Altitude splitted to altitudeAMSL and altitudeRelative, speed splitted to...

Altitude splitted to altitudeAMSL and altitudeRelative, speed splitted to airSpeed and groundSpeed. PrimaryFlightDisplay uses airSpeed for FW and groundSpeed for MC.

src/comm/QGCXPlaneLink.cc

@@ -911,14 +911,14 @@ void QGCXPlaneLink::setRandomPosition()
     double offLon = rand() / static_cast<double>(RAND_MAX) / 500.0 + 1.0/500.0;
     double offAlt = rand() / static_cast<double>(RAND_MAX) * 200.0 + 100.0;
 
-    if (mav->getAltitude() + offAlt < 0)
+    if (mav->getAltitudeAMSL() + offAlt < 0)
     {
         offAlt *= -1.0;
     }
 
     setPositionAttitude(mav->getLatitude() + offLat,
                         mav->getLongitude() + offLon,
-                        mav->getAltitude() + offAlt,
+                        mav->getAltitudeAMSL() + offAlt,
                         mav->getRoll(),
                         mav->getPitch(),
                         mav->getYaw());
@@ -935,7 +935,7 @@ void QGCXPlaneLink::setRandomAttitude()
 
     setPositionAttitude(mav->getLatitude(),
                         mav->getLongitude(),
-                        mav->getAltitude(),
+                        mav->getAltitudeAMSL(),
                         roll,
                         pitch,
                         yaw);

src/uas/UAS.cc

@@ -109,6 +109,19 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     localX(0.0),
     localY(0.0),
     localZ(0.0),
+
+    latitude(0.0),
+    longitude(0.0),
+    altitudeAMSL(0.0),
+    altitudeRelative(0.0),
+
+    airSpeed(NAN),
+    groundSpeed(NAN),
+
+    speedX(0.0),
+    speedY(0.0),
+    speedZ(0.0),
+
     globalEstimatorActive(false),
     latitude_gps(0.0),
     longitude_gps(0.0),
@@ -819,18 +832,17 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
             if (!attitudeKnown)
             {
-                //yaw = QGC::limitAngleToPMPId((((double)hud.heading-180.0)/360.0)*M_PI);
-                setYaw(QGC::limitAngleToPMPId((((double)hud.heading-180.0)/360.0)*M_PI));
+                setYaw(QGC::limitAngleToPMPId((((double)hud.heading)/180.0)*M_PI));
                 emit attitudeChanged(this, getRoll(), getPitch(), getYaw(), time);
             }
 
-            // The primary altitude is the one that the UAV uses for navigation.
-            // We assume! that the HUD message reports that as altitude.
-            emit primaryAltitudeChanged(this, hud.alt, time);
-
-            emit primarySpeedChanged(this, hud.airspeed, time);
-            emit gpsSpeedChanged(this, hud.groundspeed, time);
-            emit climbRateChanged(this, hud.climb, time);
+            setAltitudeAMSL(hud.alt);
+            setGroundSpeed(hud.groundspeed);
+            if (!isnan(hud.airspeed))
+                setAirSpeed(hud.airspeed);
+            speedZ = -hud.climb;
+            emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
+            emit speedChanged(this, groundSpeed, airSpeed, time);
         }
             break;
         case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
@@ -846,13 +858,17 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
             if (!wrongComponent)
             {
-                localX = pos.x;
-                localY = pos.y;
-                localZ = pos.z;
+                setLocalX(pos.x);
+                setLocalY(pos.y);
+                setLocalZ(pos.z);
+
+                speedX = pos.vx;
+                speedY = pos.vy;
+                speedZ = pos.vz;
 
                 // Emit
-                emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
-                emit velocityChanged_NED(this, pos.vx, pos.vy, pos.vz, time);
+                emit localPositionChanged(this, localX, localY, localZ, time);
+                emit velocityChanged_NED(this, speedX, speedY, speedZ, time);
 
                 // Set internal state
                 if (!positionLock) {
@@ -879,15 +895,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         {
             mavlink_global_position_int_t pos;
             mavlink_msg_global_position_int_decode(&message, &pos);
+
             quint64 time = getUnixTime();
+
             setLatitude(pos.lat/(double)1E7);
             setLongitude(pos.lon/(double)1E7);
-
-            // dongfang: Beware. There are 2 altitudes in this message; neither is the primary.
-            // pos.alt is GPS altitude and pos.relative_alt is above-home altitude.
-            // It would be nice if APM could be modified to present the primary (mix) alt. instead
-            // of the GPS alt. in this message.
-            setAltitude(pos.alt/1000.0);
+            setAltitudeAMSL(pos.alt/1000.0);
+            setAltitudeRelative(pos.relative_alt/1000.0);
 
             globalEstimatorActive = true;
 
@@ -895,14 +909,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             speedY = pos.vy/100.0;
             speedZ = pos.vz/100.0;
 
-            emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitude(), time);
-            // dongfang: The altitude is GPS altitude. Bugger. It needs to be changed to primary.
-            emit gpsAltitudeChanged(this, getAltitude(), time);
+            emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), time);
+            emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
             // We had some frame mess here, global and local axes were mixed.
             emit velocityChanged_NED(this, speedX, speedY, speedZ, time);
 
-            double groundspeed = qSqrt(speedX*speedX+speedY*speedY);
-            emit gpsSpeedChanged(this, groundspeed, time);
+            setGroundSpeed(qSqrt(speedX*speedX+speedY*speedY));
+            emit speedChanged(this, groundSpeed, airSpeed, time);
 
             // Set internal state
             if (!positionLock)
@@ -921,9 +934,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             mavlink_gps_raw_int_t pos;
             mavlink_msg_gps_raw_int_decode(&message, &pos);
 
-            // SANITY CHECK
-            // only accept values in a realistic range
-            // quint64 time = getUnixTime(pos.time_usec);
             quint64 time = getUnixTime(pos.time_usec);
 
             emit gpsLocalizationChanged(this, pos.fix_type);
@@ -938,6 +948,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
             if (pos.fix_type > 2)
             {
+                positionLock = true;
+                isGlobalPositionKnown = true;
 
                 latitude_gps = pos.lat/(double)1E7;
                 longitude_gps = pos.lon/(double)1E7;
@@ -947,29 +959,16 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 if (!globalEstimatorActive) {
                     setLatitude(latitude_gps);
                     setLongitude(longitude_gps);
-                    setAltitude(altitude_gps);
-                    emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitude(), time);
-                    emit gpsAltitudeChanged(this, getAltitude(), time);
-                }
-
-                positionLock = true;
-                isGlobalPositionKnown = true;
-
-                // Smaller than threshold and not NaN
-
-                float vel = pos.vel/100.0f;
+                    setAltitudeAMSL(altitude_gps);
+                    emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), time);
+                    emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
 
-                // If no GLOBAL_POSITION_INT messages ever received, use these raw GPS values instead.
-                if (!globalEstimatorActive) {
-                    if ((vel < 1000000) && !isnan(vel) && !isinf(vel))
-                    {
-                        //emit speedChanged(this, vel, 0.0, 0.0, time);
+                    float vel = pos.vel/100.0f;
+                    // Smaller than threshold and not NaN
+                    if ((vel < 1000000) && !isnan(vel) && !isinf(vel)) {
                         setGroundSpeed(vel);
-                        // TODO: Other sources also? Actually this condition does not quite belong here.
-                        emit gpsSpeedChanged(this, vel, time);
-                    }
-                    else
-                    {
+                        emit speedChanged(this, groundSpeed, airSpeed, time);
+                    } else {
                         emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(vel));
                     }
                 }

src/uas/UAS.h

@@ -103,7 +103,11 @@ public:
     Q_PROPERTY(double pitch READ getPitch WRITE setPitch NOTIFY pitchChanged)
     Q_PROPERTY(double yaw READ getYaw WRITE setYaw NOTIFY yawChanged)
     Q_PROPERTY(double distToWaypoint READ getDistToWaypoint WRITE setDistToWaypoint NOTIFY distToWaypointChanged)
+    Q_PROPERTY(double airSpeed READ getGroundSpeed WRITE setGroundSpeed NOTIFY airSpeedChanged)
     Q_PROPERTY(double groundSpeed READ getGroundSpeed WRITE setGroundSpeed NOTIFY groundSpeedChanged)
+    Q_PROPERTY(double bearingToWaypoint READ getBearingToWaypoint WRITE setBearingToWaypoint NOTIFY bearingToWaypointChanged)
+    Q_PROPERTY(double altitudeAMSL READ getAltitudeAMSL WRITE setAltitudeAMSL NOTIFY altitudeAMSLChanged)
+    Q_PROPERTY(double altitudeRelative READ getAltitudeRelative WRITE setAltitudeRelative NOTIFY altitudeRelativeChanged)
 
     void setGroundSpeed(double val)
     {
@@ -115,17 +119,24 @@ public:
     {
         return groundSpeed;
     }
-    Q_PROPERTY(double bearingToWaypoint READ getBearingToWaypoint WRITE setBearingToWaypoint NOTIFY bearingToWaypointChanged)
 
-    // dongfang: There is not only one altitude; there are at least (APM) GPS altitude, mix altitude and mix-altitude relative to home.
-    // I have made this property refer to the mix-altitude ASL as this is the one actually used in navigation by APM.
-    Q_PROPERTY(double altitude READ getAltitude WRITE setAltitude NOTIFY altitudeChanged)
+    void setAirSpeed(double val)
+    {
+        airSpeed = val;
+        emit airSpeedChanged(val,"airSpeed");
+        emit valueChanged(this->uasId,"airSpeed","m/s",QVariant(val),getUnixTime());
+    }
+
+    double getAirSpeed() const
+    {
+        return airSpeed;
+    }
 
     void setLocalX(double val)
     {
         localX = val;
         emit localXChanged(val,"localX");
-        emit valueChanged(this->uasId,"localX","M",QVariant(val),getUnixTime());
+        emit valueChanged(this->uasId,"localX","m",QVariant(val),getUnixTime());
     }
 
     double getLocalX() const
@@ -137,7 +148,7 @@ public:
     {
         localY = val;
         emit localYChanged(val,"localY");
-        emit valueChanged(this->uasId,"localY","M",QVariant(val),getUnixTime());
+        emit valueChanged(this->uasId,"localY","m",QVariant(val),getUnixTime());
     }
     double getLocalY() const
     {
@@ -148,7 +159,7 @@ public:
     {
         localZ = val;
         emit localZChanged(val,"localZ");
-        emit valueChanged(this->uasId,"localZ","M",QVariant(val),getUnixTime());
+        emit valueChanged(this->uasId,"localZ","m",QVariant(val),getUnixTime());
     }
     double getLocalZ() const
     {
@@ -179,23 +190,35 @@ public:
         return longitude;
     }
 
-    void setAltitude(double val)
+    void setAltitudeAMSL(double val)
     {
-        altitude = val;
-        emit altitudeChanged(val, "altitude");
-        emit valueChanged(this->uasId,"altitude","M",QVariant(val),getUnixTime());
+        altitudeAMSL = val;
+        emit altitudeAMSLChanged(val, "altitudeAMSL");
+        emit valueChanged(this->uasId,"altitudeAMSL","m",QVariant(val),getUnixTime());
     }
 
-    double getAltitude() const
+    double getAltitudeAMSL() const
     {
-        return altitude;
+        return altitudeAMSL;
+    }
+
+    void setAltitudeRelative(double val)
+    {
+        altitudeRelative = val;
+        emit altitudeRelativeChanged(val, "altitudeRelative");
+        emit valueChanged(this->uasId,"altitudeRelative","m",QVariant(val),getUnixTime());
+    }
+
+    double getAltitudeRelative() const
+    {
+        return altitudeRelative;
     }
 
     void setSatelliteCount(double val)
     {
         satelliteCount = val;
         emit satelliteCountChanged(val,"satelliteCount");
-        emit valueChanged(this->uasId,"satelliteCount","M",QVariant(val),getUnixTime());
+        emit valueChanged(this->uasId,"satelliteCount","",QVariant(val),getUnixTime());
     }
 
     double getSatelliteCount() const
@@ -217,7 +240,7 @@ public:
     {
         distToWaypoint = val;
         emit distToWaypointChanged(val,"distToWaypoint");
-        emit valueChanged(this->uasId,"distToWaypoint","M",QVariant(val),getUnixTime());
+        emit valueChanged(this->uasId,"distToWaypoint","m",QVariant(val),getUnixTime());
     }
 
     double getDistToWaypoint() const
@@ -229,7 +252,7 @@ public:
     {
         bearingToWaypoint = val;
         emit bearingToWaypointChanged(val,"bearingToWaypoint");
-        emit valueChanged(this->uasId,"bearingToWaypoint","M",QVariant(val),getUnixTime());
+        emit valueChanged(this->uasId,"bearingToWaypoint","deg",QVariant(val),getUnixTime());
     }
 
     double getBearingToWaypoint() const
@@ -414,8 +437,8 @@ protected: //COMMENTS FOR TEST UNIT
 
     /// POSITION
     bool positionLock;          ///< Status if position information is available or not
-    bool isLocalPositionKnown;      ///< If the local position has been received for this MAV
-    bool isGlobalPositionKnown;     ///< If the global position has been received for this MAV
+    bool isLocalPositionKnown;  ///< If the local position has been received for this MAV
+    bool isGlobalPositionKnown; ///< If the global position has been received for this MAV
 
     double localX;
     double localY;
@@ -423,7 +446,8 @@ protected: //COMMENTS FOR TEST UNIT
 
     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 altitudeAMSL;        ///< Global altitude as estimated by position estimator
+    double altitudeRelative;    ///< Altitude above home 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
@@ -439,7 +463,8 @@ protected: //COMMENTS FOR TEST UNIT
 
     /// WAYPOINT NAVIGATION
     double distToWaypoint;       ///< Distance to next waypoint
-    double groundSpeed;         ///< GPS Groundspeed
+    double airSpeed;             ///< Airspeed
+    double groundSpeed;          ///< Groundspeed
     double bearingToWaypoint;    ///< Bearing to next waypoint
     UASWaypointManager waypointManager;
 
@@ -921,18 +946,16 @@ signals:
     void localZChanged(double val,QString name);
     void longitudeChanged(double val,QString name);
     void latitudeChanged(double val,QString name);
-    void altitudeChanged(double val,QString name);
+    void altitudeAMSLChanged(double val,QString name);
+    void altitudeRelativeChanged(double val,QString name);
     void rollChanged(double val,QString name);
     void pitchChanged(double val,QString name);
     void yawChanged(double val,QString name);
     void satelliteCountChanged(double val,QString name);
     void distToWaypointChanged(double val,QString name);
     void groundSpeedChanged(double val, QString name);
+    void airSpeedChanged(double val, QString name);
     void bearingToWaypointChanged(double val,QString name);
-
-    //void primaryAltitudeChanged(UASInterface*, double altitude, quint64 usec);
-    //void gpsAltitudeChanged(UASInterface*, double altitude, quint64 usec);
-    //void velocityChanged_NED(UASInterface*, double vx, double vy, double vz, quint64 usec);
 protected:
     /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
     quint64 getUnixTime(quint64 time=0);

src/uas/UASInterface.h

@@ -124,7 +124,8 @@ public:
 
     virtual double getLatitude() const = 0;
     virtual double getLongitude() const = 0;
-    virtual double getAltitude() const = 0;
+    virtual double getAltitudeAMSL() const = 0;
+    virtual double getAltitudeRelative() const = 0;
     virtual bool globalPositionKnown() const = 0;
 
     virtual double getRoll() const = 0;
@@ -523,16 +524,12 @@ 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 primaryAltitudeChanged(UASInterface*, double altitude, quint64 usec);
-    void gpsAltitudeChanged(UASInterface*, double altitude, quint64 usec);
+    void altitudeChanged(UASInterface*, double altitudeAMSL, double altitudeRelative, double climbRate, 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);
 
     // 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);
+    void speedChanged(UASInterface* uas, double groundSpeed, double airSpeed, 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);
 

src/ui/PrimaryFlightDisplay.h

@@ -18,11 +18,8 @@ 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 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 updateSpeed(UASInterface* uas, double _groundSpeed, double _airSpeed, quint64 timestamp);
+    void updateAltitude(UASInterface* uas, double _altitudeAMSL, double _altitudeRelative, double _climbRate, quint64 timestamp);
     void updateNavigationControllerErrors(UASInterface* uas, double altitudeError, double speedError, double xtrackError);
 
     /** @brief Set the currently monitored UAS */
@@ -102,8 +99,8 @@ private:
     void drawAICompassDisk(QPainter& painter, QRectF area, float halfspan);
     void drawSeparateCompassDisk(QPainter& painter, QRectF area);
 
-    void drawAltimeter(QPainter& painter, QRectF area, float altitude, float secondaryAltitude, float vv);
-    void drawVelocityMeter(QPainter& painter, QRectF area, float speed, float secondarySpeed);
+    void drawAltimeter(QPainter& painter, QRectF area);
+    void drawVelocityMeter(QPainter& painter, QRectF area);
     void fillInstrumentBackground(QPainter& painter, QRectF edge);
     void fillInstrumentOpagueBackground(QPainter& painter, QRectF edge);
     void drawInstrumentBackground(QPainter& painter, QRectF edge);
@@ -125,24 +122,23 @@ private:
     SpeedMode speedMode;
     */
 
-    bool didReceivePrimaryAltitude;
-    bool didReceivePrimarySpeed;
+    bool didReceiveSpeed;
 
     float roll;
     float pitch;
     float heading;
 
-    float primaryAltitude;
-    float GPSAltitude;
+    float altitudeAMSL;
+    float altitudeRelative;
 
     // APM: GPS and baro mix above home (GPS) altitude. This value comes from the GLOBAL_POSITION_INT message.
     // Do !!!NOT!!! ever do altitude calculations at the ground station. There are enough pitfalls already.
     // If the MP "set home altitude" button is migrated to here, it must set the UAS home altitude, not a GS-local one.
     float aboveHomeAltitude;
 
-    float primarySpeed;
-    float groundspeed;
-    float verticalVelocity;
+    float groundSpeed;
+    float airSpeed;
+    float climbRate;
 
     float navigationAltitudeError;
     float navigationSpeedError;

src/ui/WaypointList.cc

@@ -306,7 +306,7 @@ void WaypointList::addEditable(bool onCurrentPosition)
                     } else {
                         updateStatusLabel(tr("Added default GLOBAL (Relative alt.) waypoint."));
                     }
-                    wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
+                    wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitudeAMSL(), 0, WPM->getAcceptanceRadiusRecommendation(), 0, 0,true, true, (MAV_FRAME)WPM->getFrameRecommendation(), MAV_CMD_NAV_WAYPOINT);
                     WPM->addWaypointEditable(wp);
 
                 } else {

src/ui/map/QGCMapWidget.cc

@@ -462,7 +462,7 @@ void QGCMapWidget::updateGlobalPosition()
 
         // Set new lat/lon position of UAV icon
         internals::PointLatLng pos_lat_lon = internals::PointLatLng(system->getLatitude(), system->getLongitude());
-        uav->SetUAVPos(pos_lat_lon, system->getAltitude());
+        uav->SetUAVPos(pos_lat_lon, system->getAltitudeAMSL());
         // Follow status
         if (followUAVEnabled && system->getUASID() == followUAVID) SetCurrentPosition(pos_lat_lon);
         // Convert from radians to degrees and apply
@@ -490,7 +490,7 @@ void QGCMapWidget::updateLocalPosition()
 
         // Set new lat/lon position of UAV icon
         internals::PointLatLng pos_lat_lon = internals::PointLatLng(system->getLatitude(), system->getLongitude());
-        uav->SetUAVPos(pos_lat_lon, system->getAltitude());
+        uav->SetUAVPos(pos_lat_lon, system->getAltitudeAMSL());
         // Follow status
         if (followUAVEnabled && system->getUASID() == followUAVID) SetCurrentPosition(pos_lat_lon);
         // Convert from radians to degrees and apply

src/ui/map3D/Pixhawk3DWidget.cc

@@ -682,7 +682,7 @@ Pixhawk3DWidget::selectTargetHeading(void)
 
     if (mGlobalViewParams->frame() == MAV_FRAME_GLOBAL)
     {
-        double altitude = mActiveUAS->getAltitude();
+        double altitude = mActiveUAS->getAltitudeAMSL();
 
         QPointF cursorWorldCoords =
             m3DWidget->worldCursorPosition(m3DWidget->mouseCursorCoords(), altitude);
@@ -722,7 +722,7 @@ Pixhawk3DWidget::selectTarget(void)
 
     if (mGlobalViewParams->frame() == MAV_FRAME_GLOBAL)
     {
-        double altitude = mActiveUAS->getAltitude();
+        double altitude = mActiveUAS->getAltitudeAMSL();
 
         QPointF cursorWorldCoords =
             m3DWidget->worldCursorPosition(mCachedMousePos, altitude);
@@ -789,7 +789,7 @@ Pixhawk3DWidget::insertWaypoint(void)
     {
         double latitude = mActiveUAS->getLatitude();
         double longitude = mActiveUAS->getLongitude();
-        double altitude = mActiveUAS->getAltitude();
+        double altitude = mActiveUAS->getAltitudeAMSL();
         double x, y;
         QString utmZone;
         Imagery::LLtoUTM(latitude, longitude, x, y, utmZone);
@@ -845,7 +845,7 @@ Pixhawk3DWidget::moveWaypointPosition(void)
     {
         double latitude = mActiveUAS->getLatitude();
         double longitude = mActiveUAS->getLongitude();
-        double altitude = mActiveUAS->getAltitude();
+        double altitude = mActiveUAS->getAltitudeAMSL();
         double x, y;
         QString utmZone;
         Imagery::LLtoUTM(latitude, longitude, x, y, utmZone);
@@ -1700,7 +1700,7 @@ Pixhawk3DWidget::getPose(UASInterface* uas,
     {
         double latitude = uas->getLatitude();
         double longitude = uas->getLongitude();
-        double altitude = uas->getAltitude();
+        double altitude = uas->getAltitudeAMSL();
 
         Imagery::LLtoUTM(latitude, longitude, x, y, utmZone);
         z = -altitude;
@@ -1742,7 +1742,7 @@ Pixhawk3DWidget::getPosition(UASInterface* uas,
     {
         double latitude = uas->getLatitude();
         double longitude = uas->getLongitude();
-        double altitude = uas->getAltitude();
+        double altitude = uas->getAltitudeAMSL();
 
         Imagery::LLtoUTM(latitude, longitude, x, y, utmZone);
         z = -altitude;

src/ui/map3D/QGCGoogleEarthView.cc

@@ -632,7 +632,7 @@ void QGCGoogleEarthView::updateState()
             uasId = currMav->getUASID();
             lat = currMav->getLatitude();
             lon = currMav->getLongitude();
-            alt = currMav->getAltitude();
+            alt = currMav->getAltitudeAMSL();
             roll = currMav->getRoll();
             pitch = currMav->getPitch();
             yaw = currMav->getYaw();

src/ui/map3D/WaypointGroupNode.cc

@@ -65,7 +65,7 @@ WaypointGroupNode::update(UASInterface* uas, MAV_FRAME frame)
     {
         double latitude = uas->getLatitude();
         double longitude = uas->getLongitude();
-        double altitude = uas->getAltitude();
+        double altitude = uas->getAltitudeAMSL();
 
         QString utmZone;
         Imagery::LLtoUTM(latitude, longitude, robotX, robotY, utmZone);
@@ -75,7 +75,7 @@ WaypointGroupNode::update(UASInterface* uas, MAV_FRAME frame)
     {
         double latitude = uas->getLatitude();
         double longitude = uas->getLongitude();
-        double altitude = uas->getAltitude() + UASManager::instance()->getHomeAltitude();
+        double altitude = uas->getAltitudeRelative();
 
         QString utmZone;
         Imagery::LLtoUTM(latitude, longitude, robotX, robotY, utmZone);

src/ui/uas/UASListWidget.cc

@@ -165,7 +165,6 @@ void UASListWidget::addUAS(UASInterface* uas)
             uWidget = NULL;
         }
     }
-
     if (!uasViews.contains(uas))
     {
         // Only display the UAS in a single link.

src/ui/uas/UASQuickView.cc

@@ -29,11 +29,10 @@ UASQuickView::UASQuickView(QWidget *parent) : QWidget(parent)
     //If we don't have any predefined settings, set some defaults.
     if (uasPropertyValueMap.size() == 0)
     {
-        valueEnabled("altitude");
+        valueEnabled("altitudeAMSL");
+        valueEnabled("altitudeRelative");
         valueEnabled("groundSpeed");
         valueEnabled("distToWP");
-        valueEnabled("yaw");
-        valueEnabled("roll");
     }
 
     QAction *action = new QAction("Add/Remove Items",this);

src/ui/uas/UASQuickViewTextItem.cc

@@ -10,7 +10,6 @@ UASQuickViewTextItem::UASQuickViewTextItem(QWidget *parent) : UASQuickViewItem(p
 
     // Create the title label. Scale the font based on available size.
     titleLabel = new QLabel(this);
-// <<<<<<< HEAD
      titleLabel->setAlignment(Qt::AlignHCenter);
      titleLabel->setSizePolicy(QSizePolicy::MinimumExpanding,QSizePolicy::Minimum);
      titleLabel->setObjectName(QString::fromUtf8("title"));
@@ -25,18 +24,6 @@ UASQuickViewTextItem::UASQuickViewTextItem(QWidget *parent) : UASQuickViewItem(p
      valueLabel->setSizePolicy(QSizePolicy::MinimumExpanding,QSizePolicy::Minimum);
      valueLabel->setObjectName(QString::fromUtf8("value"));
      valueLabel->setText("0.00");
-// =======
-//    titleLabel->setSizePolicy(QSizePolicy::Ignored,QSizePolicy::Ignored);
-//    titleLabel->setAlignment(Qt::AlignHCenter | Qt::AlignBottom);
-//    this->layout()->addWidget(titleLabel);
-//    valueLabel = new QLabel(this);
-//    valueLabel->setSizePolicy(QSizePolicy::Ignored,QSizePolicy::Ignored);
-//    valueLabel->setAlignment(Qt::AlignHCenter | Qt::AlignTop);
-//    valueLabel->setText("0.00");
-//    this->layout()->addWidget(valueLabel);
-//    //spacerItem = new QSpacerItem(20,40,QSizePolicy::Minimum,QSizePolicy::Ignored);
-//    //layout->addSpacerItem(spacerItem);
-// >>>>>>> 34eaf1fb422146f5df3b01fad4d756343b3127c9
     QFont valuefont = valueLabel->font();
     valuefont.setPixelSize(this->height() / 2.0);
     valueLabel->setFont(valuefont);