Update current waypoint */
+    void updateCurrentWaypoint(quint16 id);
+    /** @brief Update distance to current waypoint */
+    void updateWaypointDistance(double distance);
 
 protected:
     void createCustomWidgets();
@@ -60,12 +74,15 @@ protected:
     QAction* logReplayAction;
     UASInterface* mav;
     QToolButton* symbolButton;
-    QLabel* nameLabel;
-    QLabel* modeLabel;
-    QLabel* stateLabel;
-    QLabel* wpLabel;
-    QLabel* distlabel;
-    QLabel* messageLabel;
+    QLabel* toolBarNameLabel;
+    QLabel* toolBarModeLabel;
+    QLabel* toolBarStateLabel;
+    QLabel* toolBarWpLabel;
+    QLabel* toolBarDistLabel;
+    QLabel* toolBarMessageLabel;
+    QProgressBar* toolBarBatteryBar;
+    QLabel* toolBarBatteryVoltageLabel;
+    QGCMAVLinkLogPlayer* player;
 };
 
 #endif // QGCTOOLBAR_H

src/ui/uas/UASListWidget.cc

@@ -114,6 +114,7 @@ void UASListWidget::activeUAS(UASInterface* uas)
 
 void UASListWidget::removeUAS(UASInterface* uas)
 {
+    uasViews.remove(uas);
     listLayout->removeWidget(uasViews.value(uas));
     uasViews.value(uas)->deleteLater();
 }