Substantially bugfixed and improved deactivation/activation and persistence of...

Substantially bugfixed and improved deactivation/activation and persistence of widgets. A lot of testing of Google Earth view, only minor improvements

images/earth.html

@@ -43,6 +43,9 @@ var aircraft = [];
 var attitudes = [];
 var locations = [];
 var trails = [];
+var trail;
+var lineStringPlacemark;
+var lineStyle;
 
 // Aircraft class
 
@@ -99,15 +102,14 @@ function setGCSHome(lat, lon, alt)
 
 function createAircraft(id, type, color)
 {
-console.debug("Aircraft created");
-	      var planePlacemark = ge.createPlacemark('');
+	      planePlacemark = ge.createPlacemark('');
           planePlacemark.setName('aircraft');
-          var planeModel = ge.createModel('');
+          planeModel = ge.createModel('');
           ge.getFeatures().appendChild(planePlacemark);
-          var planeLoc = ge.createLocation('');
+          planeLoc = ge.createLocation('');
           planeModel.setLocation(planeLoc);
-          var planeLink = ge.createLink('');
-          var planeOrient = ge.createOrientation(''); 
+          planeLink = ge.createLink('');
+          planeOrient = ge.createOrientation(''); 
           planeModel.setOrientation(planeOrient); 
 
           planeLink.setHref('http://qgroundcontrol.org/_media/users/models/multiplex-twinstar.dae');
@@ -125,40 +127,53 @@ console.debug("Aircraft created");
           attitudes[id] = planeOrient;
           locations[id] = planeLoc;
           
-          createTrail(id, color);
-          
-          console.debug("Aircraft created");
+          //createTrail(id, color);
 }
 
 function createTrail(id, color)
 {
-// Create the placemark
-var lineStringPlacemark = ge.createPlacemark('');
-
+          lineStringPlacemark = ge.createPlacemark('');
+          // Create the placemark
 // Create the LineString; set it to extend down to the ground
 // and set the altitude mode
-trails[id] = ge.createLineString('');
-lineStringPlacemark.setGeometry(trails[id]);
-trails[id].setExtrude(true);
-lineString.setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
+trail = ge.createLineString('');
+lineStringPlacemark.setGeometry(trail);
+trail.setExtrude(true);
+trail.setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
 
 // Add LineString points
 //lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700);
 
 // Create a style and set width and color of line
 lineStringPlacemark.setStyleSelector(ge.createStyle(''));
-var lineStyle = lineStringPlacemark.getStyleSelector().getLineStyle();
+lineStyle = lineStringPlacemark.getStyleSelector().getLineStyle();
 lineStyle.setWidth(5);
-lineStyle.getColor().set('99bbaaff');
+lineStyle.getColor().set(color);
 //lineStyle.getColor().set(color);  // aabbggrr format
 
 // Add the feature to Earth
 ge.getFeatures().appendChild(lineStringPlacemark);
+
 }
 
 function addTrailPosition(id, lat, lon, alt)
 {
-	//trails[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
+	trail.setExtrude(true);
+trail.setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
+
+// Add LineString points
+//lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700);
+trail.getCoordinates().pushLatLngAlt(currLat, currLon, currAlt);
+
+// Create a style and set width and color of line
+lineStringPlacemark.setStyleSelector(ge.createStyle(''));
+lineStyle = lineStringPlacemark.getStyleSelector().getLineStyle();
+lineStyle.setWidth(5);
+lineStyle.getColor().set('99bbaaff');
+//lineStyle.getColor().set(color);  // aabbggrr format
+
+// Add the feature to Earth
+ge.getFeatures().replaceChild(lineStringPlacemark, lineStringPlacemark);
 }
 
 function initCallback(object)
@@ -174,36 +189,10 @@ function initCallback(object)
         ge.getLayerRoot().enableLayerById(ge.LAYER_BUILDINGS, true); 
         ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true); 
         ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
-        
-        // Now after the Google Earth initialization, initialize the GCS view
-        //setGCSHome(currLat, currLon, currAlt);
-        
-        
-        // Create the first aircraft model
-        	// Load 3D model
-	      var planePlacemark = ge.createPlacemark('');
-          planePlacemark.setName('aircraft');
-          planeModel = ge.createModel('');
-          ge.getFeatures().appendChild(planePlacemark);
-          planeLoc = ge.createLocation('');
-          planeModel.setLocation(planeLoc);
-          planeLink = ge.createLink('');
-          planeOrient = ge.createOrientation(''); 
-          planeModel.setOrientation(planeOrient); 
-
-          planeLink.setHref('http://qgroundcontrol.org/_media/users/models/multiplex-twinstar.dae');
-          planeModel.setLink(planeLink);
-          planeModel.setAltitudeMode (ge.ALTITUDE_ABSOLUTE); 
 
-          planeLoc.setLatitude(currLat);
-          planeLoc.setLongitude(currLon);
-          planeLoc.setAltitude(currAlt);
+        createTrail(220, 'bb2222ff');
+        createAircraft(220);
 
-          planePlacemark.setGeometry(planeModel);
-          
-          //setAircraftPositionAttitude(220, 47.3772, currLon, currAlt+50, 20, 15, 50);
-          //enableFollowing(true);
-          updateFollowAircraft();
         initialized = true;
         
         
@@ -232,6 +221,18 @@ function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
 	
 }
 
+function enableDaylight(enabled)
+{
+	if(enabled)
+	{
+		ge.getSun().setVisibility(true);
+	}
+	else
+	{
+		ge.getSun().setVisibility(false);
+	}
+}
+		
 function goHome()
 {
 	var currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);

src/QGC.h

@@ -19,4 +19,6 @@ namespace QGC
     const QString COMPANYNAME = "OPENMAV";
 }
 
+#define QGC_EVENTLOOP_DEBUG 0
+
 #endif // QGC_H

src/comm/MAVLinkSimulationLink.cc

@@ -192,6 +192,7 @@ void MAVLinkSimulationLink::mainloop()
     static unsigned int rate1hzCounter = 1;
     static unsigned int rate10hzCounter = 1;
     static unsigned int rate50hzCounter = 1;
+    static unsigned int circleCounter = 0;
 
     // Vary values
 
@@ -374,17 +375,17 @@ void MAVLinkSimulationLink::mainloop()
 
 
         // Move X Position
-        x = x*0.93f + 0.07f*(x+sin(static_cast<float>(QGC::groundTimeUsecs()) * 0.08f));
-        y = y*0.93f + 0.07f*(y+sin(static_cast<float>(QGC::groundTimeUsecs()) * 0.5f));
-        z = z*0.93f + 0.07f*(z+sin(static_cast<float>(QGC::groundTimeUsecs()*0.001f)) * 0.1f);
+        x = 8.0*sin(circleCounter);
+        y = 3.0*cos(circleCounter);
+        z = 1.8 + 1.2*sin(circleCounter/2.0);
 
-        x = (x > 5.0f) ? 5.0f : x;
-        y = (y > 5.0f) ? 5.0f : y;
-        z = (z > 3.0f) ? 3.0f : z;
+//        x = (x > 5.0f) ? 5.0f : x;
+//        y = (y > 5.0f) ? 5.0f : y;
+//        z = (z > 3.0f) ? 3.0f : z;
 
-        x = (x < -5.0f) ? -5.0f : x;
-        y = (y < -5.0f) ? -5.0f : y;
-        z = (z < -3.0f) ? -3.0f : z;
+//        x = (x < -5.0f) ? -5.0f : x;
+//        y = (y < -5.0f) ? -5.0f : y;
+//        z = (z < -3.0f) ? -3.0f : z;
 
         // Send back new setpoint
         mavlink_message_t ret;
@@ -409,7 +410,7 @@ void MAVLinkSimulationLink::mainloop()
         streampointer += bufferlength;
 
         // GLOBAL POSITION
-        mavlink_msg_global_position_pack(systemId, componentId, &ret, 0, 47.378028137103+(x*0.00001), 8.54899892510421+(y*0.00001), z, 0, 0, 0);
+        mavlink_msg_global_position_pack(systemId, componentId, &ret, 0, 47.378028137103+(x*0.01), 8.54899892510421+(y*0.01), z+25.0, 0, 0, 0);
         bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);
@@ -508,6 +509,7 @@ void MAVLinkSimulationLink::mainloop()
         detectionCounter++;
 
         status.vbat = voltage * 1000; // millivolts
+        status.load = 33 * detectionCounter % 1000;
 
         // Pack message and get size of encoded byte string
         messageSize = mavlink_msg_sys_status_encode(systemId, componentId, &msg, &status);
@@ -520,7 +522,7 @@ void MAVLinkSimulationLink::mainloop()
         // Pack debug text message
         mavlink_statustext_t text;
         text.severity = 0;
-        strcpy((char*)(text.text), "DEBUG MESSAGE TEXT");
+        strcpy((char*)(text.text), "Text message from system 32");
         mavlink_msg_statustext_encode(systemId, componentId, &msg, &text);
         bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
         memcpy(stream+streampointer, buffer, bufferlength);
@@ -578,11 +580,11 @@ void MAVLinkSimulationLink::mainloop()
         streampointer += bufferlength;
 
 
-        /*
+
         // HEARTBEAT VEHICLE 2
 
         // Pack message and get size of encoded byte string
-        messageSize = mavlink_msg_heartbeat_pack(42, componentId, &msg, MAV_FIXED_WING);
+        messageSize = mavlink_msg_heartbeat_pack(54, componentId, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_ARDUPILOTMEGA);
         // Allocate buffer with packet data
         bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
         //add data into datastream
@@ -590,25 +592,19 @@ void MAVLinkSimulationLink::mainloop()
         streampointer += bufferlength;
 
         // STATUS VEHICLE 2
-        sys_status_t status2;
+        mavlink_sys_status_t status2;
         status2.mode = MAV_MODE_LOCKED;
         status2.vbat = voltage;
+        status2.load = 120;
         status2.status = MAV_STATE_STANDBY;
 
         // Pack message and get size of encoded byte string
-        messageSize = mavlink_msg_sys_status_encode(systemId, componentId, &msg, &status);
+        messageSize = mavlink_msg_sys_status_encode(54, componentId, &msg, &status);
         // Allocate buffer with packet data
         bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);
         streampointer += bufferlength;
-        */
-        //qDebug() << "BOOT" << "BUF LEN" << bufferlength << "POINTER" << streampointer;
-
-        // AUX STATUS
-        #ifdef MAVLINK_ENABLED_PIXHAWK
-        rawAuxValues.vbat = voltage;
-#endif
 
         rate1hzCounter = 1;
     }
@@ -780,31 +776,6 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                             j++;
                         }
 
-                        /*
-                        // Pack message and get size of encoded byte string
-                        mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)"ROLL_K_P", 0.5f);
-                        // Allocate buffer with packet data
-                        bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
-                        //add data into datastream
-                        memcpy(stream+streampointer,buffer, bufferlength);
-                        streampointer+=bufferlength;
-
-                        // Pack message and get size of encoded byte string
-                        mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)"PITCH_K_P", 0.6f);
-                        // Allocate buffer with packet data
-                        bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
-                        //add data into datastream
-                        memcpy(stream+streampointer,buffer, bufferlength);
-                        streampointer+=bufferlength;
-
-                        // Pack message and get size of encoded byte string
-                        mavlink_msg_param_value_pack(systemId, componentId, &msg, (int8_t*)"YAW_K_P", 0.8f);
-                        // Allocate buffer with packet data
-                        bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
-                        //add data into datastream
-                        memcpy(stream+streampointer,buffer, bufferlength);
-                        streampointer+=bufferlength;*/
-
                         qDebug() << "SIMULATION SENT PARAMETERS TO GCS";
                     }
                 }

src/comm/MAVLinkSimulationLink.h

@@ -94,8 +94,8 @@ protected:
 
     // UAS properties
     float roll, pitch, yaw;
-    float x, y, z;
-    float spX, spY, spZ, spYaw;
+    double x, y, z;
+    double spX, spY, spZ, spYaw;
     int battery;
 
     QTimer* timer;

src/configuration.h

@@ -7,7 +7,7 @@
 #ifdef MAVLINK_ENABLED_SLUGS
   #define SERIAL_POLL_INTERVAL 7
 #else
-  #define SERIAL_POLL_INTERVAL 2
+  #define SERIAL_POLL_INTERVAL 7
 #endif
 
 /** @brief Heartbeat emission rate, in Hertz (times per second) */
@@ -16,6 +16,6 @@
 #define WITH_TEXT_TO_SPEECH 1
 
 #define QGC_APPLICATION_NAME "QGroundControl"
-#define QGC_APPLICATION_VERSION "v. 0.7.7 (Beta)"
+#define QGC_APPLICATION_VERSION "v. 0.8.0 (Beta)"
 
 #endif // CONFIGURATION_H

src/uas/ArduPilotMegaMAV.cc

 /*=====================================================================
-
 QGroundControl Open Source Ground Control Station
 
 (c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
@@ -10,15 +9,15 @@ This file is part of the QGROUNDCONTROL project
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
-
+    
     QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
-
+    
     You should have received a copy of the GNU General Public License
     along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
+    
 ======================================================================*/
 
 /**
@@ -47,17 +46,20 @@ void ArduPilotMegaMAV::receiveMessage(LinkInterface* link, mavlink_message_t mes
 {
     // Let UAS handle the default message set
     UAS::receiveMessage(link, message);
-
-    // Handle your special messages
-    switch (message.msgid)
+    
+    if (message.sysid == uasId)
     {
-    case MAVLINK_MSG_ID_HEARTBEAT:
+        // Handle your special messages
+        switch (message.msgid)
         {
-            qDebug() << "ARDUPILOT RECEIVED HEARTBEAT";
+        case MAVLINK_MSG_ID_HEARTBEAT:
+            {
+                qDebug() << "ARDUPILOT RECEIVED HEARTBEAT";
+                break;
+            }
+        default:
+            qDebug() << "\nARDUPILOT RECEIVED MESSAGE WITH ID" << message.msgid;
             break;
         }
-    default:
-        qDebug() << "\nARDUPILOT RECEIVED MESSAGE WITH ID" << message.msgid;
-        break;
     }
 }

src/uas/SlugsMAV.cc

@@ -60,100 +60,102 @@ SlugsMAV::SlugsMAV(MAVLinkProtocol* mavlink, int id) :
 void SlugsMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 {
     // Let UAS handle the default message set
-   UAS::receiveMessage(link, message);
+    UAS::receiveMessage(link, message);
 
-
-    // Handle your special messages mavlink_message_t* msg = &message;
-    switch (message.msgid)
+    if (message.sysid == uasId)
     {
+        // Handle your special messages mavlink_message_t* msg = &message;
+        switch (message.msgid)
+        {
 
 #ifdef MAVLINK_ENABLED_SLUGS
 
-      case MAVLINK_MSG_ID_BOOT:
-        mavlink_msg_boot_decode(&message,&mlBoot);
-        emit slugsBootMsg(uasId, mlBoot);
-      break;
+        case MAVLINK_MSG_ID_BOOT:
+            mavlink_msg_boot_decode(&message,&mlBoot);
+            emit slugsBootMsg(uasId, mlBoot);
+            break;
 
-      case MAVLINK_MSG_ID_ATTITUDE:
-        mavlink_msg_attitude_decode(&message, &mlAttitude);
-      break;
+        case MAVLINK_MSG_ID_ATTITUDE:
+            mavlink_msg_attitude_decode(&message, &mlAttitude);
+            break;
 
-      case MAVLINK_MSG_ID_GPS_RAW:
-        mavlink_msg_gps_raw_decode(&message, &mlGpsData);
+        case MAVLINK_MSG_ID_GPS_RAW:
+            mavlink_msg_gps_raw_decode(&message, &mlGpsData);
             break;
 
-      case MAVLINK_MSG_ID_ACTION_ACK:      // 62
-        mavlink_msg_action_ack_decode(&message,&mlActionAck);
+        case MAVLINK_MSG_ID_ACTION_ACK:      // 62
+            mavlink_msg_action_ack_decode(&message,&mlActionAck);
             break;
 
-      case MAVLINK_MSG_ID_CPU_LOAD:       //170
-        mavlink_msg_cpu_load_decode(&message,&mlCpuLoadData);
+        case MAVLINK_MSG_ID_CPU_LOAD:       //170
+            mavlink_msg_cpu_load_decode(&message,&mlCpuLoadData);
             break;
 
-      case MAVLINK_MSG_ID_AIR_DATA:       //171
-        mavlink_msg_air_data_decode(&message,&mlAirData);
+        case MAVLINK_MSG_ID_AIR_DATA:       //171
+            mavlink_msg_air_data_decode(&message,&mlAirData);
             break;
 
-      case MAVLINK_MSG_ID_SENSOR_BIAS:    //172
-        mavlink_msg_sensor_bias_decode(&message,&mlSensorBiasData);
-      break;
+        case MAVLINK_MSG_ID_SENSOR_BIAS:    //172
+            mavlink_msg_sensor_bias_decode(&message,&mlSensorBiasData);
+            break;
 
-      case MAVLINK_MSG_ID_DIAGNOSTIC:     //173
-        mavlink_msg_diagnostic_decode(&message,&mlDiagnosticData);
-      break;
+        case MAVLINK_MSG_ID_DIAGNOSTIC:     //173
+            mavlink_msg_diagnostic_decode(&message,&mlDiagnosticData);
+            break;
 
-      case MAVLINK_MSG_ID_PILOT_CONSOLE:  //174
-        mavlink_msg_pilot_console_decode(&message,&mlPilotConsoleData);
+        case MAVLINK_MSG_ID_PILOT_CONSOLE:  //174
+            mavlink_msg_pilot_console_decode(&message,&mlPilotConsoleData);
             break;
 
-      case MAVLINK_MSG_ID_PWM_COMMANDS:   //175
-        mavlink_msg_pwm_commands_decode(&message,&mlPwmCommands);
-      break;
+        case MAVLINK_MSG_ID_PWM_COMMANDS:   //175
+            mavlink_msg_pwm_commands_decode(&message,&mlPwmCommands);
+            break;
 
-      case MAVLINK_MSG_ID_SLUGS_NAVIGATION://176
-        mavlink_msg_slugs_navigation_decode(&message,&mlNavigation);
+        case MAVLINK_MSG_ID_SLUGS_NAVIGATION://176
+            mavlink_msg_slugs_navigation_decode(&message,&mlNavigation);
             break;
 
-      case MAVLINK_MSG_ID_DATA_LOG:       //177
-        mavlink_msg_data_log_decode(&message,&mlDataLog);
-      break;
+        case MAVLINK_MSG_ID_DATA_LOG:       //177
+            mavlink_msg_data_log_decode(&message,&mlDataLog);
+            break;
 
-      case MAVLINK_MSG_ID_FILTERED_DATA:  //178
-        mavlink_msg_filtered_data_decode(&message,&mlFilteredData);
-      break;
+        case MAVLINK_MSG_ID_FILTERED_DATA:  //178
+            mavlink_msg_filtered_data_decode(&message,&mlFilteredData);
+            break;
 
-      case MAVLINK_MSG_ID_GPS_DATE_TIME:    //179
-        mavlink_msg_gps_date_time_decode(&message,&mlGpsDateTime);
+        case MAVLINK_MSG_ID_GPS_DATE_TIME:    //179
+            mavlink_msg_gps_date_time_decode(&message,&mlGpsDateTime);
             break;
 
-      case MAVLINK_MSG_ID_MID_LVL_CMDS:     //180
+        case MAVLINK_MSG_ID_MID_LVL_CMDS:     //180
 
-      break;
+            break;
 
-      case MAVLINK_MSG_ID_CTRL_SRFC_PT:     //181
+        case MAVLINK_MSG_ID_CTRL_SRFC_PT:     //181
 
             break;
 
-      case MAVLINK_MSG_ID_PID:              //182
-          memset(&mlSinglePid,0,sizeof(mavlink_pid_t));
-          mavlink_msg_pid_decode(&message, &mlSinglePid);
-          qDebug() << "\nSLUGS RECEIVED PID Message = "<<mlSinglePid.idx;
+        case MAVLINK_MSG_ID_PID:              //182
+            memset(&mlSinglePid,0,sizeof(mavlink_pid_t));
+            mavlink_msg_pid_decode(&message, &mlSinglePid);
+            qDebug() << "\nSLUGS RECEIVED PID Message = "<<mlSinglePid.idx;
 
-          emit slugsPidValues(uasId, mlSinglePid);
+            emit slugsPidValues(uasId, mlSinglePid);
 
 
-      break;
+            break;
 
-      case MAVLINK_MSG_ID_SLUGS_ACTION:     //183
+        case MAVLINK_MSG_ID_SLUGS_ACTION:     //183
 
-      break;
+            break;
 
 #endif
 
-      default:
-//        qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
+        default:
+            //        qDebug() << "\nSLUGS RECEIVED MESSAGE WITH ID" << message.msgid;
             break;
         }
+    }
 }
 
 

src/uas/UAS.h

@@ -211,7 +211,7 @@ public slots:
     void addLink(LinkInterface* link);
 
     /** @brief Receive a message from one of the communication links. */
-    void receiveMessage(LinkInterface* link, mavlink_message_t message);
+    virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
 
     /** @brief Send a message over this link (to this or to all UAS on this link) */
     void sendMessage(LinkInterface* link, mavlink_message_t message);

src/ui/HDDisplay.cc

@@ -38,6 +38,7 @@ This file is part of the PIXHAWK project
 #include "HDDisplay.h"
 #include "ui_HDDisplay.h"
 #include "MG.h"
+#include "QGC.h"
 #ifndef M_PI
 #define M_PI 3.14159265358979323846
 #endif
@@ -171,6 +172,9 @@ void HDDisplay::paintEvent(QPaintEvent * event)
 
 void HDDisplay::renderOverlay()
 {
+#if (QGC_EVENTLOOP_DEBUG)
+    qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
+#endif
     quint64 refreshInterval = 100;
     quint64 currTime = MG::TIME::getGroundTimeNow();
     if (currTime - lastPaintTime < refreshInterval)
@@ -230,17 +234,17 @@ void HDDisplay::setActiveUAS(UASInterface* uas)
     if (this->uas != NULL && this->uas != uas)
     {
         // Disconnect any previously connected active MAV
-        disconnect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
+        disconnect(this->uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
     }
 
     // Now connect the new UAS
 
-    //if (this->uas != uas)
-    // {
+    if (this->uas != uas)
+    {
     //qDebug() << "UAS SET!" << "ID:" << uas->getUASID();
     // Setup communication
     connect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
-    //}
+    }
     this->uas = uas;
 }
 
@@ -663,16 +667,19 @@ void HDDisplay::showEvent(QShowEvent* event)
 {
     // React only to internal (pre-display)
     // events
-    if (!event->spontaneous())
+    Q_UNUSED(event)
     {
-        if (event->type() == QEvent::Hide)
-        {
-            refreshTimer->stop();
-        }
-        else if (event->type() == QEvent::Show)
-        {
-            refreshTimer->start(updateInterval);
-        }
+        refreshTimer->start(updateInterval);
+    }
+}
+
+void HDDisplay::hideEvent(QHideEvent* event)
+{
+    // React only to internal (pre-display)
+    // events
+    Q_UNUSED(event)
+    {
+        refreshTimer->stop();
     }
 }
 

src/ui/HDDisplay.h

@@ -76,6 +76,7 @@ protected:
     void changeEvent(QEvent *e);
     void paintEvent(QPaintEvent * event);
     void showEvent(QShowEvent* event);
+    void hideEvent(QHideEvent* event);
     float refLineWidthToPen(float line);
     float refToScreenX(float x);
     float refToScreenY(float y);

src/ui/HSIDisplay.h

@@ -112,6 +112,7 @@ protected slots:
 protected:
 
     void showEvent(QShowEvent* event);
+    void hideEvent(QHideEvent* event);
     /** @brief Get color from GPS signal-to-noise colormap */
     static QColor getColorForSNR(float snr);
     /** @brief Metric world coordinates to metric body coordinates */

src/ui/HUD.cc

@@ -41,6 +41,7 @@ This file is part of the QGROUNDCONTROL project
 #include "UASManager.h"
 #include "HUD.h"
 #include "MG.h"
+#include "QGC.h"
 
 // Fix for some platforms, e.g. windows
 #ifndef GL_MULTISAMPLE
@@ -179,16 +180,19 @@ void HUD::showEvent(QShowEvent* event)
 {
     // React only to internal (pre-display)
     // events
-    if (!event->spontaneous())
+    Q_UNUSED(event)
     {
-        if (event->type() == QEvent::Hide)
-        {
-            refreshTimer->stop();
-        }
-        else if (event->type() == QEvent::Show)
-        {
-            refreshTimer->start(updateInterval);
-        }
+        refreshTimer->start(updateInterval);
+    }
+}
+
+void HUD::hideEvent(QHideEvent* event)
+{
+    // React only to internal (pre-display)
+    // events
+    Q_UNUSED(event)
+    {
+        refreshTimer->stop();
     }
 }
 
@@ -561,6 +565,10 @@ void HUD::paintHUD()
     //    qDebug() << "INTERVAL:" << MG::TIME::getGroundTimeNow() - interval << __FILE__ << __LINE__;
     //    interval = MG::TIME::getGroundTimeNow();
 
+#if (QGC_EVENTLOOP_DEBUG)
+    qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
+#endif
+
     // Read out most important values to limit hash table lookups
     static float roll = 0.0f;
     static float pitch = 0.0f;

src/ui/HUD.h

@@ -118,8 +118,10 @@ 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 */
+    /** @brief Start updating widget */
     void showEvent(QShowEvent* event);
+    /** @brief Stop updating widget */
+    void hideEvent(QHideEvent* event);
 
     static const int updateInterval = 50;
 

src/ui/ObjectDetectionView.cc

@@ -77,12 +77,15 @@ void ObjectDetectionView::changeEvent(QEvent *e)
 
 void ObjectDetectionView::setUAS(UASInterface* uas)
 {
-    //if (this->uas == NULL && uas != NULL)
-    //{
+    if (this->uas != NULL)
+    {
+        disconnect(this->uas, SIGNAL(patternDetected(int, QString, float, bool)), this, SLOT(newPattern(int, QString, float, bool)));
+        disconnect(this->uas, SIGNAL(letterDetected(int, QString, float, bool)), this, SLOT(newLetter(int, QString, float, bool)));
+    }
+
     this->uas = uas;
     connect(uas, SIGNAL(patternDetected(int, QString, float, bool)), this, SLOT(newPattern(int, QString, float, bool)));
     connect(uas, SIGNAL(letterDetected(int, QString, float, bool)), this, SLOT(newLetter(int, QString, float, bool)));
-    //}
 }
 
 void ObjectDetectionView::newPattern(int uasId, QString patternPath, float confidence, bool detected)

src/ui/SerialConfigurationWindow.h

@@ -62,11 +62,9 @@ public slots:
     void setLinkName(QString name);
     void setupPortList();
 
-protected slots:
+protected:
     void showEvent(QShowEvent* event);
     void hideEvent(QHideEvent* event);
-
-protected:
     bool userConfigured; ///< Switch to detect if current values are user-selected and shouldn't be overriden
 
 private:

src/ui/linechart/LinechartPlot.cc

@@ -43,6 +43,8 @@ This file is part of the PIXHAWK project
 #include <MG.h>
 #include <QPaintEngine>
 
+#include "QGC.h"
+
 /**
  * @brief The default constructor
  *
@@ -142,7 +144,7 @@ d_curve(NULL)
     // Start QTimer for plot update
     updateTimer = new QTimer(this);
     connect(updateTimer, SIGNAL(timeout()), this, SLOT(paintRealtime()));
-    updateTimer->start(DEFAULT_REFRESH_RATE);
+    //updateTimer->start(DEFAULT_REFRESH_RATE);
 
     //    QwtPlot::setAutoReplot();
 
@@ -155,6 +157,18 @@ LinechartPlot::~LinechartPlot()
     removeAllData();
 }
 
+void LinechartPlot::showEvent(QShowEvent* event)
+{
+    Q_UNUSED(event);
+    updateTimer->start(DEFAULT_REFRESH_RATE);
+}
+
+void LinechartPlot::hideEvent(QHideEvent* event)
+{
+    Q_UNUSED(event);
+    updateTimer->stop();
+}
+
 int LinechartPlot::getPlotId()
 {
     return this->plotid;
@@ -580,6 +594,9 @@ void LinechartPlot::paintRealtime()
 {
     if (m_active)
     {
+#if (QGC_EVENTLOOP_DEBUG)
+    qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
+#endif
         // Update plot window value to new max time if the last time was also the max time
         windowLock.lock();
         if (automaticScrollActive)

src/ui/linechart/LinechartPlot.h

@@ -301,6 +301,8 @@ protected:
     // Methods
     void addCurve(QString id);
     QColor getNextColor();
+    void showEvent(QShowEvent* event);
+    void hideEvent(QHideEvent* event);
 
 private:
     TimeSeriesData* d_data;

src/ui/linechart/LinechartWidget.cc

@@ -447,7 +447,13 @@ void LinechartWidget::removeCurve(QString curve)
 void LinechartWidget::showEvent(QShowEvent* event)
 {
     Q_UNUSED(event);
-    setActive(isVisible());
+    setActive(true);
+}
+
+void LinechartWidget::hideEvent(QHideEvent* event)
+{
+    Q_UNUSED(event);
+    setActive(false);
 }
 
 void LinechartWidget::setActive(bool active)

src/ui/linechart/LinechartWidget.h

@@ -77,8 +77,10 @@ public slots:
     void setPlotWindowPosition(int scrollBarValue);
     void setPlotWindowPosition(quint64 position);
     void setPlotInterval(quint64 interval);
-    /** @brief Override base class show */
-    virtual void showEvent(QShowEvent* event);
+    /** @brief Start automatic updates once visible */
+    void showEvent(QShowEvent* event);
+    /** @brief Stop automatic updates once hidden */
+    void hideEvent(QHideEvent* event);
     void setActive(bool active);
     /** @brief Set the number of values to average over */
     void setAverageWindow(int windowSize);

src/ui/linechart/Linecharts.cc

@@ -10,28 +10,47 @@ Linecharts::Linecharts(QWidget *parent) :
         plots(),
         active(true)
 {
-  this->setVisible(false);
-  // Get current MAV list
-  QList<UASInterface*> systems = UASManager::instance()->getUASList();
+    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)));
-  connect(this, SIGNAL(logfileWritten(QString)),
-          MainWindow::instance(), SLOT(loadDataView(QString)));
+    // 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)));
+    connect(this, SIGNAL(logfileWritten(QString)),
+            MainWindow::instance(), SLOT(loadDataView(QString)));
 }
 
 void Linecharts::showEvent(QShowEvent* event)
 {
     // React only to internal (pre-display)
     // events
-    if (!event->spontaneous())
+    Q_UNUSED(event)
+    {
+        QWidget* prevWidget = currentWidget();
+        if (prevWidget)
+        {
+            LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
+            if (chart)
+            {
+                this->active = true;
+                chart->setActive(true);
+            }
+        }
+    }
+}
+
+void Linecharts::hideEvent(QHideEvent* event)
+{
+    // React only to internal (pre-display)
+    // events
+    Q_UNUSED(event)
     {
         QWidget* prevWidget = currentWidget();
         if (prevWidget)
@@ -39,16 +58,8 @@ void Linecharts::showEvent(QShowEvent* event)
             LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
             if (chart)
             {
-                if (event->type() == QEvent::Hide)
-                {
-                    this->active = false;
-                    chart->setActive(false);
-                }
-                else if (event->type() == QEvent::Show)
-                {
-                    this->active = true;
-                    chart->setActive(true);
-                }
+                this->active = false;
+                chart->setActive(false);
             }
         }
     }

src/ui/linechart/Linecharts.h

@@ -26,8 +26,10 @@ public slots:
 protected:
     QMap<int, LinechartWidget*> plots;
     bool active;
-
+    /** @brief Start updating widget */
     void showEvent(QShowEvent* event);
+    /** @brief Stop updating widget */
+    void hideEvent(QHideEvent* event);
 
 };
 

src/ui/map3D/Q3DWidget.cc

@@ -30,6 +30,7 @@ This file is part of the QGROUNDCONTROL project
  */
 
 #include "Q3DWidget.h"
+#include "QGC.h"
 
 #include <osg/Geometry>
 #include <osg/LineWidth>
@@ -105,24 +106,23 @@ Q3DWidget::init(float fps)
     cameraManipulator->setDistance(cameraParams.minZoomRange * 2.0);
 
     connect(&timer, SIGNAL(timeout()), this, SLOT(redraw()));
-    timer.start(static_cast<int>(floorf(1000.0f / fps)));
+    // DO NOT START TIMER IN INITIALIZATION! IT IS STARTED IN THE SHOW EVENT
 }
 
 void Q3DWidget::showEvent(QShowEvent* event)
 {
     // React only to internal (pre/post-display)
     // events
-    if (!event->spontaneous())
-    {
-        if (event->type() == QEvent::Hide)
-        {
-            timer.stop();
-        }
-        else if (event->type() == QEvent::Show)
-        {
-            timer.start(static_cast<int>(floorf(1000.0f / fps)));
-        }
-    }
+    Q_UNUSED(event)
+    timer.start(static_cast<int>(floorf(1000.0f / fps)));
+}
+
+void Q3DWidget::hideEvent(QHideEvent* event)
+{
+    // React only to internal (pre/post-display)
+    // events
+    Q_UNUSED(event)
+    timer.stop();
 }
 
 osg::ref_ptr<osg::Geode>
@@ -263,6 +263,9 @@ Q3DWidget::getGlobalCursorPosition(int32_t cursorX, int32_t cursorY, double z)
 void
 Q3DWidget::redraw(void)
 {
+#if (QGC_EVENTLOOP_DEBUG)
+    qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
+#endif
     updateGL();
 }
 

src/ui/map3D/Q3DWidget.h

@@ -122,8 +122,10 @@ protected slots:
 
 protected:
 
-    /** @brief Enable / disable widget updating */
+    /** @brief Start widget updating */
     void showEvent(QShowEvent* event);
+    /** @brief Stop widget updating */
+    void hideEvent(QHideEvent* event);
 
     /**
      * @brief Get base robot geode.

src/ui/map3D/QGCGoogleEarthView.cc

@@ -12,6 +12,7 @@
 #include "QGCWebPage.h"
 #endif
 
+#include "QGC.h"
 #include "ui_QGCGoogleEarthView.h"
 #include "QGCGoogleEarthView.h"
 
@@ -85,7 +86,8 @@ QGCGoogleEarthView::~QGCGoogleEarthView()
 void QGCGoogleEarthView::addUAS(UASInterface* uas)
 {
 #ifdef Q_OS_MAC
-        webViewMac->page()->currentFrame()->evaluateJavaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg(uas->getColor().name()));
+    // uasid, type, color (in aarrbbgg format)
+    webViewMac->page()->currentFrame()->evaluateJavaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg(uas->getColor().name().remove(0, 1).prepend("50")));
 #endif
 #ifdef _MSC_VER
         //if (webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
@@ -117,6 +119,9 @@ void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lat, dou
     Q_UNUSED(usec);
 #ifdef Q_OS_MAC
         webViewMac->page()->currentFrame()->evaluateJavaScript(QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15));
+
+        //qDebug() << QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15);
+
 #endif
 #ifdef _MSC_VER
         //if (webViewMac->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
@@ -163,20 +168,17 @@ void QGCGoogleEarthView::setHome(double lat, double lon, double alt)
 #endif
 }
 
+void QGCGoogleEarthView::hideEvent(QHideEvent* event)
+{
+    Q_UNUSED(event) updateTimer->stop();
+}
+
 void QGCGoogleEarthView::showEvent(QShowEvent* event)
 {
     // React only to internal (pre-display)
     // events
-    if (!event->spontaneous())
+    Q_UNUSED(event)
     {
-        if (event->type() == QEvent::Hide)
-        {
-            // Disable widget
-            updateTimer->stop();
-            qDebug() << "STOPPED GOOGLE EARTH UPDATES";
-        }
-        else if (event->type() == QEvent::Show)
-        {
             // Enable widget, initialize on first run
             if (!webViewInitialized)
             {
@@ -198,7 +200,6 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event)
                 QTimer::singleShot(1000, this, SLOT(initializeGoogleEarth()));
                 updateTimer->start(refreshRateMs);
             }
-        }
     }
 }
 
@@ -243,6 +244,9 @@ void QGCGoogleEarthView::initializeGoogleEarth()
 
 void QGCGoogleEarthView::updateState()
 {
+#if (QGC_EVENTLOOP_DEBUG)
+    qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
+#endif
     if (gEarthInitialized)
     {
         int uasId = 0;

src/ui/map3D/QGCGoogleEarthView.h

@@ -89,8 +89,10 @@ protected:
     QWebView* webViewMac;
 #endif
 
-    /** @brief Enable / disable widget updating */
+    /** @brief Start widget updating */
     void showEvent(QShowEvent* event);
+    /** @brief Stop widget updating */
+    void hideEvent(QHideEvent* event);
 
 private:
 #ifdef _MSC_VER

src/ui/uas/UASView.h

@@ -107,8 +107,10 @@ protected:
     void enterEvent(QEvent* event);
     /** @brief Mouse leaves the widget */
     void leaveEvent(QEvent* event);
-    /** @brief Enable / disable widget updating */
+    /** @brief Start widget updating */
     void showEvent(QShowEvent* event);
+    /** @brief Stop widget updating */
+    void hideEvent(QHideEvent* event);
 
 private:
     Ui::UASView *m_ui;