Merge pull request #199 from skye-git/default_3DMouse

3 d mouse

.gitignore

@@ -47,6 +47,8 @@ user_config.pri
 *.cproject
 *.sln
 *.suo
+*.uhf.txt
+*.opensdf
 
 thirdParty/qserialport-build-desktop/
 thirdParty/qserialport/bin/

libs/thirdParty/3DMouse/win/I3dMouseParams.h

+#ifndef I3D_MOUSE_PARAMS_H
+#define I3D_MOUSE_PARAMS_H
+
+/*
+   Parameters for the 3D mouse based on the SDK from 3Dconnexion
+*/
+
+class I3dMouseSensor
+{
+public:
+
+	enum ESpeed {
+	   kLowSpeed = 0,
+	   kMidSpeed,
+	   kHighSpeed
+	};
+
+virtual bool	IsPanZoom() const = 0;
+virtual bool	IsRotate() const  = 0;
+virtual ESpeed	GetSpeed() const  = 0;
+
+virtual void	SetPanZoom(bool isPanZoom) = 0;
+virtual void	SetRotate(bool isRotate) = 0;
+virtual void	SetSpeed(ESpeed speed) = 0;
+
+protected:
+
+virtual ~I3dMouseSensor() {}
+
+};
+
+
+class I3dMouseNavigation
+{
+public:
+
+   enum EPivot {
+	  kManualPivot = 0,
+	  kAutoPivot,
+	  kAutoPivotOverride
+   };
+
+   enum ENavigation {
+	  kObjectMode = 0,
+	  kCameraMode,
+	  kFlyMode,
+	  kWalkMode,
+	  kHelicopterMode
+   };
+
+   enum EPivotVisibility {
+	  kHidePivot = 0,
+	  kShowPivot,
+	  kShowMovingPivot
+   };
+
+
+virtual ENavigation		GetNavigationMode() const  = 0;
+virtual EPivot			GetPivotMode() const  = 0;
+virtual EPivotVisibility GetPivotVisibility()  const = 0;
+virtual bool			IsLockHorizon()  const = 0;
+
+virtual void			SetLockHorizon(bool bOn) = 0;
+virtual void			SetNavigationMode(ENavigation navigation) = 0;
+virtual void			SetPivotMode(EPivot pivot) = 0;
+virtual void			SetPivotVisibility(EPivotVisibility visibility) = 0;
+
+protected:
+
+virtual ~I3dMouseNavigation(){}
+
+
+};
+
+
+class I3dMouseParam : public I3dMouseSensor, public I3dMouseNavigation
+{
+public:
+
+virtual ~I3dMouseParam() {}
+
+};
+
+#endif

libs/thirdParty/3DMouse/win/Mouse3DInput.cpp

+
+#include "Mouse3DInput.h"
+
+#include <QApplication>
+
+#define LOGITECH_VENDOR_ID 0x46d
+#define _CONSTANT_INPUT_PERIOD 0
+
+#ifndef RIDEV_DEVNOTIFY
+#define RIDEV_DEVNOTIFY 0x00002000
+#endif
+
+#define _TRACE_WM_INPUT_PERIOD 0
+#define _TRACE_RI_TYPE 0
+#define _TRACE_RIDI_DEVICENAME 0
+#define _TRACE_RIDI_DEVICEINFO 0
+#define _TRACE_RI_RAWDATA 0
+#define _TRACE_3DINPUT_PERIOD 0
+
+#ifdef _WIN64
+typedef unsigned __int64 QWORD;
+#endif
+
+// object angular velocity per mouse tick 0.008 milliradians per second per count
+static const double k3dmouseAngularVelocity = 8.0e-6; // radians per second per count
+
+static const int kTimeToLive = 5;
+
+enum e3dconnexion_pid {
+   eSpacePilot = 0xc625,
+   eSpaceNavigator = 0xc626,
+   eSpaceExplorer = 0xc627,
+   eSpaceNavigatorForNotebooks = 0xc628,
+   eSpacePilotPRO = 0xc629
+};
+
+enum e3dmouse_virtual_key
+{
+   V3DK_INVALID=0
+   , V3DK_MENU=1, V3DK_FIT
+   , V3DK_TOP, V3DK_LEFT, V3DK_RIGHT, V3DK_FRONT, V3DK_BOTTOM, V3DK_BACK
+   , V3DK_CW, V3DK_CCW
+   , V3DK_ISO1, V3DK_ISO2
+   , V3DK_1, V3DK_2, V3DK_3, V3DK_4, V3DK_5, V3DK_6, V3DK_7, V3DK_8, V3DK_9, V3DK_10
+   , V3DK_ESC, V3DK_ALT, V3DK_SHIFT, V3DK_CTRL
+   , V3DK_ROTATE, V3DK_PANZOOM, V3DK_DOMINANT
+   , V3DK_PLUS, V3DK_MINUS
+};
+
+struct tag_VirtualKeys
+{
+   e3dconnexion_pid pid;
+   size_t nKeys;
+   e3dmouse_virtual_key *vkeys;
+};
+
+static const e3dmouse_virtual_key SpaceExplorerKeys [] =
+{
+   V3DK_INVALID     // there is no button 0
+   , V3DK_1, V3DK_2
+   , V3DK_TOP, V3DK_LEFT, V3DK_RIGHT, V3DK_FRONT
+   , V3DK_ESC, V3DK_ALT, V3DK_SHIFT, V3DK_CTRL
+   , V3DK_FIT, V3DK_MENU
+   , V3DK_PLUS, V3DK_MINUS
+   , V3DK_ROTATE
+};
+
+static const e3dmouse_virtual_key SpacePilotKeys [] =
+{
+   V3DK_INVALID
+   , V3DK_1, V3DK_2, V3DK_3, V3DK_4, V3DK_5, V3DK_6
+   , V3DK_TOP, V3DK_LEFT, V3DK_RIGHT, V3DK_FRONT
+   , V3DK_ESC, V3DK_ALT, V3DK_SHIFT, V3DK_CTRL
+   , V3DK_FIT, V3DK_MENU
+   , V3DK_PLUS, V3DK_MINUS
+   , V3DK_DOMINANT, V3DK_ROTATE
+};
+
+static const struct tag_VirtualKeys _3dmouseVirtualKeys[]=
+{
+   eSpacePilot
+   , sizeof(SpacePilotKeys)/sizeof(SpacePilotKeys[0])
+   , const_cast<e3dmouse_virtual_key *>(SpacePilotKeys),
+   eSpaceExplorer
+   , sizeof(SpaceExplorerKeys)/sizeof(SpaceExplorerKeys[0])
+   , const_cast<e3dmouse_virtual_key *>(SpaceExplorerKeys)
+};
+
+/*!
+	Converts a hid device keycode (button identifier) of a pre-2009 3Dconnexion USB device to the standard 3d mouse virtual key definition.
+
+	\a pid USB Product ID (PID) of 3D mouse device
+	\a hidKeyCode  Hid keycode as retrieved from a Raw Input packet
+
+	\return The standard 3d mouse virtual key (button identifier) or zero if an error occurs.
+
+	Converts a hid device keycode (button identifier) of a pre-2009 3Dconnexion USB device
+	to the standard 3d mouse virtual key definition.
+*/
+
+unsigned short HidToVirtualKey(unsigned long pid, unsigned short hidKeyCode)
+{
+   unsigned short virtualkey=hidKeyCode;
+   for (size_t i=0; i<sizeof(_3dmouseVirtualKeys)/sizeof(_3dmouseVirtualKeys[0]); ++i)
+   {
+	  if (pid == _3dmouseVirtualKeys[i].pid)
+	  {
+		 if (hidKeyCode < _3dmouseVirtualKeys[i].nKeys)
+			virtualkey = _3dmouseVirtualKeys[i].vkeys[hidKeyCode];
+		 else
+			virtualkey = V3DK_INVALID;
+		 break;
+	  }
+   }
+   // Remaining devices are unchanged
+   return virtualkey;
+}
+
+
+static Mouse3DInput* gMouseInput = 0;
+
+bool Mouse3DInput::RawInputEventFilter(void* msg, long* result)
+{
+	if (gMouseInput == 0) return false;
+
+	MSG* message = (MSG*)(msg);
+
+	if (message->message == WM_INPUT) {
+		HRAWINPUT hRawInput = reinterpret_cast<HRAWINPUT>(message->lParam);
+		gMouseInput->OnRawInput(RIM_INPUT,hRawInput);
+		if (result != 0)  {
+			result = 0;
+		}
+		return true;
+	}
+
+	return false;
+}
+
+
+Mouse3DInput::Mouse3DInput(QWidget* widget) :
+									QObject(widget)
+{
+	fLast3dmouseInputTime = 0;
+
+	InitializeRawInput(widget->winId());
+
+	gMouseInput = this;
+	qApp->setEventFilter(Mouse3DInput::RawInputEventFilter);
+}
+
+Mouse3DInput::~Mouse3DInput()
+{
+	if (gMouseInput == this) {
+		gMouseInput = 0;
+	}
+}
+
+/*!
+	Access the mouse parameters structure
+*/
+I3dMouseParam& Mouse3DInput::MouseParams()
+{
+	return f3dMouseParams;
+}
+
+/*!
+	Access the mouse parameters structure
+*/
+const I3dMouseParam& Mouse3DInput::MouseParams() const
+{
+	return f3dMouseParams;
+}
+
+/*!
+	Called with the processed motion data when a 3D mouse event is received
+
+	The default implementation emits a Move3d signal with the motion data
+*/
+void Mouse3DInput::Move3d(HANDLE device, std::vector<float>& motionData)
+{
+	Q_UNUSED(device);
+	emit Move3d(motionData);
+}
+
+/*!
+	Called when a 3D mouse key is pressed
+
+	The default implementation emits a On3dmouseKeyDown signal with the key code.
+*/
+void Mouse3DInput::On3dmouseKeyDown(HANDLE device, int virtualKeyCode)
+{
+	Q_UNUSED(device);
+	emit On3dmouseKeyDown(virtualKeyCode);
+}
+
+/*!
+	Called when a 3D mouse key is released
+
+	The default implementation emits a On3dmouseKeyUp signal with the key code.
+*/
+void Mouse3DInput::On3dmouseKeyUp(HANDLE device, int virtualKeyCode)
+{
+	Q_UNUSED(device);
+	emit On3dmouseKeyUp(virtualKeyCode);
+}
+
+/*!
+	Get an initialized array of PRAWINPUTDEVICE for the 3D devices
+
+	pNumDevices returns the number of devices to register. Currently this is always 1.
+ */
+static PRAWINPUTDEVICE GetDevicesToRegister(unsigned int* pNumDevices)
+{
+	// Array of raw input devices to register
+	static RAWINPUTDEVICE sRawInputDevices[] = {
+		{0x01, 0x08, 0x00, 0x00} // Usage Page = 0x01 Generic Desktop Page, Usage Id= 0x08 Multi-axis Controller
+	};
+
+	if (pNumDevices) {
+		*pNumDevices = sizeof(sRawInputDevices) / sizeof(sRawInputDevices[0]);
+	}
+
+	return sRawInputDevices;
+}
+
+/*!
+	Detect the 3D mouse
+*/
+bool Mouse3DInput::Is3dmouseAttached()
+{
+	unsigned int numDevicesOfInterest = 0;
+	PRAWINPUTDEVICE devicesToRegister = GetDevicesToRegister(&numDevicesOfInterest);
+
+	unsigned int nDevices = 0;
+
+	if (::GetRawInputDeviceList(NULL, &nDevices, sizeof(RAWINPUTDEVICELIST)) != 0) {
+		return false;
+	}
+
+	if (nDevices == 0) return false;
+
+	std::vector<RAWINPUTDEVICELIST> rawInputDeviceList(nDevices);
+	if (::GetRawInputDeviceList(&rawInputDeviceList[0], &nDevices, sizeof(RAWINPUTDEVICELIST)) == static_cast<unsigned int>(-1)) {
+		return false;
+	}
+
+	for (unsigned int i = 0; i < nDevices; ++i) {
+		RID_DEVICE_INFO rdi = {sizeof(rdi)};
+		unsigned int cbSize = sizeof(rdi);
+
+		if (GetRawInputDeviceInfo(rawInputDeviceList[i].hDevice, RIDI_DEVICEINFO, &rdi, &cbSize) > 0) {
+			//skip non HID and non logitec (3DConnexion) devices
+			if (rdi.dwType != RIM_TYPEHID || rdi.hid.dwVendorId != LOGITECH_VENDOR_ID) {
+				continue;
+			}
+
+			//check if devices matches Multi-axis Controller
+			for (unsigned int j = 0; j < numDevicesOfInterest; ++j) {
+				if (devicesToRegister[j].usUsage == rdi.hid.usUsage
+						&& devicesToRegister[j].usUsagePage == rdi.hid.usUsagePage) {
+					return true;
+				}
+			}
+		}
+	}
+	return false;
+}
+
+
+
+/*!
+	Initialize the window to recieve raw-input messages
+
+	This needs to be called initially so that Windows will send the messages from the 3D mouse to the window.
+*/
+bool Mouse3DInput::InitializeRawInput(HWND hwndTarget)
+{
+	fWindow = hwndTarget;
+
+	// Simply fail if there is no window
+	if (!hwndTarget)  return false;
+
+	unsigned int numDevices = 0;
+	PRAWINPUTDEVICE devicesToRegister = GetDevicesToRegister(&numDevices);
+
+	if (numDevices == 0) return false;
+
+	// Get OS version.
+	OSVERSIONINFO osvi = {sizeof(OSVERSIONINFO),0};
+	::GetVersionEx(&osvi);
+
+	unsigned int cbSize = sizeof (devicesToRegister[0]);
+	for (size_t i = 0; i < numDevices; i++) {
+		// Set the target window to use
+		//devicesToRegister[i].hwndTarget = hwndTarget;
+
+		// If Vista or newer, enable receiving the WM_INPUT_DEVICE_CHANGE message.
+		if (osvi.dwMajorVersion >= 6) {
+			devicesToRegister[i].dwFlags |= RIDEV_DEVNOTIFY;
+		}
+	}
+	return (::RegisterRawInputDevices(devicesToRegister, numDevices, cbSize) != FALSE);
+}
+
+
+/*!
+	Get the raw input data from Windows
+
+	Includes workaround for incorrect alignment of the RAWINPUT structure on x64 os
+	when running as Wow64 (copied directly from 3DConnexion code)
+*/
+
+UINT Mouse3DInput::GetRawInputBuffer(PRAWINPUT pData, PUINT pcbSize, UINT cbSizeHeader)
+{
+#ifdef _WIN64
+	return ::GetRawInputBuffer(pData, pcbSize, cbSizeHeader);
+#else
+	BOOL bIsWow64 = FALSE;
+	::IsWow64Process(GetCurrentProcess(), &bIsWow64);
+	if (!bIsWow64 || pData==NULL) {
+		return ::GetRawInputBuffer(pData, pcbSize, cbSizeHeader);
+	} else {
+		HWND hwndTarget = fWindow; //fParent->winId();
+
+		size_t cbDataSize=0;
+		UINT nCount=0;
+		PRAWINPUT pri = pData;
+
+		MSG msg;
+		while (PeekMessage(&msg, hwndTarget, WM_INPUT, WM_INPUT, PM_NOREMOVE)) {
+			HRAWINPUT hRawInput = reinterpret_cast<HRAWINPUT>(msg.lParam);
+			size_t cbSize = *pcbSize - cbDataSize;
+			if (::GetRawInputData(hRawInput, RID_INPUT, pri, &cbSize, cbSizeHeader) == static_cast<UINT>(-1)) {
+				if (nCount==0) {
+					return static_cast<UINT>(-1);
+				}  else {
+					break;
+				}
+			}
+			++nCount;
+
+			// Remove the message for the data just read
+			PeekMessage(&msg, hwndTarget, WM_INPUT, WM_INPUT, PM_REMOVE);
+
+			pri = NEXTRAWINPUTBLOCK(pri);
+			cbDataSize = reinterpret_cast<ULONG_PTR>(pri) - reinterpret_cast<ULONG_PTR>(pData);
+			if (cbDataSize >= *pcbSize) {
+				cbDataSize = *pcbSize;
+				break;
+			}
+		}
+		return nCount;
+	}
+#endif
+}
+
+/*!
+	Process the raw input device data
+
+	On3dmouseInput() does all the preprocessing of the rawinput device data before
+	finally calling the Move3d method.
+*/
+
+void Mouse3DInput::On3dmouseInput()
+{
+	// Don't do any data processing in background
+	bool bIsForeground = (::GetActiveWindow() != NULL);
+	if (!bIsForeground) {
+		// set all cached data to zero so that a zero event is seen and the cached data deleted
+		for (std::map<HANDLE, TInputData>::iterator it = fDevice2Data.begin(); it != fDevice2Data.end(); it++) {
+			it->second.fAxes.assign(6, .0);
+			it->second.fIsDirty = true;
+		}
+	}
+
+	DWORD dwNow = ::GetTickCount();           // Current time;
+	DWORD dwElapsedTime;                      // Elapsed time since we were last here
+
+	if (0 == fLast3dmouseInputTime) {
+		dwElapsedTime = 10;                    // System timer resolution
+	} else {
+		dwElapsedTime = dwNow - fLast3dmouseInputTime;
+		if (fLast3dmouseInputTime > dwNow) {
+			dwElapsedTime = ~dwElapsedTime+1;
+		}
+		if (dwElapsedTime<1) {
+			dwElapsedTime=1;
+		} else if (dwElapsedTime > 500) {
+			// Check for wild numbers because the device was removed while sending data
+			dwElapsedTime = 10;
+		}
+	}
+
+#if _TRACE_3DINPUT_PERIOD
+	qDebug("On3DmouseInput() period is %dms\n", dwElapsedTime);
+#endif
+
+	float mouseData2Rotation = k3dmouseAngularVelocity;
+	// v = w * r,  we don't know r yet so lets assume r=1.)
+	float mouseData2PanZoom = k3dmouseAngularVelocity;
+
+	// Grab the I3dmouseParam interface
+	 I3dMouseParam& i3dmouseParam = f3dMouseParams;
+	 // Take a look at the users preferred speed setting and adjust the sensitivity accordingly
+	 I3dMouseSensor::ESpeed speedSetting = i3dmouseParam.GetSpeed();
+	 // See "Programming for the 3D Mouse", Section 5.1.3
+	float speed = (speedSetting == I3dMouseSensor::kLowSpeed ? 0.25f : speedSetting == I3dMouseSensor::kHighSpeed ?  4.f : 1.f);
+
+	 // Multiplying by the following will convert the 3d mouse data to real world units
+	mouseData2PanZoom *= speed;
+	mouseData2Rotation *= speed;
+
+	std::map<HANDLE, TInputData>::iterator iterator=fDevice2Data.begin();
+	while (iterator != fDevice2Data.end()) {
+
+		// If we have not received data for a while send a zero event
+		if ((--(iterator->second.fTimeToLive)) == 0) {
+			iterator->second.fAxes.assign(6, .0);
+		} else if (/*!t_bPoll3dmouse &&*/ !iterator->second.fIsDirty) {
+		  // If we are not polling then only handle the data that was actually received
+			++iterator;
+			continue;
+		}
+		iterator->second.fIsDirty=false;
+
+		// get a copy of the device
+		HANDLE hdevice = iterator->first;
+
+		// get a copy of the motion vectors and apply the user filters
+		std::vector<float> motionData = iterator->second.fAxes;
+
+		// apply the user filters
+
+		// Pan Zoom filter
+		// See "Programming for the 3D Mouse", Section 5.1.2
+		if (!i3dmouseParam.IsPanZoom()) {
+			// Pan zoom is switched off so set the translation vector values to zero
+			motionData[0] =  motionData[1] =  motionData[2] = 0.;
+		}
+
+		// Rotate filter
+		// See "Programming for the 3D Mouse", Section 5.1.1
+		if (!i3dmouseParam.IsRotate()) {
+			// Rotate is switched off so set the rotation vector values to zero
+			motionData[3] =  motionData[4] =  motionData[5] = 0.;
+		}
+
+		// convert the translation vector into physical data
+		for (int axis = 0; axis < 3; axis++) {
+			 motionData[axis] *= mouseData2PanZoom;
+		 }
+		// convert the directed Rotate vector into physical data
+		// See "Programming for the 3D Mouse", Section 7.2.2
+		for (int axis = 3; axis < 6; axis++) {
+			motionData[axis] *= mouseData2Rotation;
+		}
+
+		// Now that the data has had the filters and sensitivty settings applied
+		// calculate the displacements since the last view update
+		for (int axis = 0; axis < 6; axis++) {
+			motionData[axis] *= dwElapsedTime;
+		}
+
+
+		// Now a bit of book keeping before passing on the data
+		if (iterator->second.IsZero()) {
+			iterator = fDevice2Data.erase(iterator);
+		} else {
+			++iterator;
+		}
+
+		// Work out which will be the next device
+		HANDLE hNextDevice = 0;
+		if (iterator != fDevice2Data.end()) {
+			hNextDevice = iterator->first;
+		}
+
+		 // Pass the 3dmouse input to the view controller
+		 Move3d(hdevice, motionData);
+
+		// Because we don't know what happened in the previous call, the cache might have
+		// changed so reload the iterator
+		iterator = fDevice2Data.find(hNextDevice);
+   }
+
+	if (!fDevice2Data.empty()) {
+		fLast3dmouseInputTime = dwNow;
+	} else {
+		fLast3dmouseInputTime = 0;
+	}
+}
+
+/*!
+	Called when new raw input data is available
+*/
+void Mouse3DInput::OnRawInput(UINT nInputCode, HRAWINPUT hRawInput)
+{
+	const size_t cbSizeOfBuffer=1024;
+	BYTE pBuffer[cbSizeOfBuffer];
+
+	PRAWINPUT pRawInput = reinterpret_cast<PRAWINPUT>(pBuffer);
+	UINT cbSize = cbSizeOfBuffer;
+
+	if (::GetRawInputData(hRawInput, RID_INPUT, pRawInput, &cbSize, sizeof(RAWINPUTHEADER)) == static_cast<UINT>(-1)) {
+		return;
+	}
+
+	bool b3dmouseInput = TranslateRawInputData(nInputCode, pRawInput);
+	::DefRawInputProc(&pRawInput, 1, sizeof(RAWINPUTHEADER));
+
+	// Check for any buffered messages
+	cbSize = cbSizeOfBuffer;
+	UINT nCount = this->GetRawInputBuffer(pRawInput, &cbSize, sizeof(RAWINPUTHEADER));
+	if (nCount == (UINT)-1) {
+		 qDebug ("GetRawInputBuffer returned error %d\n", GetLastError());
+	}
+
+	while (nCount>0 && nCount !=  static_cast<UINT>(-1)) {
+		PRAWINPUT pri = pRawInput;
+		UINT nInput;
+		for (nInput=0; nInput<nCount; ++nInput) {
+			b3dmouseInput |= TranslateRawInputData(nInputCode, pri);
+			// clean the buffer
+			::DefRawInputProc(&pri, 1, sizeof(RAWINPUTHEADER));
+
+			pri = NEXTRAWINPUTBLOCK(pri);
+		}
+		cbSize = cbSizeOfBuffer;
+		nCount = this->GetRawInputBuffer(pRawInput, &cbSize, sizeof(RAWINPUTHEADER));
+	}
+
+	// If we have mouse input data for the app then tell tha app about it
+	if (b3dmouseInput) {
+		On3dmouseInput();
+	}
+}
+
+
+
+bool Mouse3DInput::TranslateRawInputData(UINT nInputCode, PRAWINPUT pRawInput)
+{
+	bool bIsForeground = (nInputCode == RIM_INPUT);
+
+#if _TRACE_RI_TYPE
+	qDebug("Rawinput.header.dwType=0x%x\n", pRawInput->header.dwType);
+#endif
+	// We are not interested in keyboard or mouse data received via raw input
+	if (pRawInput->header.dwType != RIM_TYPEHID) return false;
+
+#if _TRACE_RIDI_DEVICENAME
+	UINT dwSize=0;
+	if (::GetRawInputDeviceInfo(pRawInput->header.hDevice, RIDI_DEVICENAME, NULL, &dwSize) == 0)  {
+		std::vector<wchar_t> szDeviceName(dwSize+1);
+		if (::GetRawInputDeviceInfo(pRawInput->header.hDevice, RIDI_DEVICENAME, &szDeviceName[0],	&dwSize) >0) {
+			qDebug("Device Name = %s\nDevice handle = 0x%x\n", &szDeviceName[0], pRawInput->header.hDevice);
+		}
+   }
+#endif
+
+	RID_DEVICE_INFO sRidDeviceInfo;
+	sRidDeviceInfo.cbSize = sizeof(RID_DEVICE_INFO);
+	UINT cbSize = sizeof(RID_DEVICE_INFO);
+
+	if (::GetRawInputDeviceInfo(pRawInput->header.hDevice, RIDI_DEVICEINFO, &sRidDeviceInfo, &cbSize) == cbSize) {
+#if _TRACE_RIDI_DEVICEINFO
+		switch (sRidDeviceInfo.dwType)  {
+			case RIM_TYPEMOUSE:
+				qDebug("\tsRidDeviceInfo.dwType=RIM_TYPEMOUSE\n");
+				break;
+			case RIM_TYPEKEYBOARD:
+				qDebug("\tsRidDeviceInfo.dwType=RIM_TYPEKEYBOARD\n");
+				break;
+			case RIM_TYPEHID:
+				qDebug("\tsRidDeviceInfo.dwType=RIM_TYPEHID\n");
+				qDebug("\tVendor=0x%x\n\tProduct=0x%x\n\tUsagePage=0x%x\n\tUsage=0x%x\n",
+						sRidDeviceInfo.hid.dwVendorId,
+						sRidDeviceInfo.hid.dwProductId,
+						sRidDeviceInfo.hid.usUsagePage,
+						sRidDeviceInfo.hid.usUsage);
+				break;
+		}
+#endif
+
+		if (sRidDeviceInfo.hid.dwVendorId == LOGITECH_VENDOR_ID) {
+			if (pRawInput->data.hid.bRawData[0] == 0x01) { // Translation vector
+
+				TInputData& deviceData = fDevice2Data[pRawInput->header.hDevice];
+				deviceData.fTimeToLive = kTimeToLive;
+				if (bIsForeground) {
+					short* pnRawData = reinterpret_cast<short*>(&pRawInput->data.hid.bRawData[1]);
+					// Cache the pan zoom data
+					deviceData.fAxes[0] = static_cast<float>(pnRawData[0]);
+					deviceData.fAxes[1] = static_cast<float>(pnRawData[1]);
+					deviceData.fAxes[2] = static_cast<float>(pnRawData[2]);
+
+#if _TRACE_RI_RAWDATA
+					qDebug("Pan/Zoom RI Data =\t0x%x,\t0x%x,\t0x%x\n",
+									pnRawData[0],  pnRawData[1],  pnRawData[2]);
+#endif
+					if (pRawInput->data.hid.dwSizeHid >= 13) {// Highspeed package
+						// Cache the rotation data
+						deviceData.fAxes[3] = static_cast<float>(pnRawData[3]);
+						deviceData.fAxes[4] = static_cast<float>(pnRawData[4]);
+						deviceData.fAxes[5] = static_cast<float>(pnRawData[5]);
+						deviceData.fIsDirty = true;
+#if _TRACE_RI_RAWDATA
+						qDebug("Rotation RI Data =\t0x%x,\t0x%x,\t0x%x\n",
+							 pnRawData[3], pnRawData[4], pnRawData[5]);
+#endif
+						return true;
+					}
+				} else { // Zero out the data if the app is not in forground
+					deviceData.fAxes.assign(6, 0.f);
+				}
+			} else if (pRawInput->data.hid.bRawData[0] == 0x02) { // Rotation vector
+				// If we are not in foreground do nothing
+				// The rotation vector was zeroed out with the translation vector in the previous message
+				if (bIsForeground) {
+					TInputData& deviceData = fDevice2Data[pRawInput->header.hDevice];
+					deviceData.fTimeToLive = kTimeToLive;
+
+					short* pnRawData = reinterpret_cast<short*>(&pRawInput->data.hid.bRawData[1]);
+					// Cache the rotation data
+					deviceData.fAxes[3] = static_cast<float>(pnRawData[0]);
+					deviceData.fAxes[4] = static_cast<float>(pnRawData[1]);
+					deviceData.fAxes[5] = static_cast<float>(pnRawData[2]);
+					deviceData.fIsDirty = true;
+
+#if _TRACE_RI_RAWDATA
+					qDebug("Rotation RI Data =\t0x%x,\t0x%x,\t0x%x\n",
+						pnRawData[0],  pnRawData[1], pnRawData[2]);
+#endif
+					return true;
+				}
+			} else if (pRawInput->data.hid.bRawData[0] == 0x03)  { // Keystate change
+				// this is a package that contains 3d mouse keystate information
+				// bit0=key1, bit=key2 etc.
+
+
+				unsigned long dwKeystate = *reinterpret_cast<unsigned long*>(&pRawInput->data.hid.bRawData[1]);
+#if _TRACE_RI_RAWDATA
+				qDebug("ButtonData =0x%x\n", dwKeystate);
+#endif
+				// Log the keystate changes
+				unsigned long dwOldKeystate = fDevice2Keystate[pRawInput->header.hDevice];
+				if (dwKeystate != 0) {
+					fDevice2Keystate[pRawInput->header.hDevice] = dwKeystate;
+				} else {
+					fDevice2Keystate.erase(pRawInput->header.hDevice);
+				}
+
+				//  Only call the keystate change handlers if the app is in foreground
+				if (bIsForeground) {
+					unsigned long dwChange = dwKeystate ^ dwOldKeystate;
+
+
+					for (int nKeycode=1; nKeycode<33; nKeycode++) {
+						if (dwChange & 0x01) {
+							int nVirtualKeyCode = HidToVirtualKey(sRidDeviceInfo.hid.dwProductId, nKeycode);
+							if (nVirtualKeyCode) {
+								if (dwKeystate&0x01) {
+									On3dmouseKeyDown(pRawInput->header.hDevice, nVirtualKeyCode);
+								} else {
+									On3dmouseKeyUp(pRawInput->header.hDevice, nVirtualKeyCode);
+								}
+							}
+						}
+						dwChange >>=1;
+						dwKeystate >>=1;
+					}
+				}
+			}
+		}
+   }
+   return false;
+}

libs/thirdParty/3DMouse/win/Mouse3DInput.h

+#ifndef T3DMOUSE_INPUT_H
+#define T3DMOUSE_INPUT_H
+
+#include "MouseParameters.h"
+
+#include <QWidget>
+#include <vector>
+#include <map>
+
+#ifndef _WIN32_WINNT
+#define _WIN32_WINNT 0x0501  //target at least windows XP
+#endif
+
+#include <windows.h>
+
+
+/*
+	A class for connecting to and receiving data from a 3D Connexion 3D mouse
+
+	This helper class manages the connection to a 3D mouse,  collecting WM_INPUT
+	messages from Windows and converting the data into 3D motion data.
+
+	This class is based on the SDK from 3D Connexion but is modified to work with Qt.
+
+	It is Windows only since it uses the WM_INPUT messages from windows directly
+	rather than Qt events.
+
+	Note that it needs to be compiled with _WIN32_WINNT defined as 0x0501 (windows XP)
+	or later because the raw input API was added in Windows XP. This also means that
+	Qt needs to be compiled with this enabled otherwise the QEventDispatcherWin32 blocks
+	in processEvents because the raw input messages do not cause the thread to be woken if
+	Qt is compiled for Win 2000 targets.
+*/
+
+class Mouse3DInput : public QObject
+{
+	Q_OBJECT
+public:
+		Mouse3DInput(QWidget* widget);
+		~Mouse3DInput();
+
+static	bool		Is3dmouseAttached();
+
+		I3dMouseParam&			MouseParams();
+		const I3dMouseParam&	MouseParams() const;
+
+virtual	void		Move3d(HANDLE device, std::vector<float>& motionData);
+virtual void		On3dmouseKeyDown(HANDLE device, int virtualKeyCode);
+virtual void		On3dmouseKeyUp(HANDLE device, int virtualKeyCode);
+
+signals:
+
+		void		Move3d(std::vector<float>& motionData);
+		void		On3dmouseKeyDown(int virtualKeyCode);
+		void		On3dmouseKeyUp(int virtualKeyCode);
+
+private:
+
+		bool		InitializeRawInput(HWND hwndTarget);
+
+static	bool		RawInputEventFilter(void* msg, long* result);
+
+		void		OnRawInput(UINT nInputCode, HRAWINPUT hRawInput);
+		UINT		GetRawInputBuffer(PRAWINPUT pData, PUINT pcbSize, UINT cbSizeHeader);
+		bool		TranslateRawInputData(UINT nInputCode, PRAWINPUT pRawInput);
+		void		On3dmouseInput();
+
+		class TInputData
+		{
+		public:
+		   TInputData() : fAxes(6) {}
+
+		   bool IsZero() {
+			  return (0.==fAxes[0] && 0.==fAxes[1] && 0.==fAxes[2] &&
+				 0.==fAxes[3] && 0.==fAxes[4] && 0.==fAxes[5]);
+		   }
+
+		   int                   fTimeToLive; // For telling if the device was unplugged while sending data
+		   bool                  fIsDirty;
+		   std::vector<float>	 fAxes;
+
+		};
+
+		HWND								fWindow;
+
+		// Data cache to handle multiple rawinput devices
+		std::map< HANDLE, TInputData>       fDevice2Data;
+		std::map< HANDLE, unsigned long>    fDevice2Keystate;
+
+		// 3dmouse parameters
+		MouseParameters						f3dMouseParams;     // Rotate, Pan Zoom etc.
+
+		// use to calculate distance traveled since last event
+		DWORD								fLast3dmouseInputTime;
+
+};
+
+#endif

libs/thirdParty/3DMouse/win/MouseParameters.cpp

+#include "MouseParameters.h"
+
+MouseParameters::MouseParameters(): fNavigation(kObjectMode)
+	  , fPivot(kAutoPivot)
+	  , fPivotVisibility(kShowPivot)
+	  , fIsLockHorizon(true)
+	  , fIsPanZoom(true)
+	  , fIsRotate(true)
+	  , fSpeed(kLowSpeed)
+{
+}
+
+MouseParameters::~MouseParameters()
+{
+}
+
+bool MouseParameters::IsPanZoom()  const
+{
+	return fIsPanZoom;
+}
+
+bool MouseParameters::IsRotate()  const
+{
+	return fIsRotate;
+}
+
+MouseParameters::ESpeed MouseParameters::GetSpeed()  const
+{
+	return fSpeed;
+}
+
+void MouseParameters::SetPanZoom(bool isPanZoom)
+{
+	fIsPanZoom=isPanZoom;
+}
+
+void MouseParameters::SetRotate(bool isRotate)
+{
+	fIsRotate=isRotate;
+}
+
+void MouseParameters::SetSpeed(ESpeed speed)
+{
+	fSpeed=speed;
+}
+
+
+MouseParameters::ENavigation MouseParameters::GetNavigationMode()  const
+{
+	return fNavigation;
+}
+
+MouseParameters::EPivot MouseParameters::GetPivotMode()  const
+{
+	return fPivot;
+}
+
+MouseParameters::EPivotVisibility MouseParameters::GetPivotVisibility()  const
+{
+	return fPivotVisibility;
+}
+
+bool MouseParameters::IsLockHorizon()  const
+{
+	return fIsLockHorizon;
+}
+
+void MouseParameters::SetLockHorizon(bool bOn)
+{
+	fIsLockHorizon=bOn;
+}
+
+void MouseParameters::SetNavigationMode(ENavigation navigation)
+{
+	fNavigation=navigation;
+}
+
+void MouseParameters::SetPivotMode(EPivot pivot)
+{
+   if (fPivot!=kManualPivot || pivot!=kAutoPivotOverride)
+	  fPivot = pivot;
+}
+
+void MouseParameters::SetPivotVisibility(EPivotVisibility visibility)
+{
+	fPivotVisibility = visibility;
+}
+

libs/thirdParty/3DMouse/win/MouseParameters.h

+
+#ifndef T3D_MOUSE_PARAMS_H
+#define T3D_MOUSE_PARAMS_H
+
+#include "I3dMouseParams.h"
+
+
+class MouseParameters : public I3dMouseParam
+{
+public:
+	MouseParameters();
+	~MouseParameters();
+
+	// I3dmouseSensor interface
+	bool		IsPanZoom()  const;
+	bool		IsRotate()  const;
+	ESpeed		GetSpeed()  const;
+
+	void		SetPanZoom(bool isPanZoom);
+	void		SetRotate(bool isRotate);
+	void		SetSpeed(ESpeed speed);
+
+	// I3dmouseNavigation interface
+	ENavigation			GetNavigationMode()  const;
+	EPivot				GetPivotMode()  const;
+	EPivotVisibility	GetPivotVisibility()  const;
+	bool				IsLockHorizon()  const;
+
+	void				SetLockHorizon(bool bOn);
+	void				SetNavigationMode(ENavigation navigation);
+	void				SetPivotMode(EPivot pivot);
+	void				SetPivotVisibility(EPivotVisibility visibility);
+
+private:
+
+	MouseParameters (const MouseParameters&);
+	const MouseParameters& operator =(const MouseParameters&);
+
+	ENavigation			fNavigation;
+	EPivot				fPivot;
+	EPivotVisibility	fPivotVisibility;
+	bool				fIsLockHorizon;
+
+	bool				fIsPanZoom;
+	bool				fIsRotate;
+	ESpeed				fSpeed;
+};
+
+#endif

qgroundcontrol.pro

-# -------------------------------------------------
-# QGroundControl - Micro Air Vehicle Groundstation
-# Please see our website at <http://qgroundcontrol.org>
-# Maintainer:
-# Lorenz Meier <lm@inf.ethz.ch>
-# (c) 2009-2011 QGroundControl Developers
-# This file is part of the open groundstation project
-# QGroundControl is free software: you can redistribute it and/or modify
-# 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/>.
-# -------------------------------------------------
-
-
-# Qt configuration
-CONFIG += qt \
-    thread
-QT += network \
-    opengl \
-    svg \
-    xml \
-    phonon \
-    webkit \
-    sql
-
-TEMPLATE = app
-TARGET = qgroundcontrol
-BASEDIR = $${IN_PWD}
-linux-g++|linux-g++-64{
-    debug {
-        TARGETDIR = $${OUT_PWD}/debug
-        BUILDDIR = $${OUT_PWD}/build-debug
-    }
-    release {
-        TARGETDIR = $${OUT_PWD}/release
-        BUILDDIR = $${OUT_PWD}/build-release
-    }
-} else {
-    TARGETDIR = $${OUT_PWD}
-    BUILDDIR = $${OUT_PWD}/build
-}
-LANGUAGE = C++
-OBJECTS_DIR = $${BUILDDIR}/obj
-MOC_DIR = $${BUILDDIR}/moc
-UI_DIR = $${BUILDDIR}/ui
-RCC_DIR = $${BUILDDIR}/rcc
-MAVLINK_CONF = "pixhawk"
-MAVLINKPATH = $$BASEDIR/libs/mavlink/include/mavlink/v1.0
-DEFINES += MAVLINK_NO_DATA
-
-win32 {
-    QMAKE_INCDIR_QT = $$(QTDIR)/include
-    QMAKE_LIBDIR_QT = $$(QTDIR)/lib
-    QMAKE_UIC = "$$(QTDIR)/bin/uic.exe"
-    QMAKE_MOC = "$$(QTDIR)/bin/moc.exe"
-    QMAKE_RCC = "$$(QTDIR)/bin/rcc.exe"
-    QMAKE_QMAKE = "$$(QTDIR)/bin/qmake.exe"
-	
-	# Build QAX for GoogleEarth API access
-	!exists( $(QTDIR)/src/activeqt/Makefile ) {
-		message( Making QAx (ONE TIME) )
-		system( cd $$(QTDIR)\\src\\activeqt && $$(QTDIR)\\bin\\qmake.exe )
-		system( cd $$(QTDIR)\\src\\activeqt\\container && $$(QTDIR)\\bin\\qmake.exe )
-		system( cd $$(QTDIR)\\src\\activeqt\\control && $$(QTDIR)\\bin\\qmake.exe )
-	}
-}
-
-
-
-#################################################################
-# EXTERNAL LIBRARY CONFIGURATION
-
-# EIGEN matrix library (header-only)
-INCLUDEPATH += libs/eigen
-
-# OPMapControl library (from OpenPilot)
-include(libs/utils/utils_external.pri)
-include(libs/opmapcontrol/opmapcontrol_external.pri)
-DEPENDPATH += \
-    libs/utils \
-    libs/utils/src \
-    libs/opmapcontrol \
-    libs/opmapcontrol/src \
-    libs/opmapcontrol/src/mapwidget
-
-INCLUDEPATH += \
-    libs/utils \
-    libs \
-    libs/opmapcontrol
-
-# If the user config file exists, it will be included.
-# if the variable MAVLINK_CONF contains the name of an
-# additional project, QGroundControl includes the support
-# of custom MAVLink messages of this project. It will also
-# create a QGC_USE_{AUTOPILOT_NAME}_MESSAGES macro for use
-# within the actual code.
-exists(user_config.pri) { 
-    include(user_config.pri)
-    message("----- USING CUSTOM USER QGROUNDCONTROL CONFIG FROM user_config.pri -----")
-    message("Adding support for additional MAVLink messages for: " $$MAVLINK_CONF)
-    message("------------------------------------------------------------------------")
-}
-INCLUDEPATH += $$MAVLINKPATH
-isEmpty(MAVLINK_CONF) { 
-    INCLUDEPATH += $$MAVLINKPATH/common
-} else {
-    INCLUDEPATH += $$MAVLINKPATH/$$MAVLINK_CONF
-    #DEFINES += 'MAVLINK_CONF="$${MAVLINK_CONF}.h"'
-    DEFINES += $$sprintf('QGC_USE_%1_MESSAGES', $$upper($$MAVLINK_CONF))
-}
-
-# Include general settings for QGroundControl
-# necessary as last include to override any non-acceptable settings
-# done by the plugins above
-include(qgroundcontrol.pri)
-
-# Include MAVLink generator
-# has been deprecated
-DEPENDPATH += \
-    src/apps/mavlinkgen
-
-INCLUDEPATH += \
-    src/apps/mavlinkgen \
-    src/apps/mavlinkgen/ui \
-    src/apps/mavlinkgen/generator
-
-include(src/apps/mavlinkgen/mavlinkgen.pri)
-
-
-
-# Include QWT plotting library
-include(libs/qwt/qwt.pri)
-DEPENDPATH += . \
-    plugins \
-    libs/thirdParty/qserialport/include \
-    libs/thirdParty/qserialport/include/QtSerialPort \
-    libs/thirdParty/qserialport \
-    libs/qextserialport
-
-INCLUDEPATH += . \
-    libs/thirdParty/qserialport/include \
-    libs/thirdParty/qserialport/include/QtSerialPort \
-    libs/thirdParty/qserialport/src \
-    libs/qextserialport
-
-# Include serial port library (QSerial)
-include(qserialport.pri)
-
-# Serial port detection (ripped-off from qextserialport library)
-macx|macx-g++|macx-g++42::SOURCES += libs/qextserialport/qextserialenumerator_osx.cpp
-linux-g++::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
-linux-g++-64::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
-win32::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
-win32-msvc2008|win32-msvc2010::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
-
-# Input
-FORMS += src/ui/MainWindow.ui \
-    src/ui/CommSettings.ui \
-    src/ui/SerialSettings.ui \
-    src/ui/UASControl.ui \
-    src/ui/UASList.ui \
-    src/ui/UASInfo.ui \
-    src/ui/Linechart.ui \
-    src/ui/UASView.ui \
-    src/ui/ParameterInterface.ui \
-    src/ui/WaypointList.ui \    
-    src/ui/ObjectDetectionView.ui \
-    src/ui/JoystickWidget.ui \
-    src/ui/DebugConsole.ui \
-    src/ui/HDDisplay.ui \
-    src/ui/MAVLinkSettingsWidget.ui \
-    src/ui/AudioOutputWidget.ui \
-    src/ui/QGCSensorSettingsWidget.ui \
-    src/ui/watchdog/WatchdogControl.ui \
-    src/ui/watchdog/WatchdogProcessView.ui \
-    src/ui/watchdog/WatchdogView.ui \
-    src/ui/QGCFirmwareUpdate.ui \
-    src/ui/QGCPxImuFirmwareUpdate.ui \
-    src/ui/QGCDataPlot2D.ui \
-    src/ui/QGCRemoteControlView.ui \
-    src/ui/QMap3D.ui \
-    src/ui/QGCWebView.ui \
-    src/ui/map3D/QGCGoogleEarthView.ui \
-    src/ui/SlugsDataSensorView.ui \
-    src/ui/SlugsHilSim.ui \
-    src/ui/SlugsPadCameraControl.ui \
-    src/ui/uas/QGCUnconnectedInfoWidget.ui \
-    src/ui/designer/QGCToolWidget.ui \
-    src/ui/designer/QGCParamSlider.ui \
-    src/ui/designer/QGCActionButton.ui \
-    src/ui/designer/QGCCommandButton.ui \
-    src/ui/QGCMAVLinkLogPlayer.ui \
-    src/ui/QGCWaypointListMulti.ui \
-    src/ui/QGCUDPLinkConfiguration.ui \
-    src/ui/QGCSettingsWidget.ui \
-    src/ui/UASControlParameters.ui \
-    src/ui/map/QGCMapTool.ui \
-    src/ui/map/QGCMapToolBar.ui \
-    src/ui/QGCMAVLinkInspector.ui \
-    src/ui/WaypointViewOnlyView.ui \    
-    src/ui/WaypointEditableView.ui \    
-    src/ui/UnconnectedUASInfoWidget.ui \
-    src/ui/mavlink/QGCMAVLinkMessageSender.ui \
-    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.ui \
-    src/ui/QGCPluginHost.ui \
-    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui \
-    src/ui/mission/QGCMissionOther.ui \
-    src/ui/mission/QGCMissionNavWaypoint.ui \
-    src/ui/mission/QGCMissionDoJump.ui \
-    src/ui/mission/QGCMissionConditionDelay.ui \
-    src/ui/mission/QGCMissionNavLoiterUnlim.ui \
-    src/ui/mission/QGCMissionNavLoiterTurns.ui \
-    src/ui/mission/QGCMissionNavLoiterTime.ui \
-    src/ui/mission/QGCMissionNavReturnToLaunch.ui \
-    src/ui/mission/QGCMissionNavLand.ui \
-    src/ui/mission/QGCMissionNavTakeoff.ui \
-    src/ui/mission/QGCMissionNavSweep.ui \
-    src/ui/mission/QGCMissionDoStartSearch.ui \
-    src/ui/mission/QGCMissionDoFinishSearch.ui \
-    src/ui/QGCVehicleConfig.ui \
-    src/ui/QGCHilConfiguration.ui \
-    src/ui/QGCHilFlightGearConfiguration.ui \
-    src/ui/QGCHilXPlaneConfiguration.ui
-INCLUDEPATH += src \
-    src/ui \
-    src/ui/linechart \
-    src/ui/uas \
-    src/ui/map \
-    src/uas \
-    src/comm \
-    include/ui \
-    src/input \
-    src/lib/qmapcontrol \
-    src/ui/mavlink \
-    src/ui/param \
-    src/ui/watchdog \
-    src/ui/map3D \
-    src/ui/mission \
-    src/ui/designer
-HEADERS += src/MG.h \
-    src/QGCCore.h \
-    src/uas/UASInterface.h \
-    src/uas/UAS.h \
-    src/uas/UASManager.h \
-    src/comm/LinkManager.h \
-    src/comm/LinkInterface.h \
-    src/comm/SerialLinkInterface.h \
-    src/comm/SerialLink.h \
-    src/comm/ProtocolInterface.h \
-    src/comm/MAVLinkProtocol.h \
-    src/comm/QGCFlightGearLink.h \
-    src/comm/QGCXPlaneLink.h \
-    src/ui/CommConfigurationWindow.h \
-    src/ui/SerialConfigurationWindow.h \
-    src/ui/MainWindow.h \
-    src/ui/uas/UASControlWidget.h \
-    src/ui/uas/UASListWidget.h \
-    src/ui/uas/UASInfoWidget.h \
-    src/ui/HUD.h \
-    src/ui/linechart/LinechartWidget.h \
-    src/ui/linechart/LinechartPlot.h \
-    src/ui/linechart/Scrollbar.h \
-    src/ui/linechart/ScrollZoomer.h \
-    src/configuration.h \
-    src/ui/uas/UASView.h \
-    src/ui/CameraView.h \
-    src/comm/MAVLinkSimulationLink.h \
-    src/comm/UDPLink.h \
-    src/ui/ParameterInterface.h \
-    src/ui/WaypointList.h \
-    src/Waypoint.h \   
-    src/ui/ObjectDetectionView.h \
-    src/input/JoystickInput.h \
-    src/ui/JoystickWidget.h \
-    src/ui/DebugConsole.h \
-    src/ui/HDDisplay.h \
-    src/ui/MAVLinkSettingsWidget.h \
-    src/ui/AudioOutputWidget.h \
-    src/GAudioOutput.h \
-    src/LogCompressor.h \
-    src/ui/QGCParamWidget.h \
-    src/ui/QGCSensorSettingsWidget.h \
-    src/ui/linechart/Linecharts.h \
-    src/uas/SlugsMAV.h \
-    src/uas/PxQuadMAV.h \
-    src/uas/ArduPilotMegaMAV.h \
-    src/uas/senseSoarMAV.h \
-    src/ui/watchdog/WatchdogControl.h \
-    src/ui/watchdog/WatchdogProcessView.h \
-    src/ui/watchdog/WatchdogView.h \
-    src/uas/UASWaypointManager.h \
-    src/ui/HSIDisplay.h \
-    src/QGC.h \
-    src/ui/QGCFirmwareUpdate.h \
-    src/ui/QGCPxImuFirmwareUpdate.h \
-    src/ui/QGCDataPlot2D.h \
-    src/ui/linechart/IncrementalPlot.h \
-    src/ui/QGCRemoteControlView.h \
-    src/ui/RadioCalibration/RadioCalibrationData.h \
-    src/ui/RadioCalibration/RadioCalibrationWindow.h \
-    src/ui/RadioCalibration/AirfoilServoCalibrator.h \
-    src/ui/RadioCalibration/SwitchCalibrator.h \
-    src/ui/RadioCalibration/CurveCalibrator.h \
-    src/ui/RadioCalibration/AbstractCalibrator.h \
-    src/comm/QGCMAVLink.h \
-    src/ui/QGCWebView.h \
-    src/ui/map3D/QGCWebPage.h \
-    src/ui/SlugsDataSensorView.h \
-    src/ui/SlugsHilSim.h \
-    src/ui/SlugsPadCameraControl.h \
-    src/ui/QGCMainWindowAPConfigurator.h \
-    src/comm/MAVLinkSwarmSimulationLink.h \
-    src/ui/uas/QGCUnconnectedInfoWidget.h \
-    src/ui/designer/QGCToolWidget.h \
-    src/ui/designer/QGCParamSlider.h \
-    src/ui/designer/QGCCommandButton.h \
-    src/ui/designer/QGCToolWidgetItem.h \
-    src/ui/QGCMAVLinkLogPlayer.h \
-    src/comm/MAVLinkSimulationWaypointPlanner.h \
-    src/comm/MAVLinkSimulationMAV.h \
-    src/uas/QGCMAVLinkUASFactory.h \
-    src/ui/QGCWaypointListMulti.h \
-    src/ui/QGCUDPLinkConfiguration.h \
-    src/ui/QGCSettingsWidget.h \
-    src/ui/uas/UASControlParameters.h \
-    src/uas/QGCUASParamManager.h \
-    src/ui/map/QGCMapWidget.h \
-    src/ui/map/MAV2DIcon.h \
-    src/ui/map/Waypoint2DIcon.h \
-    src/ui/map/QGCMapTool.h \
-    src/ui/map/QGCMapToolBar.h \
-    libs/qextserialport/qextserialenumerator.h \
-    src/QGCGeo.h \
-    src/ui/QGCToolBar.h \
-    src/ui/QGCMAVLinkInspector.h \
-    src/ui/MAVLinkDecoder.h \
-    src/ui/WaypointViewOnlyView.h \
-    src/ui/WaypointViewOnlyView.h \
-    src/ui/WaypointEditableView.h \    
-    src/ui/UnconnectedUASInfoWidget.h \
-    src/ui/QGCRGBDView.h \
-    src/ui/mavlink/QGCMAVLinkMessageSender.h \
-    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
-    src/ui/QGCPluginHost.h \
-    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h \
-    src/ui/mission/QGCMissionOther.h \
-    src/ui/mission/QGCMissionNavWaypoint.h \
-    src/ui/mission/QGCMissionDoJump.h \
-    src/ui/mission/QGCMissionConditionDelay.h \
-    src/ui/mission/QGCMissionNavLoiterUnlim.h \
-    src/ui/mission/QGCMissionNavLoiterTurns.h \
-    src/ui/mission/QGCMissionNavLoiterTime.h \
-    src/ui/mission/QGCMissionNavReturnToLaunch.h \
-    src/ui/mission/QGCMissionNavLand.h \
-    src/ui/mission/QGCMissionNavTakeoff.h \
-    src/ui/mission/QGCMissionNavSweep.h \
-    src/ui/mission/QGCMissionDoStartSearch.h \
-    src/ui/mission/QGCMissionDoFinishSearch.h \
-    src/ui/QGCVehicleConfig.h \
-    src/comm/QGCHilLink.h \
-    src/ui/QGCHilConfiguration.h \
-    src/ui/QGCHilFlightGearConfiguration.h \
-    src/ui/QGCHilXPlaneConfiguration.h
-
-# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
-macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
-contains(DEPENDENCIES_PRESENT, osg) { 
-    message("Including headers for OpenSceneGraph")
-    
-    # Enable only if OpenSceneGraph is available
-    HEADERS += src/ui/map3D/gpl.h \
-        src/ui/map3D/CameraParams.h \
-        src/ui/map3D/ViewParamWidget.h \
-        src/ui/map3D/SystemContainer.h \
-        src/ui/map3D/SystemViewParams.h \
-        src/ui/map3D/GlobalViewParams.h \
-        src/ui/map3D/SystemGroupNode.h \
-        src/ui/map3D/Q3DWidget.h \
-        src/ui/map3D/GCManipulator.h \
-        src/ui/map3D/ImageWindowGeode.h \
-        src/ui/map3D/PixhawkCheetahNode.h \
-        src/ui/map3D/Pixhawk3DWidget.h \
-        src/ui/map3D/Q3DWidgetFactory.h \
-        src/ui/map3D/WebImageCache.h \
-        src/ui/map3D/WebImage.h \
-        src/ui/map3D/TextureCache.h \
-        src/ui/map3D/Texture.h \
-        src/ui/map3D/Imagery.h \
-        src/ui/map3D/HUDScaleGeode.h \
-        src/ui/map3D/WaypointGroupNode.h \
-        src/ui/map3D/TerrainParamDialog.h \
-        src/ui/map3D/ImageryParamDialog.h
-}
-contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
-    message("Including headers for Protocol Buffers")
-
-    # Enable only if protobuf is available
-    HEADERS += libs/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.pb.h \
-        src/ui/map3D/ObstacleGroupNode.h \
-        src/ui/map3D/GLOverlayGeode.h
-}
-contains(DEPENDENCIES_PRESENT, libfreenect) { 
-    message("Including headers for libfreenect")
-    
-    # Enable only if libfreenect is available
-    HEADERS += src/input/Freenect.h
-}
-SOURCES += src/main.cc \
-    src/QGCCore.cc \
-    src/uas/UASManager.cc \
-    src/uas/UAS.cc \
-    src/comm/LinkManager.cc \
-    src/comm/LinkInterface.cpp \
-    src/comm/SerialLink.cc \
-    src/comm/MAVLinkProtocol.cc \
-    src/comm/QGCFlightGearLink.cc \
-    src/comm/QGCXPlaneLink.cc \
-    src/ui/CommConfigurationWindow.cc \
-    src/ui/SerialConfigurationWindow.cc \
-    src/ui/MainWindow.cc \
-    src/ui/uas/UASControlWidget.cc \
-    src/ui/uas/UASListWidget.cc \
-    src/ui/uas/UASInfoWidget.cc \
-    src/ui/HUD.cc \
-    src/ui/linechart/LinechartWidget.cc \
-    src/ui/linechart/LinechartPlot.cc \
-    src/ui/linechart/Scrollbar.cc \
-    src/ui/linechart/ScrollZoomer.cc \
-    src/ui/uas/UASView.cc \
-    src/ui/CameraView.cc \
-    src/comm/MAVLinkSimulationLink.cc \
-    src/comm/UDPLink.cc \
-    src/ui/ParameterInterface.cc \
-    src/ui/WaypointList.cc \
-    src/Waypoint.cc \
-    src/ui/ObjectDetectionView.cc \
-    src/input/JoystickInput.cc \
-    src/ui/JoystickWidget.cc \
-    src/ui/DebugConsole.cc \
-    src/ui/HDDisplay.cc \
-    src/ui/MAVLinkSettingsWidget.cc \
-    src/ui/AudioOutputWidget.cc \
-    src/GAudioOutput.cc \
-    src/LogCompressor.cc \
-    src/ui/QGCParamWidget.cc \
-    src/ui/QGCSensorSettingsWidget.cc \
-    src/ui/linechart/Linecharts.cc \
-    src/uas/SlugsMAV.cc \
-    src/uas/PxQuadMAV.cc \
-    src/uas/ArduPilotMegaMAV.cc \
-    src/uas/senseSoarMAV.cpp \
-    src/ui/watchdog/WatchdogControl.cc \
-    src/ui/watchdog/WatchdogProcessView.cc \
-    src/ui/watchdog/WatchdogView.cc \
-    src/uas/UASWaypointManager.cc \
-    src/ui/HSIDisplay.cc \
-    src/QGC.cc \
-    src/ui/QGCFirmwareUpdate.cc \
-    src/ui/QGCPxImuFirmwareUpdate.cc \
-    src/ui/QGCDataPlot2D.cc \
-    src/ui/linechart/IncrementalPlot.cc \
-    src/ui/QGCRemoteControlView.cc \
-    src/ui/RadioCalibration/RadioCalibrationWindow.cc \
-    src/ui/RadioCalibration/AirfoilServoCalibrator.cc \
-    src/ui/RadioCalibration/SwitchCalibrator.cc \
-    src/ui/RadioCalibration/CurveCalibrator.cc \
-    src/ui/RadioCalibration/AbstractCalibrator.cc \
-    src/ui/RadioCalibration/RadioCalibrationData.cc \
-    src/ui/QGCWebView.cc \
-    src/ui/map3D/QGCWebPage.cc \
-    src/ui/SlugsDataSensorView.cc \
-    src/ui/SlugsHilSim.cc \
-    src/ui/SlugsPadCameraControl.cpp \
-    src/ui/QGCMainWindowAPConfigurator.cc \
-    src/comm/MAVLinkSwarmSimulationLink.cc \
-    src/ui/uas/QGCUnconnectedInfoWidget.cc \
-    src/ui/designer/QGCToolWidget.cc \
-    src/ui/designer/QGCParamSlider.cc \
-    src/ui/designer/QGCCommandButton.cc \
-    src/ui/designer/QGCToolWidgetItem.cc \
-    src/ui/QGCMAVLinkLogPlayer.cc \
-    src/comm/MAVLinkSimulationWaypointPlanner.cc \
-    src/comm/MAVLinkSimulationMAV.cc \
-    src/uas/QGCMAVLinkUASFactory.cc \
-    src/ui/QGCWaypointListMulti.cc \
-    src/ui/QGCUDPLinkConfiguration.cc \
-    src/ui/QGCSettingsWidget.cc \
-    src/ui/uas/UASControlParameters.cpp \
-    src/uas/QGCUASParamManager.cc \
-    src/ui/map/QGCMapWidget.cc \
-    src/ui/map/MAV2DIcon.cc \
-    src/ui/map/Waypoint2DIcon.cc \
-    src/ui/map/QGCMapTool.cc \
-    src/ui/map/QGCMapToolBar.cc \
-    src/ui/QGCToolBar.cc \
-    src/ui/QGCMAVLinkInspector.cc \
-    src/ui/MAVLinkDecoder.cc \
-    src/ui/WaypointViewOnlyView.cc \
-    src/ui/WaypointEditableView.cc \
-    src/ui/UnconnectedUASInfoWidget.cc \
-    src/ui/QGCRGBDView.cc \
-    src/ui/mavlink/QGCMAVLinkMessageSender.cc \
-    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \
-    src/ui/QGCPluginHost.cc \
-    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc \
-    src/ui/mission/QGCMissionOther.cc \
-    src/ui/mission/QGCMissionNavWaypoint.cc \
-    src/ui/mission/QGCMissionDoJump.cc \
-    src/ui/mission/QGCMissionConditionDelay.cc \
-    src/ui/mission/QGCMissionNavLoiterUnlim.cc \
-    src/ui/mission/QGCMissionNavLoiterTurns.cc \
-    src/ui/mission/QGCMissionNavLoiterTime.cc \
-    src/ui/mission/QGCMissionNavReturnToLaunch.cc \
-    src/ui/mission/QGCMissionNavLand.cc \
-    src/ui/mission/QGCMissionNavTakeoff.cc \
-    src/ui/mission/QGCMissionNavSweep.cc \
-    src/ui/mission/QGCMissionDoStartSearch.cc \
-    src/ui/mission/QGCMissionDoFinishSearch.cc \
-    src/ui/QGCVehicleConfig.cc \
-    src/ui/QGCHilConfiguration.cc \
-    src/ui/QGCHilFlightGearConfiguration.cc \
-    src/ui/QGCHilXPlaneConfiguration.cc
-
-# Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
-macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
-
-# Enable OSG only if it has been found
-contains(DEPENDENCIES_PRESENT, osg) { 
-    message("Including sources for OpenSceneGraph")
-    
-    # Enable only if OpenSceneGraph is available
-    SOURCES += src/ui/map3D/gpl.cc \
-        src/ui/map3D/CameraParams.cc \
-        src/ui/map3D/ViewParamWidget.cc \
-        src/ui/map3D/SystemContainer.cc \
-        src/ui/map3D/SystemViewParams.cc \
-        src/ui/map3D/GlobalViewParams.cc \
-        src/ui/map3D/SystemGroupNode.cc \
-        src/ui/map3D/Q3DWidget.cc \
-        src/ui/map3D/ImageWindowGeode.cc \
-        src/ui/map3D/GCManipulator.cc \
-        src/ui/map3D/PixhawkCheetahNode.cc \
-        src/ui/map3D/Pixhawk3DWidget.cc \
-        src/ui/map3D/Q3DWidgetFactory.cc \
-        src/ui/map3D/WebImageCache.cc \
-        src/ui/map3D/WebImage.cc \
-        src/ui/map3D/TextureCache.cc \
-        src/ui/map3D/Texture.cc \
-        src/ui/map3D/Imagery.cc \
-        src/ui/map3D/HUDScaleGeode.cc \
-        src/ui/map3D/WaypointGroupNode.cc \
-        src/ui/map3D/TerrainParamDialog.cc \
-        src/ui/map3D/ImageryParamDialog.cc
-
-    contains(DEPENDENCIES_PRESENT, osgearth) { 
-        message("Including sources for osgEarth")
-        
-        # Enable only if OpenSceneGraph is available
-        SOURCES +=
-    }
-}
-contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
-    message("Including sources for Protocol Buffers")
-
-    # Enable only if protobuf is available
-    SOURCES += libs/mavlink/share/mavlink/src/v1.0/pixhawk/pixhawk.pb.cc \
-        src/ui/map3D/ObstacleGroupNode.cc \
-        src/ui/map3D/GLOverlayGeode.cc
-}
-contains(DEPENDENCIES_PRESENT, libfreenect) { 
-    message("Including sources for libfreenect")
-    
-    # Enable only if libfreenect is available
-    SOURCES += src/input/Freenect.cc
-}
-
-# Add icons and other resources
-RESOURCES += qgroundcontrol.qrc
-
-# Include RT-LAB Library
-win32:exists(src/lib/opalrt/OpalApi.h):exists(C:/OPAL-RT/RT-LAB7.2.4/Common/bin) { 
-    message("Building support for Opal-RT")
-    LIBS += -LC:/OPAL-RT/RT-LAB7.2.4/Common/bin \
-        -lOpalApi
-    INCLUDEPATH += src/lib/opalrt
-    HEADERS += src/comm/OpalRT.h \
-        src/comm/OpalLink.h \
-        src/comm/Parameter.h \
-        src/comm/QGCParamID.h \
-        src/comm/ParameterList.h \
-        src/ui/OpalLinkConfigurationWindow.h
-    SOURCES += src/comm/OpalRT.cc \
-        src/comm/OpalLink.cc \
-        src/comm/Parameter.cc \
-        src/comm/QGCParamID.cc \
-        src/comm/ParameterList.cc \
-        src/ui/OpalLinkConfigurationWindow.cc
-    FORMS += src/ui/OpalLinkSettings.ui
-    DEFINES += OPAL_RT
-}
-TRANSLATIONS += es-MX.ts \
-    en-US.ts
-
-# xbee support
-# libxbee only supported by linux and windows systems
-win32-msvc2008|win32-msvc2010|linux {
-    HEADERS += src/comm/XbeeLinkInterface.h \
-        src/comm/XbeeLink.h \
-        src/comm/HexSpinBox.h \
-        src/ui/XbeeConfigurationWindow.h \
-        src/comm/CallConv.h
-    SOURCES += src/comm/XbeeLink.cpp \
-        src/comm/HexSpinBox.cpp \
-        src/ui/XbeeConfigurationWindow.cpp
-    DEFINES += XBEELINK
-    INCLUDEPATH += libs/thirdParty/libxbee
-# TO DO: build library when it does not exist already
-    LIBS += -Llibs/thirdParty/libxbee/lib \
-        -llibxbee
-}
+# -------------------------------------------------
+# QGroundControl - Micro Air Vehicle Groundstation
+# Please see our website at <http://qgroundcontrol.org>
+# Maintainer:
+# Lorenz Meier <lm@inf.ethz.ch>
+# (c) 2009-2011 QGroundControl Developers
+# This file is part of the open groundstation project
+# QGroundControl is free software: you can redistribute it and/or modify
+# 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/>.
+# -------------------------------------------------
+
+
+# Qt configuration
+CONFIG += qt \
+    thread
+QT += network \
+    opengl \
+    svg \
+    xml \
+    phonon \
+    webkit \
+    sql
+
+TEMPLATE = app
+TARGET = qgroundcontrol
+BASEDIR = $${IN_PWD}
+linux-g++|linux-g++-64{
+    debug {
+        TARGETDIR = $${OUT_PWD}/debug
+        BUILDDIR = $${OUT_PWD}/build-debug
+    }
+    release {
+        TARGETDIR = $${OUT_PWD}/release
+        BUILDDIR = $${OUT_PWD}/build-release
+    }
+} else {
+    TARGETDIR = $${OUT_PWD}
+    BUILDDIR = $${OUT_PWD}/build
+}
+LANGUAGE = C++
+OBJECTS_DIR = $${BUILDDIR}/obj
+MOC_DIR = $${BUILDDIR}/moc
+UI_DIR = $${BUILDDIR}/ui
+RCC_DIR = $${BUILDDIR}/rcc
+MAVLINK_CONF = "pixhawk"
+MAVLINKPATH = $$BASEDIR/libs/mavlink/include/mavlink/v1.0
+DEFINES += MAVLINK_NO_DATA
+
+win32 {
+    QMAKE_INCDIR_QT = $$(QTDIR)/include
+    QMAKE_LIBDIR_QT = $$(QTDIR)/lib
+    QMAKE_UIC = "$$(QTDIR)/bin/uic.exe"
+    QMAKE_MOC = "$$(QTDIR)/bin/moc.exe"
+    QMAKE_RCC = "$$(QTDIR)/bin/rcc.exe"
+    QMAKE_QMAKE = "$$(QTDIR)/bin/qmake.exe"
+	
+	# Build QAX for GoogleEarth API access
+	!exists( $(QTDIR)/src/activeqt/Makefile ) {
+		message( Making QAx (ONE TIME) )
+		system( cd $$(QTDIR)\\src\\activeqt && $$(QTDIR)\\bin\\qmake.exe )
+		system( cd $$(QTDIR)\\src\\activeqt\\container && $$(QTDIR)\\bin\\qmake.exe )
+		system( cd $$(QTDIR)\\src\\activeqt\\control && $$(QTDIR)\\bin\\qmake.exe )
+	}
+}
+
+
+
+#################################################################
+# EXTERNAL LIBRARY CONFIGURATION
+
+# EIGEN matrix library (header-only)
+INCLUDEPATH += libs/eigen
+
+# OPMapControl library (from OpenPilot)
+include(libs/utils/utils_external.pri)
+include(libs/opmapcontrol/opmapcontrol_external.pri)
+DEPENDPATH += \
+    libs/utils \
+    libs/utils/src \
+    libs/opmapcontrol \
+    libs/opmapcontrol/src \
+    libs/opmapcontrol/src/mapwidget
+
+INCLUDEPATH += \
+    libs/utils \
+    libs \
+    libs/opmapcontrol
+
+# If the user config file exists, it will be included.
+# if the variable MAVLINK_CONF contains the name of an
+# additional project, QGroundControl includes the support
+# of custom MAVLink messages of this project. It will also
+# create a QGC_USE_{AUTOPILOT_NAME}_MESSAGES macro for use
+# within the actual code.
+exists(user_config.pri) { 
+    include(user_config.pri)
+    message("----- USING CUSTOM USER QGROUNDCONTROL CONFIG FROM user_config.pri -----")
+    message("Adding support for additional MAVLink messages for: " $$MAVLINK_CONF)
+    message("------------------------------------------------------------------------")
+}
+INCLUDEPATH += $$MAVLINKPATH
+isEmpty(MAVLINK_CONF) { 
+    INCLUDEPATH += $$MAVLINKPATH/common
+} else {
+    INCLUDEPATH += $$MAVLINKPATH/$$MAVLINK_CONF
+    #DEFINES += 'MAVLINK_CONF="$${MAVLINK_CONF}.h"'
+    DEFINES += $$sprintf('QGC_USE_%1_MESSAGES', $$upper($$MAVLINK_CONF))
+}
+
+# Include general settings for QGroundControl
+# necessary as last include to override any non-acceptable settings
+# done by the plugins above
+include(qgroundcontrol.pri)
+
+# Include MAVLink generator
+# has been deprecated
+DEPENDPATH += \
+    src/apps/mavlinkgen
+
+INCLUDEPATH += \
+    src/apps/mavlinkgen \
+    src/apps/mavlinkgen/ui \
+    src/apps/mavlinkgen/generator
+
+include(src/apps/mavlinkgen/mavlinkgen.pri)
+
+
+
+# Include QWT plotting library
+include(libs/qwt/qwt.pri)
+DEPENDPATH += . \
+    plugins \
+    libs/thirdParty/qserialport/include \
+    libs/thirdParty/qserialport/include/QtSerialPort \
+    libs/thirdParty/qserialport \
+    libs/qextserialport
+
+INCLUDEPATH += . \
+    libs/thirdParty/qserialport/include \
+    libs/thirdParty/qserialport/include/QtSerialPort \
+    libs/thirdParty/qserialport/src \
+    libs/qextserialport
+
+# Include serial port library (QSerial)
+include(qserialport.pri)
+
+# Serial port detection (ripped-off from qextserialport library)
+macx|macx-g++|macx-g++42::SOURCES += libs/qextserialport/qextserialenumerator_osx.cpp
+linux-g++::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
+linux-g++-64::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
+win32::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
+win32-msvc2008|win32-msvc2010::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
+
+# Input
+FORMS += src/ui/MainWindow.ui \
+    src/ui/CommSettings.ui \
+    src/ui/SerialSettings.ui \
+    src/ui/UASControl.ui \
+    src/ui/UASList.ui \
+    src/ui/UASInfo.ui \
+    src/ui/Linechart.ui \
+    src/ui/UASView.ui \
+    src/ui/ParameterInterface.ui \
+    src/ui/WaypointList.ui \    
+    src/ui/ObjectDetectionView.ui \
+    src/ui/JoystickWidget.ui \
+    src/ui/DebugConsole.ui \
+    src/ui/HDDisplay.ui \
+    src/ui/MAVLinkSettingsWidget.ui \
+    src/ui/AudioOutputWidget.ui \
+    src/ui/QGCSensorSettingsWidget.ui \
+    src/ui/watchdog/WatchdogControl.ui \
+    src/ui/watchdog/WatchdogProcessView.ui \
+    src/ui/watchdog/WatchdogView.ui \
+    src/ui/QGCFirmwareUpdate.ui \
+    src/ui/QGCPxImuFirmwareUpdate.ui \
+    src/ui/QGCDataPlot2D.ui \
+    src/ui/QGCRemoteControlView.ui \
+    src/ui/QMap3D.ui \
+    src/ui/QGCWebView.ui \
+    src/ui/map3D/QGCGoogleEarthView.ui \
+    src/ui/SlugsDataSensorView.ui \
+    src/ui/SlugsHilSim.ui \
+    src/ui/SlugsPadCameraControl.ui \
+    src/ui/uas/QGCUnconnectedInfoWidget.ui \
+    src/ui/designer/QGCToolWidget.ui \
+    src/ui/designer/QGCParamSlider.ui \
+    src/ui/designer/QGCActionButton.ui \
+    src/ui/designer/QGCCommandButton.ui \
+    src/ui/QGCMAVLinkLogPlayer.ui \
+    src/ui/QGCWaypointListMulti.ui \
+    src/ui/QGCUDPLinkConfiguration.ui \
+    src/ui/QGCSettingsWidget.ui \
+    src/ui/UASControlParameters.ui \
+    src/ui/map/QGCMapTool.ui \
+    src/ui/map/QGCMapToolBar.ui \
+    src/ui/QGCMAVLinkInspector.ui \
+    src/ui/WaypointViewOnlyView.ui \    
+    src/ui/WaypointEditableView.ui \    
+    src/ui/UnconnectedUASInfoWidget.ui \
+    src/ui/mavlink/QGCMAVLinkMessageSender.ui \
+    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.ui \
+    src/ui/QGCPluginHost.ui \
+    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui \
+    src/ui/mission/QGCMissionOther.ui \
+    src/ui/mission/QGCMissionNavWaypoint.ui \
+    src/ui/mission/QGCMissionDoJump.ui \
+    src/ui/mission/QGCMissionConditionDelay.ui \
+    src/ui/mission/QGCMissionNavLoiterUnlim.ui \
+    src/ui/mission/QGCMissionNavLoiterTurns.ui \
+    src/ui/mission/QGCMissionNavLoiterTime.ui \
+    src/ui/mission/QGCMissionNavReturnToLaunch.ui \
+    src/ui/mission/QGCMissionNavLand.ui \
+    src/ui/mission/QGCMissionNavTakeoff.ui \
+    src/ui/mission/QGCMissionNavSweep.ui \
+    src/ui/mission/QGCMissionDoStartSearch.ui \
+    src/ui/mission/QGCMissionDoFinishSearch.ui \
+    src/ui/QGCVehicleConfig.ui \
+    src/ui/QGCHilConfiguration.ui \
+    src/ui/QGCHilFlightGearConfiguration.ui \
+    src/ui/QGCHilXPlaneConfiguration.ui
+INCLUDEPATH += src \
+    src/ui \
+    src/ui/linechart \
+    src/ui/uas \
+    src/ui/map \
+    src/uas \
+    src/comm \
+    include/ui \
+    src/input \
+    src/lib/qmapcontrol \
+    src/ui/mavlink \
+    src/ui/param \
+    src/ui/watchdog \
+    src/ui/map3D \
+    src/ui/mission \
+    src/ui/designer
+HEADERS += src/MG.h \
+    src/QGCCore.h \
+    src/uas/UASInterface.h \
+    src/uas/UAS.h \
+    src/uas/UASManager.h \
+    src/comm/LinkManager.h \
+    src/comm/LinkInterface.h \
+    src/comm/SerialLinkInterface.h \
+    src/comm/SerialLink.h \
+    src/comm/ProtocolInterface.h \
+    src/comm/MAVLinkProtocol.h \
+    src/comm/QGCFlightGearLink.h \
+    src/comm/QGCXPlaneLink.h \
+    src/ui/CommConfigurationWindow.h \
+    src/ui/SerialConfigurationWindow.h \
+    src/ui/MainWindow.h \
+    src/ui/uas/UASControlWidget.h \
+    src/ui/uas/UASListWidget.h \
+    src/ui/uas/UASInfoWidget.h \
+    src/ui/HUD.h \
+    src/ui/linechart/LinechartWidget.h \
+    src/ui/linechart/LinechartPlot.h \
+    src/ui/linechart/Scrollbar.h \
+    src/ui/linechart/ScrollZoomer.h \
+    src/configuration.h \
+    src/ui/uas/UASView.h \
+    src/ui/CameraView.h \
+    src/comm/MAVLinkSimulationLink.h \
+    src/comm/UDPLink.h \
+    src/ui/ParameterInterface.h \
+    src/ui/WaypointList.h \
+    src/Waypoint.h \   
+    src/ui/ObjectDetectionView.h \
+    src/input/JoystickInput.h \
+    src/ui/JoystickWidget.h \
+    src/ui/DebugConsole.h \
+    src/ui/HDDisplay.h \
+    src/ui/MAVLinkSettingsWidget.h \
+    src/ui/AudioOutputWidget.h \
+    src/GAudioOutput.h \
+    src/LogCompressor.h \
+    src/ui/QGCParamWidget.h \
+    src/ui/QGCSensorSettingsWidget.h \
+    src/ui/linechart/Linecharts.h \
+    src/uas/SlugsMAV.h \
+    src/uas/PxQuadMAV.h \
+    src/uas/ArduPilotMegaMAV.h \
+    src/uas/senseSoarMAV.h \
+    src/ui/watchdog/WatchdogControl.h \
+    src/ui/watchdog/WatchdogProcessView.h \
+    src/ui/watchdog/WatchdogView.h \
+    src/uas/UASWaypointManager.h \
+    src/ui/HSIDisplay.h \
+    src/QGC.h \
+    src/ui/QGCFirmwareUpdate.h \
+    src/ui/QGCPxImuFirmwareUpdate.h \
+    src/ui/QGCDataPlot2D.h \
+    src/ui/linechart/IncrementalPlot.h \
+    src/ui/QGCRemoteControlView.h \
+    src/ui/RadioCalibration/RadioCalibrationData.h \
+    src/ui/RadioCalibration/RadioCalibrationWindow.h \
+    src/ui/RadioCalibration/AirfoilServoCalibrator.h \
+    src/ui/RadioCalibration/SwitchCalibrator.h \
+    src/ui/RadioCalibration/CurveCalibrator.h \
+    src/ui/RadioCalibration/AbstractCalibrator.h \
+    src/comm/QGCMAVLink.h \
+    src/ui/QGCWebView.h \
+    src/ui/map3D/QGCWebPage.h \
+    src/ui/SlugsDataSensorView.h \
+    src/ui/SlugsHilSim.h \
+    src/ui/SlugsPadCameraControl.h \
+    src/ui/QGCMainWindowAPConfigurator.h \
+    src/comm/MAVLinkSwarmSimulationLink.h \
+    src/ui/uas/QGCUnconnectedInfoWidget.h \
+    src/ui/designer/QGCToolWidget.h \
+    src/ui/designer/QGCParamSlider.h \
+    src/ui/designer/QGCCommandButton.h \
+    src/ui/designer/QGCToolWidgetItem.h \
+    src/ui/QGCMAVLinkLogPlayer.h \
+    src/comm/MAVLinkSimulationWaypointPlanner.h \
+    src/comm/MAVLinkSimulationMAV.h \
+    src/uas/QGCMAVLinkUASFactory.h \
+    src/ui/QGCWaypointListMulti.h \
+    src/ui/QGCUDPLinkConfiguration.h \
+    src/ui/QGCSettingsWidget.h \
+    src/ui/uas/UASControlParameters.h \
+    src/uas/QGCUASParamManager.h \
+    src/ui/map/QGCMapWidget.h \
+    src/ui/map/MAV2DIcon.h \
+    src/ui/map/Waypoint2DIcon.h \
+    src/ui/map/QGCMapTool.h \
+    src/ui/map/QGCMapToolBar.h \
+    libs/qextserialport/qextserialenumerator.h \
+    src/QGCGeo.h \
+    src/ui/QGCToolBar.h \
+    src/ui/QGCMAVLinkInspector.h \
+    src/ui/MAVLinkDecoder.h \
+    src/ui/WaypointViewOnlyView.h \
+    src/ui/WaypointViewOnlyView.h \
+    src/ui/WaypointEditableView.h \    
+    src/ui/UnconnectedUASInfoWidget.h \
+    src/ui/QGCRGBDView.h \
+    src/ui/mavlink/QGCMAVLinkMessageSender.h \
+    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
+    src/ui/QGCPluginHost.h \
+    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h \
+    src/ui/mission/QGCMissionOther.h \
+    src/ui/mission/QGCMissionNavWaypoint.h \
+    src/ui/mission/QGCMissionDoJump.h \
+    src/ui/mission/QGCMissionConditionDelay.h \
+    src/ui/mission/QGCMissionNavLoiterUnlim.h \
+    src/ui/mission/QGCMissionNavLoiterTurns.h \
+    src/ui/mission/QGCMissionNavLoiterTime.h \
+    src/ui/mission/QGCMissionNavReturnToLaunch.h \
+    src/ui/mission/QGCMissionNavLand.h \
+    src/ui/mission/QGCMissionNavTakeoff.h \
+    src/ui/mission/QGCMissionNavSweep.h \
+    src/ui/mission/QGCMissionDoStartSearch.h \
+    src/ui/mission/QGCMissionDoFinishSearch.h \
+    src/ui/QGCVehicleConfig.h \
+    src/comm/QGCHilLink.h \
+    src/ui/QGCHilConfiguration.h \
+    src/ui/QGCHilFlightGearConfiguration.h \
+    src/ui/QGCHilXPlaneConfiguration.h
+
+# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
+macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
+contains(DEPENDENCIES_PRESENT, osg) { 
+    message("Including headers for OpenSceneGraph")
+    
+    # Enable only if OpenSceneGraph is available
+    HEADERS += src/ui/map3D/gpl.h \
+        src/ui/map3D/CameraParams.h \
+        src/ui/map3D/ViewParamWidget.h \
+        src/ui/map3D/SystemContainer.h \
+        src/ui/map3D/SystemViewParams.h \
+        src/ui/map3D/GlobalViewParams.h \
+        src/ui/map3D/SystemGroupNode.h \
+        src/ui/map3D/Q3DWidget.h \
+        src/ui/map3D/GCManipulator.h \
+        src/ui/map3D/ImageWindowGeode.h \
+        src/ui/map3D/PixhawkCheetahNode.h \
+        src/ui/map3D/Pixhawk3DWidget.h \
+        src/ui/map3D/Q3DWidgetFactory.h \
+        src/ui/map3D/WebImageCache.h \
+        src/ui/map3D/WebImage.h \
+        src/ui/map3D/TextureCache.h \
+        src/ui/map3D/Texture.h \
+        src/ui/map3D/Imagery.h \
+        src/ui/map3D/HUDScaleGeode.h \
+        src/ui/map3D/WaypointGroupNode.h \
+        src/ui/map3D/TerrainParamDialog.h \
+        src/ui/map3D/ImageryParamDialog.h
+}
+contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
+    message("Including headers for Protocol Buffers")
+
+    # Enable only if protobuf is available
+    HEADERS += libs/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.pb.h \
+        src/ui/map3D/ObstacleGroupNode.h \
+        src/ui/map3D/GLOverlayGeode.h
+}
+contains(DEPENDENCIES_PRESENT, libfreenect) { 
+    message("Including headers for libfreenect")
+    
+    # Enable only if libfreenect is available
+    HEADERS += src/input/Freenect.h
+}
+SOURCES += src/main.cc \
+    src/QGCCore.cc \
+    src/uas/UASManager.cc \
+    src/uas/UAS.cc \
+    src/comm/LinkManager.cc \
+    src/comm/LinkInterface.cpp \
+    src/comm/SerialLink.cc \
+    src/comm/MAVLinkProtocol.cc \
+    src/comm/QGCFlightGearLink.cc \
+    src/comm/QGCXPlaneLink.cc \
+    src/ui/CommConfigurationWindow.cc \
+    src/ui/SerialConfigurationWindow.cc \
+    src/ui/MainWindow.cc \
+    src/ui/uas/UASControlWidget.cc \
+    src/ui/uas/UASListWidget.cc \
+    src/ui/uas/UASInfoWidget.cc \
+    src/ui/HUD.cc \
+    src/ui/linechart/LinechartWidget.cc \
+    src/ui/linechart/LinechartPlot.cc \
+    src/ui/linechart/Scrollbar.cc \
+    src/ui/linechart/ScrollZoomer.cc \
+    src/ui/uas/UASView.cc \
+    src/ui/CameraView.cc \
+    src/comm/MAVLinkSimulationLink.cc \
+    src/comm/UDPLink.cc \
+    src/ui/ParameterInterface.cc \
+    src/ui/WaypointList.cc \
+    src/Waypoint.cc \
+    src/ui/ObjectDetectionView.cc \
+    src/input/JoystickInput.cc \
+    src/ui/JoystickWidget.cc \
+    src/ui/DebugConsole.cc \
+    src/ui/HDDisplay.cc \
+    src/ui/MAVLinkSettingsWidget.cc \
+    src/ui/AudioOutputWidget.cc \
+    src/GAudioOutput.cc \
+    src/LogCompressor.cc \
+    src/ui/QGCParamWidget.cc \
+    src/ui/QGCSensorSettingsWidget.cc \
+    src/ui/linechart/Linecharts.cc \
+    src/uas/SlugsMAV.cc \
+    src/uas/PxQuadMAV.cc \
+    src/uas/ArduPilotMegaMAV.cc \
+    src/uas/senseSoarMAV.cpp \
+    src/ui/watchdog/WatchdogControl.cc \
+    src/ui/watchdog/WatchdogProcessView.cc \
+    src/ui/watchdog/WatchdogView.cc \
+    src/uas/UASWaypointManager.cc \
+    src/ui/HSIDisplay.cc \
+    src/QGC.cc \
+    src/ui/QGCFirmwareUpdate.cc \
+    src/ui/QGCPxImuFirmwareUpdate.cc \
+    src/ui/QGCDataPlot2D.cc \
+    src/ui/linechart/IncrementalPlot.cc \
+    src/ui/QGCRemoteControlView.cc \
+    src/ui/RadioCalibration/RadioCalibrationWindow.cc \
+    src/ui/RadioCalibration/AirfoilServoCalibrator.cc \
+    src/ui/RadioCalibration/SwitchCalibrator.cc \
+    src/ui/RadioCalibration/CurveCalibrator.cc \
+    src/ui/RadioCalibration/AbstractCalibrator.cc \
+    src/ui/RadioCalibration/RadioCalibrationData.cc \
+    src/ui/QGCWebView.cc \
+    src/ui/map3D/QGCWebPage.cc \
+    src/ui/SlugsDataSensorView.cc \
+    src/ui/SlugsHilSim.cc \
+    src/ui/SlugsPadCameraControl.cpp \
+    src/ui/QGCMainWindowAPConfigurator.cc \
+    src/comm/MAVLinkSwarmSimulationLink.cc \
+    src/ui/uas/QGCUnconnectedInfoWidget.cc \
+    src/ui/designer/QGCToolWidget.cc \
+    src/ui/designer/QGCParamSlider.cc \
+    src/ui/designer/QGCCommandButton.cc \
+    src/ui/designer/QGCToolWidgetItem.cc \
+    src/ui/QGCMAVLinkLogPlayer.cc \
+    src/comm/MAVLinkSimulationWaypointPlanner.cc \
+    src/comm/MAVLinkSimulationMAV.cc \
+    src/uas/QGCMAVLinkUASFactory.cc \
+    src/ui/QGCWaypointListMulti.cc \
+    src/ui/QGCUDPLinkConfiguration.cc \
+    src/ui/QGCSettingsWidget.cc \
+    src/ui/uas/UASControlParameters.cpp \
+    src/uas/QGCUASParamManager.cc \
+    src/ui/map/QGCMapWidget.cc \
+    src/ui/map/MAV2DIcon.cc \
+    src/ui/map/Waypoint2DIcon.cc \
+    src/ui/map/QGCMapTool.cc \
+    src/ui/map/QGCMapToolBar.cc \
+    src/ui/QGCToolBar.cc \
+    src/ui/QGCMAVLinkInspector.cc \
+    src/ui/MAVLinkDecoder.cc \
+    src/ui/WaypointViewOnlyView.cc \
+    src/ui/WaypointEditableView.cc \
+    src/ui/UnconnectedUASInfoWidget.cc \
+    src/ui/QGCRGBDView.cc \
+    src/ui/mavlink/QGCMAVLinkMessageSender.cc \
+    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \
+    src/ui/QGCPluginHost.cc \
+    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc \
+    src/ui/mission/QGCMissionOther.cc \
+    src/ui/mission/QGCMissionNavWaypoint.cc \
+    src/ui/mission/QGCMissionDoJump.cc \
+    src/ui/mission/QGCMissionConditionDelay.cc \
+    src/ui/mission/QGCMissionNavLoiterUnlim.cc \
+    src/ui/mission/QGCMissionNavLoiterTurns.cc \
+    src/ui/mission/QGCMissionNavLoiterTime.cc \
+    src/ui/mission/QGCMissionNavReturnToLaunch.cc \
+    src/ui/mission/QGCMissionNavLand.cc \
+    src/ui/mission/QGCMissionNavTakeoff.cc \
+    src/ui/mission/QGCMissionNavSweep.cc \
+    src/ui/mission/QGCMissionDoStartSearch.cc \
+    src/ui/mission/QGCMissionDoFinishSearch.cc \
+    src/ui/QGCVehicleConfig.cc \
+    src/ui/QGCHilConfiguration.cc \
+    src/ui/QGCHilFlightGearConfiguration.cc \
+    src/ui/QGCHilXPlaneConfiguration.cc
+
+# Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
+macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
+
+# Enable OSG only if it has been found
+contains(DEPENDENCIES_PRESENT, osg) { 
+    message("Including sources for OpenSceneGraph")
+    
+    # Enable only if OpenSceneGraph is available
+    SOURCES += src/ui/map3D/gpl.cc \
+        src/ui/map3D/CameraParams.cc \
+        src/ui/map3D/ViewParamWidget.cc \
+        src/ui/map3D/SystemContainer.cc \
+        src/ui/map3D/SystemViewParams.cc \
+        src/ui/map3D/GlobalViewParams.cc \
+        src/ui/map3D/SystemGroupNode.cc \
+        src/ui/map3D/Q3DWidget.cc \
+        src/ui/map3D/ImageWindowGeode.cc \
+        src/ui/map3D/GCManipulator.cc \
+        src/ui/map3D/PixhawkCheetahNode.cc \
+        src/ui/map3D/Pixhawk3DWidget.cc \
+        src/ui/map3D/Q3DWidgetFactory.cc \
+        src/ui/map3D/WebImageCache.cc \
+        src/ui/map3D/WebImage.cc \
+        src/ui/map3D/TextureCache.cc \
+        src/ui/map3D/Texture.cc \
+        src/ui/map3D/Imagery.cc \
+        src/ui/map3D/HUDScaleGeode.cc \
+        src/ui/map3D/WaypointGroupNode.cc \
+        src/ui/map3D/TerrainParamDialog.cc \
+        src/ui/map3D/ImageryParamDialog.cc
+
+    contains(DEPENDENCIES_PRESENT, osgearth) { 
+        message("Including sources for osgEarth")
+        
+        # Enable only if OpenSceneGraph is available
+        SOURCES +=
+    }
+}
+contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
+    message("Including sources for Protocol Buffers")
+
+    # Enable only if protobuf is available
+    SOURCES += libs/mavlink/share/mavlink/src/v1.0/pixhawk/pixhawk.pb.cc \
+        src/ui/map3D/ObstacleGroupNode.cc \
+        src/ui/map3D/GLOverlayGeode.cc
+}
+contains(DEPENDENCIES_PRESENT, libfreenect) { 
+    message("Including sources for libfreenect")
+    
+    # Enable only if libfreenect is available
+    SOURCES += src/input/Freenect.cc
+}
+
+# Add icons and other resources
+RESOURCES += qgroundcontrol.qrc
+
+# Include RT-LAB Library
+win32:exists(src/lib/opalrt/OpalApi.h):exists(C:/OPAL-RT/RT-LAB7.2.4/Common/bin) { 
+    message("Building support for Opal-RT")
+    LIBS += -LC:/OPAL-RT/RT-LAB7.2.4/Common/bin \
+        -lOpalApi
+    INCLUDEPATH += src/lib/opalrt
+    HEADERS += src/comm/OpalRT.h \
+        src/comm/OpalLink.h \
+        src/comm/Parameter.h \
+        src/comm/QGCParamID.h \
+        src/comm/ParameterList.h \
+        src/ui/OpalLinkConfigurationWindow.h
+    SOURCES += src/comm/OpalRT.cc \
+        src/comm/OpalLink.cc \
+        src/comm/Parameter.cc \
+        src/comm/QGCParamID.cc \
+        src/comm/ParameterList.cc \
+        src/ui/OpalLinkConfigurationWindow.cc
+    FORMS += src/ui/OpalLinkSettings.ui
+    DEFINES += OPAL_RT
+}
+TRANSLATIONS += es-MX.ts \
+    en-US.ts
+
+# xbee support
+# libxbee only supported by linux and windows systems
+win32-msvc2008|win32-msvc2010|linux {
+    HEADERS += src/comm/XbeeLinkInterface.h \
+        src/comm/XbeeLink.h \
+        src/comm/HexSpinBox.h \
+        src/ui/XbeeConfigurationWindow.h \
+        src/comm/CallConv.h
+    SOURCES += src/comm/XbeeLink.cpp \
+        src/comm/HexSpinBox.cpp \
+        src/ui/XbeeConfigurationWindow.cpp
+    DEFINES += XBEELINK
+    INCLUDEPATH += libs/thirdParty/libxbee
+# TO DO: build library when it does not exist already
+    LIBS += -Llibs/thirdParty/libxbee/lib \
+        -llibxbee
+}
+
+###################################################################
+#### --- 3DConnexion 3d Mice support (e.g. spacenavigator) --- ####
+###################################################################
+
+# xdrvlib only supported by linux (theoretical all X11) systems
+# You have to install the official 3DxWare driver for linux to use 3D mouse support on linux systems!
+linux-g++|linux-g++-64{
+    exists(/usr/local/lib/libxdrvlib.so){
+        message("Including support for Magellan 3DxWare for linux system.")
+        SOURCES  += src/input/Mouse6dofInput.cpp
+        HEADERS  += src/input/Mouse6dofInput.h
+        LIBS += -L/usr/local/lib/ -lxdrvlib
+        INCLUDEPATH *= /usr/local/include
+        DEFINES += MOUSE_ENABLED_LINUX \
+                    ParameterCheck                      # Hack: Has to be defined for magellan usage
+    }
+}
+
+# Support for Windows systems
+# You have to install the official 3DxWare driver for Windows to use the 3D mouse support on Windows systems!
+win32-msvc2008|win32-msvc2010 {
+    message("Including support for 3DxWare for Windows system.")
+    SOURCES  += libs/thirdParty/3DMouse/win/MouseParameters.cpp \
+                libs/thirdParty/3DMouse/win/Mouse3DInput.cpp \
+                src/input/Mouse6dofInput.cpp
+    HEADERS  += libs/thirdParty/3DMouse/win/I3dMouseParams.h \
+                libs/thirdParty/3DMouse/win/MouseParameters.h \
+                libs/thirdParty/3DMouse/win/Mouse3DInput.h \
+                src/input/Mouse6dofInput.h
+    INCLUDEPATH += libs/thirdParty/3DMouse/win
+    DEFINES += MOUSE_ENABLED_WIN
+}

src/input/Mouse6dofInput.cpp

+/**
+ * @file
+ *   @brief 3dConnexion 3dMouse interface for QGroundControl
+ *
+ *   @author Matthias Krebs <makrebs@student.ethz.ch>
+ *
+ */
+
+#include "Mouse6dofInput.h"
+#include "UAS.h"
+#include "UASManager.h"
+#include "QMessageBox"
+
+#ifdef MOUSE_ENABLED_LINUX
+#include <QX11Info>
+#include <X11/Xlib.h>
+#ifdef Success
+#undef Success              // Eigen library doesn't work if Success is defined
+#endif //Success
+extern "C"
+{
+#include "xdrvlib.h"
+}
+#endif // MOUSE_ENABLED_LINUX
+
+#ifdef MOUSE_ENABLED_WIN
+Mouse6dofInput::Mouse6dofInput(Mouse3DInput* mouseInput) :
+    mouse3DMax(0.075),   // TODO: check maximum value fot plugged device
+    uas(NULL),
+    done(false),
+    mouseActive(false),
+    translationActive(true),
+    rotationActive(true),
+    xValue(0.0),
+    yValue(0.0),
+    zValue(0.0),
+    aValue(0.0),
+    bValue(0.0),
+    cValue(0.0)
+{
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+    // Connect 3DxWare SDK MotionEvent
+    connect(mouseInput, SIGNAL(Move3d(std::vector<float>&)), this, SLOT(motion3DMouse(std::vector<float>&)));
+    connect(mouseInput, SIGNAL(On3dmouseKeyDown(int)), this, SLOT(button3DMouseDown(int)));
+    //connect(mouseInput, SIGNAL(On3dmouseKeyUp(int)), this, SLOT(FUNCTION(int)));
+
+}
+#endif //MOUSE_ENABLED_WIN
+
+#ifdef MOUSE_ENABLED_LINUX
+Mouse6dofInput::Mouse6dofInput(QWidget* parent) :
+    mouse3DMax(350.0),   // TODO: check maximum value fot plugged device
+    uas(NULL),
+    done(false),
+    mouseActive(false),
+    translationActive(true),
+    rotationActive(true),
+    xValue(0.0),
+    yValue(0.0),
+    zValue(0.0),
+    aValue(0.0),
+    bValue(0.0),
+    cValue(0.0)
+{
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+
+    if (!mouseActive)
+    {
+//        // man visudo --> then you can omit giving password (success not guarantied..)
+//        qDebug() << "Starting 3DxWare Daemon for 3dConnexion 3dMouse";
+//        QString processProgramm = "gksudo";
+//        QStringList processArguments;
+//        processArguments << "/etc/3DxWare/daemon/3dxsrv -d usb";
+//        process3dxDaemon = new QProcess();
+//        process3dxDaemon->start(processProgramm, processArguments);
+//    //    process3dxDaemon->waitForFinished();
+//    //    {
+//    //        qDebug() << "... continuing without 3DxWare. May not be initialized properly!";
+//    //        qDebug() << "Try in terminal as user root:" << processArguments.last();
+//    //    }
+
+        Display *display = QX11Info::display();
+        if(!display)
+        {
+            qDebug() << "Cannot open display!" << endl;
+        }
+        if ( !MagellanInit( display, parent->winId() ) )
+        {
+            QMessageBox msgBox;
+            msgBox.setIcon(QMessageBox::Information);
+            msgBox.setText(tr("No 3DxWare driver is running."));
+            msgBox.setInformativeText(tr("Enter in Terminal 'sudo /etc/3DxWare/daemon/3dxsrv -d usb' and then restart QGroundControl."));
+            msgBox.setStandardButtons(QMessageBox::Ok);
+            msgBox.setDefaultButton(QMessageBox::Ok);
+            msgBox.exec();
+
+            qDebug() << "No 3DxWare driver is running!";
+            return;
+        }
+        else
+        {
+            qDebug() << "Initialized 3dMouse";
+            mouseActive = true;
+        }
+    }
+    else
+    {
+        qDebug() << "3dMouse already initialized..";
+    }
+
+}
+#endif //MOUSE_ENABLED_LINUX
+
+
+Mouse6dofInput::~Mouse6dofInput()
+{
+    done = true;
+}
+
+void Mouse6dofInput::setActiveUAS(UASInterface* uas)
+{
+    // Only connect / disconnect is the UAS is of a controllable UAS class
+    UAS* tmp = 0;
+    if (this->uas)
+    {
+        tmp = dynamic_cast<UAS*>(this->uas);
+        if(tmp)
+        {
+            disconnect(this, SIGNAL(mouse6dofChanged(double,double,double,double,double,double)), tmp, SLOT(setManual6DOFControlCommands(double,double,double,double,double,double)));
+            // Todo: disconnect button mapping
+        }
+    }
+
+    this->uas = uas;
+
+    tmp = dynamic_cast<UAS*>(this->uas);
+    if(tmp) {
+                connect(this, SIGNAL(mouse6dofChanged(double,double,double,double,double,double)), tmp, SLOT(setManual6DOFControlCommands(double,double,double,double,double,double)));
+                // Todo: connect button mapping
+    }
+    if (!isRunning())
+    {
+        start();
+    }
+}
+
+void Mouse6dofInput::init()
+{
+    // Make sure active UAS is set
+    setActiveUAS(UASManager::instance()->getActiveUAS());
+}
+
+void Mouse6dofInput::run()
+{
+    init();
+
+    forever
+    {
+        if (done)
+        {
+           done = false;
+           exit();
+        }
+
+        if (mouseActive)
+        {
+            // Bound x value
+            if (xValue > 1.0) xValue = 1.0;
+            if (xValue < -1.0) xValue = -1.0;
+            // Bound x value
+            if (yValue > 1.0) yValue = 1.0;
+            if (yValue < -1.0) yValue = -1.0;
+            // Bound x value
+            if (zValue > 1.0) zValue = 1.0;
+            if (zValue < -1.0) zValue = -1.0;
+            // Bound x value
+            if (aValue > 1.0) aValue = 1.0;
+            if (aValue < -1.0) aValue = -1.0;
+            // Bound x value
+            if (bValue > 1.0) bValue = 1.0;
+            if (bValue < -1.0) bValue = -1.0;
+            // Bound x value
+            if (cValue > 1.0) cValue = 1.0;
+            if (cValue < -1.0) cValue = -1.0;
+
+            emit mouse6dofChanged(xValue, yValue, zValue, aValue, bValue, cValue);
+        }
+
+        // Sleep, update rate of 3d mouse is approx. 50 Hz (1000 ms / 50 = 20 ms)
+        QGC::SLEEP::msleep(20);
+    }
+}
+
+#ifdef MOUSE_ENABLED_WIN
+void Mouse6dofInput::motion3DMouse(std::vector<float> &motionData)
+{
+    if (motionData.size() < 6) return;
+    mouseActive = true;
+
+    if (translationActive)
+    {
+        xValue = (double)1.0e2f*motionData[ 1 ] / mouse3DMax;
+        yValue = (double)1.0e2f*motionData[ 0 ] / mouse3DMax;
+        zValue = (double)1.0e2f*motionData[ 2 ] / mouse3DMax;
+    }else{
+        xValue = 0;
+        yValue = 0;
+        zValue = 0;
+    }
+    if (rotationActive)
+    {
+        aValue = (double)1.0e2f*motionData[ 4 ] / mouse3DMax;
+        bValue = (double)1.0e2f*motionData[ 3 ] / mouse3DMax;
+        cValue = (double)1.0e2f*motionData[ 5 ] / mouse3DMax;
+    }else{
+        aValue = 0;
+        bValue = 0;
+        cValue = 0;
+    }
+
+    //qDebug() << "NEW 3D MOUSE VALUES -- X" << xValue << " -- Y" << yValue << " -- Z" << zValue << " -- A" << aValue << " -- B" << bValue << " -- C" << cValue;
+}
+#endif //MOUSE_ENABLED_WIN
+
+#ifdef MOUSE_ENABLED_WIN
+void Mouse6dofInput::button3DMouseDown(int button)
+{
+    switch(button)
+    {
+    case 1:
+    {
+            rotationActive = !rotationActive;
+            emit mouseRotationActiveChanged(rotationActive);
+            qDebug() << "Changed 3DMouse Rotation to " << (bool)rotationActive;
+        break;
+    }
+    case 2:
+    {
+            translationActive = !translationActive;
+            emit mouseTranslationActiveChanged(translationActive);
+            qDebug() << "Changed 3DMouse Translation to" << (bool)translationActive;
+        break;
+    }
+    default:
+        break;
+    }
+}
+#endif //MOUSE_ENABLED_WIN
+
+#ifdef MOUSE_ENABLED_LINUX
+void Mouse6dofInput::handleX11Event(XEvent *event)
+{
+    //qDebug("XEvent occured...");
+    if (!mouseActive)
+    {
+        qDebug() << "3dMouse not initialized. Cancelled handling X11event for 3dMouse";
+        return;
+    }
+
+    MagellanFloatEvent MagellanEvent;
+
+    Display *display = QX11Info::display();
+    if(!display)
+    {
+        qDebug() << "Cannot open display!" << endl;
+    }
+
+    switch (event->type)
+    {
+    case ClientMessage:
+      switch( MagellanTranslateEvent( display, event, &MagellanEvent, 1.0, 1.0 ) )
+      {
+        case MagellanInputMotionEvent :
+             MagellanRemoveMotionEvents( display );
+             for (int i = 0; i < 6; i++) {  // Saturation
+                 MagellanEvent.MagellanData[i] = (abs(MagellanEvent.MagellanData[i]) < mouse3DMax) ? MagellanEvent.MagellanData[i] : (mouse3DMax*MagellanEvent.MagellanData[i]/abs(MagellanEvent.MagellanData[i]));
+             }
+
+             // Check whether translational motions are enabled
+             if (translationActive)
+             {
+                 xValue = MagellanEvent.MagellanData[ MagellanZ ] / mouse3DMax;
+                 yValue = MagellanEvent.MagellanData[ MagellanX ] / mouse3DMax;
+                 zValue = - MagellanEvent.MagellanData[ MagellanY ] / mouse3DMax;
+             }else{
+                 xValue = 0;
+                 yValue = 0;
+                 zValue = 0;
+             }
+             // Check whether rotational motions are enabled
+             if (rotationActive)
+             {
+                 aValue = MagellanEvent.MagellanData[ MagellanC ] / mouse3DMax;
+                 bValue = MagellanEvent.MagellanData[ MagellanA ] / mouse3DMax;
+                 cValue = - MagellanEvent.MagellanData[ MagellanB ] / mouse3DMax;
+             }else{
+                 aValue = 0;
+                 bValue = 0;
+                 cValue = 0;
+             }
+             //qDebug() << "NEW 3D MOUSE VALUES -- X" << xValue << " -- Y" << yValue << " -- Z" << zValue << " -- A" << aValue << " -- B" << bValue << " -- C" << cValue;
+        break;
+
+        case MagellanInputButtonPressEvent :
+            qDebug() << "MagellanInputButtonPressEvent called with button " << MagellanEvent.MagellanButton;
+            switch (MagellanEvent.MagellanButton)
+            {
+            case 1:
+            {
+                    rotationActive = !rotationActive;
+                    emit mouseRotationActiveChanged(rotationActive);
+                    qDebug() << "Changed 3DMouse Rotation to " << (bool)rotationActive;
+                break;
+            }
+            case 2:
+            {
+                    translationActive = !translationActive;
+                    emit mouseTranslationActiveChanged(translationActive);
+                    qDebug() << "Changed 3DMouse Translation to" << (bool)translationActive;
+                break;
+            }
+            default:
+                break;
+            }
+        default:
+            break;
+        }
+    }
+}
+#endif //MOUSE_ENABLED_LINUX

src/input/Mouse6dofInput.h

+/**
+ * @file
+ *   @brief Definition of 3dConnexion 3dMouse interface for QGroundControl
+ *
+ *   @author Matthias Krebs <makrebs@student.ethz.ch>
+ *
+ */
+
+#ifndef MOUSE6DOFINPUT_H
+#define MOUSE6DOFINPUT_H
+
+#include <QThread>
+
+#ifdef MOUSE_ENABLED_WIN
+#include "Mouse3DInput.h"
+#endif //MOUSE_ENABLED_WIN
+
+#include "UASInterface.h"
+
+class Mouse6dofInput : public QThread
+{
+    Q_OBJECT
+
+public:
+#ifdef MOUSE_ENABLED_WIN
+    Mouse6dofInput(Mouse3DInput* mouseInput);
+#endif //MOUSE_ENABLED_WIN
+#ifdef MOUSE_ENABLED_LINUX
+    Mouse6dofInput(QWidget* parent);
+#endif //MOUSE_ENABLED_LINUX
+
+    ~Mouse6dofInput();
+    void run();
+
+    const double mouse3DMax;
+
+protected:
+    void init();
+
+    UASInterface* uas;
+    bool done;
+    bool mouseActive;
+    bool translationActive;
+    bool rotationActive;
+
+    double xValue;
+    double yValue;
+    double zValue;
+    double aValue;
+    double bValue;
+    double cValue;
+
+
+signals:
+    /**
+     * @brief Input of the 3d mouse has changed
+     *
+     * @param x Input x direction, range [-1, 1]
+     * @param y Input y direction, range [-1, 1]
+     * @param z Input z direction, range [-1, 1]
+     * @param a Input x rotation,  range [-1, 1]
+     * @param b Input y rotation,  range [-1, 1]
+     * @param c Input z rotation,  range [-1, 1]
+     */
+    void mouse6dofChanged(double x, double y, double z, double a, double b, double c);
+
+   /**
+     * @brief Activity of translational 3DMouse inputs changed
+     * @param translationEnable, true: translational inputs active; false: translational inputs ingored
+     */
+    void mouseTranslationActiveChanged(bool translationEnable);
+
+   /**
+     * @brief Activity of rotational 3DMouse inputs changed
+     * @param rotationEnable, true: rotational inputs active; false: rotational inputs ingored
+     */
+    void mouseRotationActiveChanged(bool rotationEnable);
+
+public slots:
+    void setActiveUAS(UASInterface* uas);
+#ifdef MOUSE_ENABLED_WIN
+    /** @brief Get a motion input from 3DMouse */
+    void motion3DMouse(std::vector<float> &motionData);
+    /** @brief Get a button input from 3DMouse */
+    void button3DMouseDown(int button);
+#endif //MOUSE_ENABLED_WIN
+#ifdef MOUSE_ENABLED_LINUX
+    /** @brief Get an XEvent to check it for an 3DMouse event (motion or button) */
+    void handleX11Event(XEvent* event);
+#endif //MOUSE_ENABLED_LINUX
+
+};
+
+#endif // MOUSE6DOFINPUT_H

src/uas/UAS.h

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-    QGROUNDCONTROL is free software: you can redistribute it and/or modify
-    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/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Definition of Unmanned Aerial Vehicle object
- *
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#ifndef _UAS_H_
-#define _UAS_H_
-
-#include "UASInterface.h"
-#include <MAVLinkProtocol.h>
-#include <QVector3D>
-#include "QGCMAVLink.h"
-#include "QGCHilLink.h"
-#include "QGCFlightGearLink.h"
-#include "QGCXPlaneLink.h"
-
-/**
- * @brief A generic MAVLINK-connected MAV/UAV
- *
- * This class represents one vehicle. It can be used like the real vehicle, e.g. a call to halt()
- * will automatically send the appropriate messages to the vehicle. The vehicle state will also be
- * automatically updated by the comm architecture, so when writing code to e.g. control the vehicle
- * no knowledge of the communication infrastructure is needed.
- */
-class UAS : public UASInterface
-{
-    Q_OBJECT
-public:
-    UAS(MAVLinkProtocol* protocol, int id = 0);
-    ~UAS();
-
-    enum BatteryType
-    {
-        NICD = 0,
-        NIMH = 1,
-        LIION = 2,
-        LIPOLY = 3,
-        LIFE = 4,
-        AGZN = 5
-    }; ///< The type of battery used
-
-    static const int lipoFull = 4.2f;  ///< 100% charged voltage
-    static const int lipoEmpty = 3.5f; ///< Discharged voltage
-
-    /* MANAGEMENT */
-
-    /** @brief The name of the robot */
-    QString getUASName(void) const;
-    /** @brief Get short state */
-    const QString& getShortState() const;
-    /** @brief Get short mode */
-    const QString& getShortMode() const;
-    /** @brief Translate from mode id to text */
-    static QString getShortModeTextFor(int id);
-    /** @brief Translate from mode id to audio text */
-    static QString getAudioModeTextFor(int id);
-    /** @brief Get the unique system id */
-    int getUASID() const;
-    /** @brief Get the airframe */
-    int getAirframe() const
-    {
-        return airframe;
-    }
-    /** @brief Get the components */
-    QMap<int, QString> getComponents();
-
-    /** @brief The time interval the robot is switched on */
-    quint64 getUptime() const;
-    /** @brief Get the status flag for the communication */
-    int getCommunicationStatus() const;
-    /** @brief Add one measurement and get low-passed voltage */
-    float filterVoltage(float value) const;
-    /** @brief Get the links associated with this robot */
-    QList<LinkInterface*>* getLinks();
-
-    double getLocalX() const
-    {
-        return localX;
-    }
-    double getLocalY() const
-    {
-        return localY;
-    }
-    double getLocalZ() const
-    {
-        return localZ;
-    }
-    double getLatitude() const
-    {
-        return latitude;
-    }
-    double getLongitude() const
-    {
-        return longitude;
-    }
-    double getAltitude() const
-    {
-        return altitude;
-    }
-    virtual bool localPositionKnown() const
-    {
-        return isLocalPositionKnown;
-    }
-    virtual bool globalPositionKnown() const
-    {
-        return isGlobalPositionKnown;
-    }
-
-    double getRoll() const
-    {
-        return roll;
-    }
-    double getPitch() const
-    {
-        return pitch;
-    }
-    double getYaw() const
-    {
-        return yaw;
-    }
-    bool getSelected() const;
-    QVector3D getNedPosGlobalOffset() const
-    {
-        return nedPosGlobalOffset;
-    }
-
-    QVector3D getNedAttGlobalOffset() const
-    {
-        return nedAttGlobalOffset;
-    }
-
-#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-    px::GLOverlay getOverlay()
-    {
-        QMutexLocker locker(&overlayMutex);
-        return overlay;
-    }
-
-    px::GLOverlay getOverlay(qreal& receivedTimestamp)
-    {
-        receivedTimestamp = receivedOverlayTimestamp;
-        QMutexLocker locker(&overlayMutex);
-        return overlay;
-    }
-
-    px::ObstacleList getObstacleList() {
-        QMutexLocker locker(&obstacleListMutex);
-        return obstacleList;
-    }
-
-    px::ObstacleList getObstacleList(qreal& receivedTimestamp) {
-        receivedTimestamp = receivedObstacleListTimestamp;
-        QMutexLocker locker(&obstacleListMutex);
-        return obstacleList;
-    }
-
-    px::Path getPath() {
-        QMutexLocker locker(&pathMutex);
-        return path;
-    }
-
-    px::Path getPath(qreal& receivedTimestamp) {
-        receivedTimestamp = receivedPathTimestamp;
-        QMutexLocker locker(&pathMutex);
-        return path;
-    }
-
-    px::PointCloudXYZRGB getPointCloud() {
-        QMutexLocker locker(&pointCloudMutex);
-        return pointCloud;
-    }
-
-    px::PointCloudXYZRGB getPointCloud(qreal& receivedTimestamp) {
-        receivedTimestamp = receivedPointCloudTimestamp;
-        QMutexLocker locker(&pointCloudMutex);
-        return pointCloud;
-    }
-
-    px::RGBDImage getRGBDImage() {
-        QMutexLocker locker(&rgbdImageMutex);
-        return rgbdImage;
-    }
-
-    px::RGBDImage getRGBDImage(qreal& receivedTimestamp) {
-        receivedTimestamp = receivedRGBDImageTimestamp;
-        QMutexLocker locker(&rgbdImageMutex);
-        return rgbdImage;
-    }
-#endif
-
-    friend class UASWaypointManager;
-
-protected: //COMMENTS FOR TEST UNIT
-    int uasId;                    ///< Unique system ID
-    unsigned char type;           ///< UAS type (from type enum)
-    quint64 startTime;            ///< The time the UAS was switched on
-    CommStatus commStatus;        ///< Communication status
-    QString name;                 ///< Human-friendly name of the vehicle, e.g. bravo
-    int autopilot;                ///< Type of the Autopilot: -1: None, 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
-    QList<LinkInterface*>* links; ///< List of links this UAS can be reached by
-    QList<int> unknownPackets;    ///< Packet IDs which are unknown and have been received
-    MAVLinkProtocol* mavlink;     ///< Reference to the MAVLink instance
-    BatteryType batteryType;      ///< The battery type
-    int cells;                    ///< Number of cells
-
-    UASWaypointManager waypointManager;
-
-    QList<double> actuatorValues;
-    QList<QString> actuatorNames;
-
-    QList<double> motorValues;
-    QList<QString> motorNames;
-    QMap<int, QString> components;  ///< IDs and names of all detected onboard components
-
-    double thrustSum;           ///< Sum of forward/up thrust of all thrust actuators, in Newtons
-    double thrustMax;           ///< Maximum forward/up thrust of this vehicle, in Newtons
-
-    // Battery stats
-    float fullVoltage;          ///< Voltage of the fully charged battery (100%)
-    float emptyVoltage;         ///< Voltage of the empty battery (0%)
-    float startVoltage;         ///< Voltage at system start
-    float tickVoltage;          ///< Voltage where 0.1 V ticks are told
-    float lastTickVoltageValue; ///< The last voltage where a tick was announced
-    float tickLowpassVoltage;   ///< Lowpass-filtered voltage for the tick announcement
-    float warnVoltage;          ///< Voltage where QGC will start to warn about low battery
-    float warnLevelPercent;     ///< Warning level, in percent
-    double currentVoltage;      ///< Voltage currently measured
-    float lpVoltage;            ///< Low-pass filtered voltage
-    bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
-    float chargeLevel;          ///< Charge level of battery, in percent
-    int timeRemaining;          ///< Remaining time calculated based on previous and current
-    uint8_t mode;              ///< The current mode of the MAV
-    uint32_t custom_mode;       ///< The current mode of the MAV
-    int status;                 ///< The current status of the MAV
-    uint32_t navMode;                ///< The current navigation mode of the MAV
-    quint64 onboardTimeOffset;
-
-    bool controlRollManual;     ///< status flag, true if roll is controlled manually
-    bool controlPitchManual;    ///< status flag, true if pitch is controlled manually
-    bool controlYawManual;      ///< status flag, true if yaw is controlled manually
-    bool controlThrustManual;   ///< status flag, true if thrust is controlled manually
-
-    double manualRollAngle;     ///< Roll angle set by human pilot (radians)
-    double manualPitchAngle;    ///< Pitch angle set by human pilot (radians)
-    double manualYawAngle;      ///< Yaw angle set by human pilot (radians)
-    double manualThrust;        ///< Thrust set by human pilot (radians)
-    float receiveDropRate;      ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
-    float sendDropRate;         ///< Percentage of packets that were not received from the MAV by the GCS
-    bool lowBattAlarm;          ///< Switch if battery is low
-    bool positionLock;          ///< Status if position information is available or not
-    double localX;
-    double localY;
-    double localZ;
-    double latitude;
-    double longitude;
-    double altitude;
-    double speedX;              ///< True speed in X axis
-    double speedY;              ///< True speed in Y axis
-    double speedZ;              ///< True speed in Z axis
-    double roll;
-    double pitch;
-    double yaw;
-    quint64 lastHeartbeat;      ///< Time of the last heartbeat message
-    QTimer* statusTimeout;      ///< Timer for various status timeouts
-
-    int imageSize;              ///< Image size being transmitted (bytes)
-    int imagePackets;           ///< Number of data packets being sent for this image
-    int imagePacketsArrived;    ///< Number of data packets recieved
-    int imagePayload;           ///< Payload size per transmitted packet (bytes). Standard is 254, and decreases when image resolution increases.
-    int imageQuality;           ///< Quality of the transmitted image (percentage)
-    int imageType;              ///< Type of the transmitted image (BMP, PNG, JPEG, RAW 8 bit, RAW 32 bit)
-    int imageWidth;             ///< Width of the image stream
-    int imageHeight;            ///< Width of the image stream
-    QByteArray imageRecBuffer;  ///< Buffer for the incoming bytestream
-    QImage image;               ///< Image data of last completely transmitted image
-    quint64 imageStart;
-
-#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-    px::GLOverlay overlay;
-    QMutex overlayMutex;
-    qreal receivedOverlayTimestamp;
-
-    px::ObstacleList obstacleList;
-    QMutex obstacleListMutex;
-    qreal receivedObstacleListTimestamp;
-
-    px::Path path;
-    QMutex pathMutex;
-    qreal receivedPathTimestamp;
-
-    px::PointCloudXYZRGB pointCloud;
-    QMutex pointCloudMutex;
-    qreal receivedPointCloudTimestamp;
-
-    px::RGBDImage rgbdImage;
-    QMutex rgbdImageMutex;
-    qreal receivedRGBDImageTimestamp;
-#endif
-
-    QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
-    bool paramsOnceRequested;       ///< If the parameter list has been read at least once
-    int airframe;                   ///< The airframe type
-    bool attitudeKnown;             ///< True if attitude was received, false else
-    QGCUASParamManager* paramManager; ///< Parameter manager class
-    QString shortStateText;         ///< Short textual state description
-    QString shortModeText;          ///< Short textual mode description
-    bool attitudeStamped;           ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
-    quint64 lastAttitude;           ///< Timestamp of last attitude measurement
-    QGCHilLink* simulation;         ///< Hardware in the loop simulation link
-    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 systemIsArmed;             ///< If the system is armed
-    QVector3D nedPosGlobalOffset;   ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
-    QVector3D nedAttGlobalOffset;   ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
-
-public:
-    /** @brief Set the current battery type */
-    void setBattery(BatteryType type, int cells);
-    /** @brief Estimate how much flight time is remaining */
-    int calculateTimeRemaining();
-    /** @brief Get the current charge level */
-    float getChargeLevel();
-    /** @brief Get the human-readable status message for this code */
-    void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
-    /** @brief Get the human-readable navigation mode translation for this mode */
-    QString getNavModeText(int mode);
-    /** @brief Check if vehicle is in autonomous mode */
-    bool isAuto();
-    /** @brief Check if vehicle is armed */
-    bool isArmed() const { return systemIsArmed; }
-
-    UASWaypointManager* getWaypointManager() {
-        return &waypointManager;
-    }
-    /** @brief Get reference to the param manager **/
-    QGCUASParamManager* getParamManager() const {
-        return paramManager;
-    }
-    /** @brief Get the HIL simulation */
-    QGCHilLink* getHILSimulation() const {
-        return simulation;
-    }
-    // TODO Will be removed
-    /** @brief Set reference to the param manager **/
-    void setParamManager(QGCUASParamManager* manager) {
-        paramManager = manager;
-    }
-    int getSystemType();
-    QString getSystemTypeName()
-    {
-        switch(type)
-        {
-        case MAV_TYPE_GENERIC:
-            return "GENERIC";
-            break;
-        case MAV_TYPE_FIXED_WING:
-            return "FIXED_WING";
-            break;
-        case MAV_TYPE_QUADROTOR:
-            return "QUADROTOR";
-            break;
-        case MAV_TYPE_COAXIAL:
-            return "COAXIAL";
-            break;
-        case MAV_TYPE_HELICOPTER:
-            return "HELICOPTER";
-            break;
-        case MAV_TYPE_ANTENNA_TRACKER:
-            return "ANTENNA_TRACKER";
-            break;
-        case MAV_TYPE_GCS:
-            return "GCS";
-            break;
-        case MAV_TYPE_AIRSHIP:
-            return "AIRSHIP";
-            break;
-        case MAV_TYPE_FREE_BALLOON:
-            return "FREE_BALLOON";
-            break;
-        case MAV_TYPE_ROCKET:
-            return "ROCKET";
-            break;
-        case MAV_TYPE_GROUND_ROVER:
-            return "GROUND_ROVER";
-            break;
-        case MAV_TYPE_SURFACE_BOAT:
-            return "BOAT";
-            break;
-        case MAV_TYPE_SUBMARINE:
-            return "SUBMARINE";
-            break;
-        case MAV_TYPE_HEXAROTOR:
-            return "HEXAROTOR";
-            break;
-        case MAV_TYPE_OCTOROTOR:
-            return "OCTOROTOR";
-            break;
-        case MAV_TYPE_TRICOPTER:
-            return "TRICOPTER";
-            break;
-        case MAV_TYPE_FLAPPING_WING:
-            return "FLAPPING_WING";
-            break;
-        default:
-            return "";
-            break;
-        }
-    }
-
-    QImage getImage();
-    void requestImage();
-    int getAutopilotType(){
-        return autopilot;
-    }
-    QString getAutopilotTypeName()
-    {
-        switch (autopilot)
-        {
-        case MAV_AUTOPILOT_GENERIC:
-            return "GENERIC";
-            break;
-        case MAV_AUTOPILOT_PIXHAWK:
-            return "PIXHAWK";
-            break;
-        case MAV_AUTOPILOT_SLUGS:
-            return "SLUGS";
-            break;
-        case MAV_AUTOPILOT_ARDUPILOTMEGA:
-            return "ARDUPILOTMEGA";
-            break;
-        case MAV_AUTOPILOT_OPENPILOT:
-            return "OPENPILOT";
-            break;
-        case MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY:
-            return "GENERIC_WAYPOINTS_ONLY";
-            break;
-        case MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY:
-            return "GENERIC_MISSION_NAVIGATION_ONLY";
-            break;
-        case MAV_AUTOPILOT_GENERIC_MISSION_FULL:
-            return "GENERIC_MISSION_FULL";
-            break;
-        case MAV_AUTOPILOT_INVALID:
-            return "NO AP";
-            break;
-        case MAV_AUTOPILOT_PPZ:
-            return "PPZ";
-            break;
-        case MAV_AUTOPILOT_UDB:
-            return "UDB";
-            break;
-        case MAV_AUTOPILOT_FP:
-            return "FP";
-            break;
-        case MAV_AUTOPILOT_PX4:
-            return "PX4";
-            break;
-        default:
-            return "";
-            break;
-        }
-    }
-
-public slots:
-    /** @brief Set the autopilot type */
-    void setAutopilotType(int apType)
-    {
-        autopilot = apType;
-        emit systemSpecsChanged(uasId);
-    }
-    /** @brief Set the type of airframe */
-    void setSystemType(int systemType);
-    /** @brief Set the specific airframe type */
-    void setAirframe(int airframe)
-    {
-        if((airframe >= QGC_AIRFRAME_GENERIC) && (airframe < QGC_AIRFRAME_END_OF_ENUM))
-        {
-          this->airframe = airframe;
-          emit systemSpecsChanged(uasId);
-        }
-        
-    }
-    /** @brief Set a new name **/
-    void setUASName(const QString& name);
-    /** @brief Executes a command **/
-    void executeCommand(MAV_CMD command);
-    /** @brief Executes a command with 7 params */
-    void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component);
-    /** @brief Set the current battery type and voltages */
-    void setBatterySpecs(const QString& specs);
-    /** @brief Get the current battery type and specs */
-    QString getBatterySpecs();
-
-    /** @brief Launches the system **/
-    void launch();
-    /** @brief Write this waypoint to the list of waypoints */
-    //void setWaypoint(Waypoint* wp); FIXME tbd
-    /** @brief Set currently active waypoint */
-    //void setWaypointActive(int id); FIXME tbd
-    /** @brief Order the robot to return home **/
-    void home();
-    /** @brief Order the robot to land **/
-    void land();
-    void halt();
-    void go();
-
-    /** @brief Enable / disable HIL */
-    void enableHilFlightGear(bool enable, QString options);
-    void enableHilXPlane(bool enable);
-
-
-    /** @brief Send the full HIL state to the MAV */
-
-    void sendHilState(	uint64_t time_us, float roll, float pitch, float yaw, float rollspeed,
-                        float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt,
-                        int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc);
-
-    /** @brief Places the UAV in Hardware-in-the-Loop simulation status **/
-    void startHil();
-
-    /** @brief Stops the UAV's Hardware-in-the-Loop simulation status **/
-    void stopHil();
-
-
-    /** @brief Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/
-    void emergencySTOP();
-
-    /** @brief Kills the robot. All systems are immediately shut down (e.g. the main power line is cut). This might lead to a crash **/
-    bool emergencyKILL();
-
-    /** @brief Shut the system cleanly down. Will shut down any onboard computers **/
-    void shutdown();
-
-    /** @brief Set the target position for the robot to navigate to. */
-    void setTargetPosition(float x, float y, float z, float yaw);
-
-    void startLowBattAlarm();
-    void stopLowBattAlarm();
-
-    /** @brief Arm system */
-    void armSystem();
-    /** @brief Disable the motors */
-    void disarmSystem();
-
-    /** @brief Set the values for the manual control of the vehicle */
-    void setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons);
-    /** @brief Receive a button pressed event from an input device, e.g. joystick */
-    void receiveButton(int buttonIndex);
-
-    /** @brief Add a link associated with this robot */
-    void addLink(LinkInterface* link);
-    /** @brief Remove a link associated with this robot */
-    void removeLink(QObject* object);
-
-    /** @brief Receive a message from one of the communication links. */
-    virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
-
-#ifdef QGC_PROTOBUF_ENABLED
-    /** @brief Receive a message from one of the communication links. */
-    virtual void receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message);
-#endif
-
-    /** @brief Send a message over this link (to this or to all UAS on this link) */
-    void sendMessage(LinkInterface* link, mavlink_message_t message);
-    /** @brief Send a message over all links this UAS can be reached with (!= all links) */
-    void sendMessage(mavlink_message_t message);
-
-    /** @brief Temporary Hack for sending packets to patch Antenna. Send a message over all serial links except for this UAS's */
-    void forwardMessage(mavlink_message_t message);
-
-    /** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */
-    void setSelected();
-
-    /** @brief Set current mode of operation, e.g. auto or manual */
-    void setMode(int mode);
-
-    /** @brief Request all parameters */
-    void requestParameters();
-
-    /** @brief Request a single parameter by name */
-    void requestParameter(int component, const QString& parameter);
-    /** @brief Request a single parameter by index */
-    void requestParameter(int component, int id);
-
-    /** @brief Set a system parameter */
-    void setParameter(const int component, const QString& id, const QVariant& value);
-
-    /** @brief Write parameters to permanent storage */
-    void writeParametersToStorage();
-    /** @brief Read parameters from permanent storage */
-    void readParametersFromStorage();
-
-    /** @brief Get the names of all parameters */
-    QList<QString> getParameterNames(int component);
-
-    /** @brief Get the ids of all components */
-    QList<int> getComponentIds();
-
-    void enableAllDataTransmission(int rate);
-    void enableRawSensorDataTransmission(int rate);
-    void enableExtendedSystemStatusTransmission(int rate);
-    void enableRCChannelDataTransmission(int rate);
-    void enableRawControllerDataTransmission(int rate);
-    //void enableRawSensorFusionTransmission(int rate);
-    void enablePositionTransmission(int rate);
-    void enableExtra1Transmission(int rate);
-    void enableExtra2Transmission(int rate);
-    void enableExtra3Transmission(int rate);
-
-    /** @brief Update the system state */
-    void updateState();
-
-    /** @brief Set world frame origin at current GPS position */
-    void setLocalOriginAtCurrentGPSPosition();
-    /** @brief Set world frame origin / home position at this GPS position */
-    void setHomePosition(double lat, double lon, double alt);
-    /** @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 */
-    void setLocalPositionOffset(float x, float y, float z, float yaw);
-
-    void startRadioControlCalibration();
-    void startMagnetometerCalibration();
-    void startGyroscopeCalibration();
-    void startPressureCalibration();
-
-    void startDataRecording();
-    void stopDataRecording();
-    void deleteSettings();
-signals:
-    /** @brief The main/battery voltage has changed/was updated */
-    //void voltageChanged(int uasId, double voltage); // Defined in UASInterface already
-    /** @brief An actuator value has changed */
-    //void actuatorChanged(UASInterface*, int actId, double value); // Defined in UASInterface already
-    /** @brief An actuator value has changed */
-    void actuatorChanged(UASInterface* uas, QString actuatorName, double min, double max, double value);
-    void motorChanged(UASInterface* uas, QString motorName, double min, double max, double value);
-    /** @brief The system load (MCU/CPU usage) changed */
-    void loadChanged(UASInterface* uas, double load);
-    /** @brief Propagate a heartbeat received from the system */
-    //void heartbeat(UASInterface* uas); // Defined in UASInterface already
-    void imageStarted(quint64 timestamp);
-    /** @brief A new camera image has arrived */
-    void imageReady(UASInterface* uas);
-    /** @brief HIL controls have changed */
-    void hilControlsChanged(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
-    /** @brief HIL actuator outputs have changed */
-    void hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
-
-protected:
-    /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
-    quint64 getUnixTime(quint64 time=0);
-    /** @brief Get the UNIX timestamp in milliseconds, enter milliseconds */
-    quint64 getUnixTimeFromMs(quint64 time);
-    /** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
-    quint64 getUnixReferenceTime(quint64 time);
-    int componentID[256];
-    bool componentMulti[256];
-    bool connectionLost; ///< Flag indicates a timed out connection
-    quint64 connectionLossTime; ///< Time the connection was interrupted
-    quint64 lastVoltageWarning; ///< Time at which the last voltage warning occured
-    quint64 lastNonNullTime;    ///< The last timestamp from the MAV that was not null
-    unsigned int onboardTimeOffsetInvalidCount;     ///< Count when the offboard time offset estimation seemed wrong
-    bool hilEnabled;            ///< Set to true if HIL mode is enabled from GCS (UAS might be in HIL even if this flag is not set, this defines the GCS HIL setting)
-
-protected slots:
-    /** @brief Write settings to disk */
-    void writeSettings();
-    /** @brief Read settings from disk */
-    void readSettings();
-
-//    // MESSAGE RECEPTION
-//    /** @brief Receive a named value message */
-//    void receiveMessageNamedValue(const mavlink_message_t& message);
-
-private:
-//    unsigned int mode;          ///< The current mode of the MAV
-};
-
-
-#endif // _UAS_H_
+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    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/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of Unmanned Aerial Vehicle object
+ *
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#ifndef _UAS_H_
+#define _UAS_H_
+
+#include "UASInterface.h"
+#include <MAVLinkProtocol.h>
+#include <QVector3D>
+#include "QGCMAVLink.h"
+#include "QGCHilLink.h"
+#include "QGCFlightGearLink.h"
+#include "QGCXPlaneLink.h"
+
+/**
+ * @brief A generic MAVLINK-connected MAV/UAV
+ *
+ * This class represents one vehicle. It can be used like the real vehicle, e.g. a call to halt()
+ * will automatically send the appropriate messages to the vehicle. The vehicle state will also be
+ * automatically updated by the comm architecture, so when writing code to e.g. control the vehicle
+ * no knowledge of the communication infrastructure is needed.
+ */
+class UAS : public UASInterface
+{
+    Q_OBJECT
+public:
+    UAS(MAVLinkProtocol* protocol, int id = 0);
+    ~UAS();
+
+    enum BatteryType
+    {
+        NICD = 0,
+        NIMH = 1,
+        LIION = 2,
+        LIPOLY = 3,
+        LIFE = 4,
+        AGZN = 5
+    }; ///< The type of battery used
+
+    static const int lipoFull = 4.2f;  ///< 100% charged voltage
+    static const int lipoEmpty = 3.5f; ///< Discharged voltage
+
+    /* MANAGEMENT */
+
+    /** @brief The name of the robot */
+    QString getUASName(void) const;
+    /** @brief Get short state */
+    const QString& getShortState() const;
+    /** @brief Get short mode */
+    const QString& getShortMode() const;
+    /** @brief Translate from mode id to text */
+    static QString getShortModeTextFor(int id);
+    /** @brief Translate from mode id to audio text */
+    static QString getAudioModeTextFor(int id);
+    /** @brief Get the unique system id */
+    int getUASID() const;
+    /** @brief Get the airframe */
+    int getAirframe() const
+    {
+        return airframe;
+    }
+    /** @brief Get the components */
+    QMap<int, QString> getComponents();
+
+    /** @brief The time interval the robot is switched on */
+    quint64 getUptime() const;
+    /** @brief Get the status flag for the communication */
+    int getCommunicationStatus() const;
+    /** @brief Add one measurement and get low-passed voltage */
+    float filterVoltage(float value) const;
+    /** @brief Get the links associated with this robot */
+    QList<LinkInterface*>* getLinks();
+
+    double getLocalX() const
+    {
+        return localX;
+    }
+    double getLocalY() const
+    {
+        return localY;
+    }
+    double getLocalZ() const
+    {
+        return localZ;
+    }
+    double getLatitude() const
+    {
+        return latitude;
+    }
+    double getLongitude() const
+    {
+        return longitude;
+    }
+    double getAltitude() const
+    {
+        return altitude;
+    }
+    virtual bool localPositionKnown() const
+    {
+        return isLocalPositionKnown;
+    }
+    virtual bool globalPositionKnown() const
+    {
+        return isGlobalPositionKnown;
+    }
+
+    double getRoll() const
+    {
+        return roll;
+    }
+    double getPitch() const
+    {
+        return pitch;
+    }
+    double getYaw() const
+    {
+        return yaw;
+    }
+    bool getSelected() const;
+    QVector3D getNedPosGlobalOffset() const
+    {
+        return nedPosGlobalOffset;
+    }
+
+    QVector3D getNedAttGlobalOffset() const
+    {
+        return nedAttGlobalOffset;
+    }
+
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
+    px::GLOverlay getOverlay()
+    {
+        QMutexLocker locker(&overlayMutex);
+        return overlay;
+    }
+
+    px::GLOverlay getOverlay(qreal& receivedTimestamp)
+    {
+        receivedTimestamp = receivedOverlayTimestamp;
+        QMutexLocker locker(&overlayMutex);
+        return overlay;
+    }
+
+    px::ObstacleList getObstacleList() {
+        QMutexLocker locker(&obstacleListMutex);
+        return obstacleList;
+    }
+
+    px::ObstacleList getObstacleList(qreal& receivedTimestamp) {
+        receivedTimestamp = receivedObstacleListTimestamp;
+        QMutexLocker locker(&obstacleListMutex);
+        return obstacleList;
+    }
+
+    px::Path getPath() {
+        QMutexLocker locker(&pathMutex);
+        return path;
+    }
+
+    px::Path getPath(qreal& receivedTimestamp) {
+        receivedTimestamp = receivedPathTimestamp;
+        QMutexLocker locker(&pathMutex);
+        return path;
+    }
+
+    px::PointCloudXYZRGB getPointCloud() {
+        QMutexLocker locker(&pointCloudMutex);
+        return pointCloud;
+    }
+
+    px::PointCloudXYZRGB getPointCloud(qreal& receivedTimestamp) {
+        receivedTimestamp = receivedPointCloudTimestamp;
+        QMutexLocker locker(&pointCloudMutex);
+        return pointCloud;
+    }
+
+    px::RGBDImage getRGBDImage() {
+        QMutexLocker locker(&rgbdImageMutex);
+        return rgbdImage;
+    }
+
+    px::RGBDImage getRGBDImage(qreal& receivedTimestamp) {
+        receivedTimestamp = receivedRGBDImageTimestamp;
+        QMutexLocker locker(&rgbdImageMutex);
+        return rgbdImage;
+    }
+#endif
+
+    friend class UASWaypointManager;
+
+protected: //COMMENTS FOR TEST UNIT
+    int uasId;                    ///< Unique system ID
+    unsigned char type;           ///< UAS type (from type enum)
+    quint64 startTime;            ///< The time the UAS was switched on
+    CommStatus commStatus;        ///< Communication status
+    QString name;                 ///< Human-friendly name of the vehicle, e.g. bravo
+    int autopilot;                ///< Type of the Autopilot: -1: None, 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+    QList<LinkInterface*>* links; ///< List of links this UAS can be reached by
+    QList<int> unknownPackets;    ///< Packet IDs which are unknown and have been received
+    MAVLinkProtocol* mavlink;     ///< Reference to the MAVLink instance
+    BatteryType batteryType;      ///< The battery type
+    int cells;                    ///< Number of cells
+
+    UASWaypointManager waypointManager;
+
+    QList<double> actuatorValues;
+    QList<QString> actuatorNames;
+
+    QList<double> motorValues;
+    QList<QString> motorNames;
+    QMap<int, QString> components;  ///< IDs and names of all detected onboard components
+
+    double thrustSum;           ///< Sum of forward/up thrust of all thrust actuators, in Newtons
+    double thrustMax;           ///< Maximum forward/up thrust of this vehicle, in Newtons
+
+    // Battery stats
+    float fullVoltage;          ///< Voltage of the fully charged battery (100%)
+    float emptyVoltage;         ///< Voltage of the empty battery (0%)
+    float startVoltage;         ///< Voltage at system start
+    float tickVoltage;          ///< Voltage where 0.1 V ticks are told
+    float lastTickVoltageValue; ///< The last voltage where a tick was announced
+    float tickLowpassVoltage;   ///< Lowpass-filtered voltage for the tick announcement
+    float warnVoltage;          ///< Voltage where QGC will start to warn about low battery
+    float warnLevelPercent;     ///< Warning level, in percent
+    double currentVoltage;      ///< Voltage currently measured
+    float lpVoltage;            ///< Low-pass filtered voltage
+    bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
+    float chargeLevel;          ///< Charge level of battery, in percent
+    int timeRemaining;          ///< Remaining time calculated based on previous and current
+    uint8_t mode;              ///< The current mode of the MAV
+    uint32_t custom_mode;       ///< The current mode of the MAV
+    int status;                 ///< The current status of the MAV
+    uint32_t navMode;                ///< The current navigation mode of the MAV
+    quint64 onboardTimeOffset;
+
+    bool controlRollManual;     ///< status flag, true if roll is controlled manually
+    bool controlPitchManual;    ///< status flag, true if pitch is controlled manually
+    bool controlYawManual;      ///< status flag, true if yaw is controlled manually
+    bool controlThrustManual;   ///< status flag, true if thrust is controlled manually
+
+    double manualRollAngle;     ///< Roll angle set by human pilot (radians)
+    double manualPitchAngle;    ///< Pitch angle set by human pilot (radians)
+    double manualYawAngle;      ///< Yaw angle set by human pilot (radians)
+    double manualThrust;        ///< Thrust set by human pilot (radians)
+    float receiveDropRate;      ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
+    float sendDropRate;         ///< Percentage of packets that were not received from the MAV by the GCS
+    bool lowBattAlarm;          ///< Switch if battery is low
+    bool positionLock;          ///< Status if position information is available or not
+    double localX;
+    double localY;
+    double localZ;
+    double latitude;
+    double longitude;
+    double altitude;
+    double speedX;              ///< True speed in X axis
+    double speedY;              ///< True speed in Y axis
+    double speedZ;              ///< True speed in Z axis
+    double roll;
+    double pitch;
+    double yaw;
+    quint64 lastHeartbeat;      ///< Time of the last heartbeat message
+    QTimer* statusTimeout;      ///< Timer for various status timeouts
+
+    int imageSize;              ///< Image size being transmitted (bytes)
+    int imagePackets;           ///< Number of data packets being sent for this image
+    int imagePacketsArrived;    ///< Number of data packets recieved
+    int imagePayload;           ///< Payload size per transmitted packet (bytes). Standard is 254, and decreases when image resolution increases.
+    int imageQuality;           ///< Quality of the transmitted image (percentage)
+    int imageType;              ///< Type of the transmitted image (BMP, PNG, JPEG, RAW 8 bit, RAW 32 bit)
+    int imageWidth;             ///< Width of the image stream
+    int imageHeight;            ///< Width of the image stream
+    QByteArray imageRecBuffer;  ///< Buffer for the incoming bytestream
+    QImage image;               ///< Image data of last completely transmitted image
+    quint64 imageStart;
+
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
+    px::GLOverlay overlay;
+    QMutex overlayMutex;
+    qreal receivedOverlayTimestamp;
+
+    px::ObstacleList obstacleList;
+    QMutex obstacleListMutex;
+    qreal receivedObstacleListTimestamp;
+
+    px::Path path;
+    QMutex pathMutex;
+    qreal receivedPathTimestamp;
+
+    px::PointCloudXYZRGB pointCloud;
+    QMutex pointCloudMutex;
+    qreal receivedPointCloudTimestamp;
+
+    px::RGBDImage rgbdImage;
+    QMutex rgbdImageMutex;
+    qreal receivedRGBDImageTimestamp;
+#endif
+
+    QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
+    bool paramsOnceRequested;       ///< If the parameter list has been read at least once
+    int airframe;                   ///< The airframe type
+    bool attitudeKnown;             ///< True if attitude was received, false else
+    QGCUASParamManager* paramManager; ///< Parameter manager class
+    QString shortStateText;         ///< Short textual state description
+    QString shortModeText;          ///< Short textual mode description
+    bool attitudeStamped;           ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
+    quint64 lastAttitude;           ///< Timestamp of last attitude measurement
+    QGCHilLink* simulation;         ///< Hardware in the loop simulation link
+    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 systemIsArmed;             ///< If the system is armed
+    QVector3D nedPosGlobalOffset;   ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
+    QVector3D nedAttGlobalOffset;   ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
+
+public:
+    /** @brief Set the current battery type */
+    void setBattery(BatteryType type, int cells);
+    /** @brief Estimate how much flight time is remaining */
+    int calculateTimeRemaining();
+    /** @brief Get the current charge level */
+    float getChargeLevel();
+    /** @brief Get the human-readable status message for this code */
+    void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
+    /** @brief Get the human-readable navigation mode translation for this mode */
+    QString getNavModeText(int mode);
+    /** @brief Check if vehicle is in autonomous mode */
+    bool isAuto();
+    /** @brief Check if vehicle is armed */
+    bool isArmed() const { return systemIsArmed; }
+
+    UASWaypointManager* getWaypointManager() {
+        return &waypointManager;
+    }
+    /** @brief Get reference to the param manager **/
+    QGCUASParamManager* getParamManager() const {
+        return paramManager;
+    }
+    /** @brief Get the HIL simulation */
+    QGCHilLink* getHILSimulation() const {
+        return simulation;
+    }
+    // TODO Will be removed
+    /** @brief Set reference to the param manager **/
+    void setParamManager(QGCUASParamManager* manager) {
+        paramManager = manager;
+    }
+    int getSystemType();
+    QString getSystemTypeName()
+    {
+        switch(type)
+        {
+        case MAV_TYPE_GENERIC:
+            return "GENERIC";
+            break;
+        case MAV_TYPE_FIXED_WING:
+            return "FIXED_WING";
+            break;
+        case MAV_TYPE_QUADROTOR:
+            return "QUADROTOR";
+            break;
+        case MAV_TYPE_COAXIAL:
+            return "COAXIAL";
+            break;
+        case MAV_TYPE_HELICOPTER:
+            return "HELICOPTER";
+            break;
+        case MAV_TYPE_ANTENNA_TRACKER:
+            return "ANTENNA_TRACKER";
+            break;
+        case MAV_TYPE_GCS:
+            return "GCS";
+            break;
+        case MAV_TYPE_AIRSHIP:
+            return "AIRSHIP";
+            break;
+        case MAV_TYPE_FREE_BALLOON:
+            return "FREE_BALLOON";
+            break;
+        case MAV_TYPE_ROCKET:
+            return "ROCKET";
+            break;
+        case MAV_TYPE_GROUND_ROVER:
+            return "GROUND_ROVER";
+            break;
+        case MAV_TYPE_SURFACE_BOAT:
+            return "BOAT";
+            break;
+        case MAV_TYPE_SUBMARINE:
+            return "SUBMARINE";
+            break;
+        case MAV_TYPE_HEXAROTOR:
+            return "HEXAROTOR";
+            break;
+        case MAV_TYPE_OCTOROTOR:
+            return "OCTOROTOR";
+            break;
+        case MAV_TYPE_TRICOPTER:
+            return "TRICOPTER";
+            break;
+        case MAV_TYPE_FLAPPING_WING:
+            return "FLAPPING_WING";
+            break;
+        default:
+            return "";
+            break;
+        }
+    }
+
+    QImage getImage();
+    void requestImage();
+    int getAutopilotType(){
+        return autopilot;
+    }
+    QString getAutopilotTypeName()
+    {
+        switch (autopilot)
+        {
+        case MAV_AUTOPILOT_GENERIC:
+            return "GENERIC";
+            break;
+        case MAV_AUTOPILOT_PIXHAWK:
+            return "PIXHAWK";
+            break;
+        case MAV_AUTOPILOT_SLUGS:
+            return "SLUGS";
+            break;
+        case MAV_AUTOPILOT_ARDUPILOTMEGA:
+            return "ARDUPILOTMEGA";
+            break;
+        case MAV_AUTOPILOT_OPENPILOT:
+            return "OPENPILOT";
+            break;
+        case MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY:
+            return "GENERIC_WAYPOINTS_ONLY";
+            break;
+        case MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY:
+            return "GENERIC_MISSION_NAVIGATION_ONLY";
+            break;
+        case MAV_AUTOPILOT_GENERIC_MISSION_FULL:
+            return "GENERIC_MISSION_FULL";
+            break;
+        case MAV_AUTOPILOT_INVALID:
+            return "NO AP";
+            break;
+        case MAV_AUTOPILOT_PPZ:
+            return "PPZ";
+            break;
+        case MAV_AUTOPILOT_UDB:
+            return "UDB";
+            break;
+        case MAV_AUTOPILOT_FP:
+            return "FP";
+            break;
+        case MAV_AUTOPILOT_PX4:
+            return "PX4";
+            break;
+        default:
+            return "";
+            break;
+        }
+    }
+
+public slots:
+    /** @brief Set the autopilot type */
+    void setAutopilotType(int apType)
+    {
+        autopilot = apType;
+        emit systemSpecsChanged(uasId);
+    }
+    /** @brief Set the type of airframe */
+    void setSystemType(int systemType);
+    /** @brief Set the specific airframe type */
+    void setAirframe(int airframe)
+    {
+        if((airframe >= QGC_AIRFRAME_GENERIC) && (airframe < QGC_AIRFRAME_END_OF_ENUM))
+        {
+          this->airframe = airframe;
+          emit systemSpecsChanged(uasId);
+        }
+        
+    }
+    /** @brief Set a new name **/
+    void setUASName(const QString& name);
+    /** @brief Executes a command **/
+    void executeCommand(MAV_CMD command);
+    /** @brief Executes a command with 7 params */
+    void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component);
+    /** @brief Set the current battery type and voltages */
+    void setBatterySpecs(const QString& specs);
+    /** @brief Get the current battery type and specs */
+    QString getBatterySpecs();
+
+    /** @brief Launches the system **/
+    void launch();
+    /** @brief Write this waypoint to the list of waypoints */
+    //void setWaypoint(Waypoint* wp); FIXME tbd
+    /** @brief Set currently active waypoint */
+    //void setWaypointActive(int id); FIXME tbd
+    /** @brief Order the robot to return home **/
+    void home();
+    /** @brief Order the robot to land **/
+    void land();
+    void halt();
+    void go();
+
+    /** @brief Enable / disable HIL */
+    void enableHilFlightGear(bool enable, QString options);
+    void enableHilXPlane(bool enable);
+
+
+    /** @brief Send the full HIL state to the MAV */
+
+    void sendHilState(	uint64_t time_us, float roll, float pitch, float yaw, float rollspeed,
+                        float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt,
+                        int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc);
+
+    /** @brief Places the UAV in Hardware-in-the-Loop simulation status **/
+    void startHil();
+
+    /** @brief Stops the UAV's Hardware-in-the-Loop simulation status **/
+    void stopHil();
+
+
+    /** @brief Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/
+    void emergencySTOP();
+
+    /** @brief Kills the robot. All systems are immediately shut down (e.g. the main power line is cut). This might lead to a crash **/
+    bool emergencyKILL();
+
+    /** @brief Shut the system cleanly down. Will shut down any onboard computers **/
+    void shutdown();
+
+    /** @brief Set the target position for the robot to navigate to. */
+    void setTargetPosition(float x, float y, float z, float yaw);
+
+    void startLowBattAlarm();
+    void stopLowBattAlarm();
+
+    /** @brief Arm system */
+    void armSystem();
+    /** @brief Disable the motors */
+    void disarmSystem();
+
+    /** @brief Set the values for the manual control of the vehicle */
+    void setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons);
+    /** @brief Receive a button pressed event from an input device, e.g. joystick */
+    void receiveButton(int buttonIndex);
+
+    /** @brief Set the values for the 6dof manual control of the vehicle */
+    void setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw);
+
+    /** @brief Add a link associated with this robot */
+    void addLink(LinkInterface* link);
+    /** @brief Remove a link associated with this robot */
+    void removeLink(QObject* object);
+
+    /** @brief Receive a message from one of the communication links. */
+    virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
+
+#ifdef QGC_PROTOBUF_ENABLED
+    /** @brief Receive a message from one of the communication links. */
+    virtual void receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message);
+#endif
+
+    /** @brief Send a message over this link (to this or to all UAS on this link) */
+    void sendMessage(LinkInterface* link, mavlink_message_t message);
+    /** @brief Send a message over all links this UAS can be reached with (!= all links) */
+    void sendMessage(mavlink_message_t message);
+
+    /** @brief Temporary Hack for sending packets to patch Antenna. Send a message over all serial links except for this UAS's */
+    void forwardMessage(mavlink_message_t message);
+
+    /** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */
+    void setSelected();
+
+    /** @brief Set current mode of operation, e.g. auto or manual */
+    void setMode(int mode);
+
+    /** @brief Request all parameters */
+    void requestParameters();
+
+    /** @brief Request a single parameter by name */
+    void requestParameter(int component, const QString& parameter);
+    /** @brief Request a single parameter by index */
+    void requestParameter(int component, int id);
+
+    /** @brief Set a system parameter */
+    void setParameter(const int component, const QString& id, const QVariant& value);
+
+    /** @brief Write parameters to permanent storage */
+    void writeParametersToStorage();
+    /** @brief Read parameters from permanent storage */
+    void readParametersFromStorage();
+
+    /** @brief Get the names of all parameters */
+    QList<QString> getParameterNames(int component);
+
+    /** @brief Get the ids of all components */
+    QList<int> getComponentIds();
+
+    void enableAllDataTransmission(int rate);
+    void enableRawSensorDataTransmission(int rate);
+    void enableExtendedSystemStatusTransmission(int rate);
+    void enableRCChannelDataTransmission(int rate);
+    void enableRawControllerDataTransmission(int rate);
+    //void enableRawSensorFusionTransmission(int rate);
+    void enablePositionTransmission(int rate);
+    void enableExtra1Transmission(int rate);
+    void enableExtra2Transmission(int rate);
+    void enableExtra3Transmission(int rate);
+
+    /** @brief Update the system state */
+    void updateState();
+
+    /** @brief Set world frame origin at current GPS position */
+    void setLocalOriginAtCurrentGPSPosition();
+    /** @brief Set world frame origin / home position at this GPS position */
+    void setHomePosition(double lat, double lon, double alt);
+    /** @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 */
+    void setLocalPositionOffset(float x, float y, float z, float yaw);
+
+    void startRadioControlCalibration();
+    void startMagnetometerCalibration();
+    void startGyroscopeCalibration();
+    void startPressureCalibration();
+
+    void startDataRecording();
+    void stopDataRecording();
+    void deleteSettings();
+signals:
+    /** @brief The main/battery voltage has changed/was updated */
+    //void voltageChanged(int uasId, double voltage); // Defined in UASInterface already
+    /** @brief An actuator value has changed */
+    //void actuatorChanged(UASInterface*, int actId, double value); // Defined in UASInterface already
+    /** @brief An actuator value has changed */
+    void actuatorChanged(UASInterface* uas, QString actuatorName, double min, double max, double value);
+    void motorChanged(UASInterface* uas, QString motorName, double min, double max, double value);
+    /** @brief The system load (MCU/CPU usage) changed */
+    void loadChanged(UASInterface* uas, double load);
+    /** @brief Propagate a heartbeat received from the system */
+    //void heartbeat(UASInterface* uas); // Defined in UASInterface already
+    void imageStarted(quint64 timestamp);
+    /** @brief A new camera image has arrived */
+    void imageReady(UASInterface* uas);
+    /** @brief HIL controls have changed */
+    void hilControlsChanged(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
+    /** @brief HIL actuator outputs have changed */
+    void hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
+
+protected:
+    /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
+    quint64 getUnixTime(quint64 time=0);
+    /** @brief Get the UNIX timestamp in milliseconds, enter milliseconds */
+    quint64 getUnixTimeFromMs(quint64 time);
+    /** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
+    quint64 getUnixReferenceTime(quint64 time);
+    int componentID[256];
+    bool componentMulti[256];
+    bool connectionLost; ///< Flag indicates a timed out connection
+    quint64 connectionLossTime; ///< Time the connection was interrupted
+    quint64 lastVoltageWarning; ///< Time at which the last voltage warning occured
+    quint64 lastNonNullTime;    ///< The last timestamp from the MAV that was not null
+    unsigned int onboardTimeOffsetInvalidCount;     ///< Count when the offboard time offset estimation seemed wrong
+    bool hilEnabled;            ///< Set to true if HIL mode is enabled from GCS (UAS might be in HIL even if this flag is not set, this defines the GCS HIL setting)
+
+protected slots:
+    /** @brief Write settings to disk */
+    void writeSettings();
+    /** @brief Read settings from disk */
+    void readSettings();
+
+//    // MESSAGE RECEPTION
+//    /** @brief Receive a named value message */
+//    void receiveMessageNamedValue(const mavlink_message_t& message);
+
+private:
+//    unsigned int mode;          ///< The current mode of the MAV
+};
+
+
+#endif // _UAS_H_

src/ui/MainWindow.h

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-    QGROUNDCONTROL is free software: you can redistribute it and/or modify
-    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/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Definition of class MainWindow
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#ifndef _MAINWINDOW_H_
-#define _MAINWINDOW_H_
-
-#include <QtGui/QMainWindow>
-#include <QStatusBar>
-#include <QStackedWidget>
-#include <QSettings>
-#include <qlist.h>
-
-#include "ui_MainWindow.h"
-#include "LinkManager.h"
-#include "LinkInterface.h"
-#include "UASInterface.h"
-#include "UASManager.h"
-#include "UASControlWidget.h"
-#include "Linecharts.h"
-#include "UASInfoWidget.h"
-#include "WaypointList.h"
-#include "CameraView.h"
-#include "UASListWidget.h"
-#include "MAVLinkProtocol.h"
-#include "MAVLinkSimulationLink.h"
-#include "ObjectDetectionView.h"
-#include "HUD.h"
-#include "JoystickWidget.h"
-#include "input/JoystickInput.h"
-#include "DebugConsole.h"
-#include "ParameterInterface.h"
-#include "XMLCommProtocolWidget.h"
-#include "HDDisplay.h"
-#include "WatchdogControl.h"
-#include "HSIDisplay.h"
-#include "QGCDataPlot2D.h"
-#include "QGCRemoteControlView.h"
-#include "opmapcontrol.h"
-#if (defined Q_OS_MAC) | (defined _MSC_VER)
-#include "QGCGoogleEarthView.h"
-#endif
-#include "QGCToolBar.h"
-#include "SlugsDataSensorView.h"
-#include "LogCompressor.h"
-
-#include "SlugsHilSim.h"
-
-#include "SlugsPadCameraControl.h"
-#include "UASControlParameters.h"
-#include "QGCMAVLinkInspector.h"
-#include "QGCMAVLinkLogPlayer.h"
-#include "QGCVehicleConfig.h"
-#include "MAVLinkDecoder.h"
-
-class QGCMapTool;
-class QGCMAVLinkMessageSender;
-class QGCFirmwareUpdate;
-class QSplashScreen;
-
-/**
- * @brief Main Application Window
- *
- **/
-class MainWindow : public QMainWindow
-{
-    Q_OBJECT
-
-public:
-    static MainWindow* instance(QSplashScreen* screen = 0);
-    ~MainWindow();
-
-    enum QGC_MAINWINDOW_STYLE
-    {
-        QGC_MAINWINDOW_STYLE_NATIVE,
-        QGC_MAINWINDOW_STYLE_INDOOR,
-        QGC_MAINWINDOW_STYLE_OUTDOOR
-    };
-
-    /** @brief Get current visual style */
-    int getStyle()
-    {
-        return currentStyle;
-    }
-    /** @brief Get auto link reconnect setting */
-    bool autoReconnectEnabled()
-    {
-        return autoReconnect;
-    }
-
-    /** @brief Get low power mode setting */
-    bool lowPowerModeEnabled()
-    {
-        return lowPowerMode;
-    }
-
-    QList<QAction*> listLinkMenuActions(void);
-
-public slots:
-
-    /** @brief Shows a status message on the bottom status bar */
-    void showStatusMessage(const QString& status, int timeout);
-    /** @brief Shows a status message on the bottom status bar */
-    void showStatusMessage(const QString& status);
-    /** @brief Shows a critical message as popup or as widget */
-    void showCriticalMessage(const QString& title, const QString& message);
-    /** @brief Shows an info message as popup or as widget */
-    void showInfoMessage(const QString& title, const QString& message);
-
-    /** @brief Show the application settings */
-    void showSettings();
-    /** @brief Add a communication link */
-    void addLink();
-    void addLink(LinkInterface* link);
-    void configure();
-    /** @brief Set the currently controlled UAS */
-    void setActiveUAS(UASInterface* uas);
-
-    /** @brief Add a new UAS */
-    void UASCreated(UASInterface* uas);
-    /** Delete an UAS */
-    void UASDeleted(UASInterface* uas);
-    /** @brief Update system specs of a UAS */
-    void UASSpecsChanged(int uas);
-    void startVideoCapture();
-    void stopVideoCapture();
-    void saveScreen();
-
-    /** @brief Load default view when no MAV is connected */
-    void loadUnconnectedView();
-    /** @brief Load view for pilot */
-    void loadPilotView();
-    /** @brief Load view for engineer */
-    void loadEngineerView();
-    /** @brief Load view for operator */
-    void loadOperatorView();
-    /** @brief Load MAVLink XML generator view */
-    void loadMAVLinkView();
-    /** @brief Load firmware update view */
-    void loadFirmwareUpdateView();
-
-    /** @brief Show the online help for users */
-    void showHelp();
-    /** @brief Show the authors / credits */
-    void showCredits();
-    /** @brief Show the project roadmap */
-    void showRoadMap();
-
-    /** @brief Reload the CSS style sheet */
-    void reloadStylesheet();
-    /** @brief Let the user select the CSS style sheet */
-    void selectStylesheet();
-    /** @brief Automatically reconnect last link */
-    void enableAutoReconnect(bool enabled);
-    /** @brief Save power by reducing update rates */
-    void enableLowPowerMode(bool enabled) { lowPowerMode = enabled; }
-    /** @brief Switch to native application style */
-    void loadNativeStyle();
-    /** @brief Switch to indoor mission style */
-    void loadIndoorStyle();
-    /** @brief Switch to outdoor mission style */
-    void loadOutdoorStyle();
-    /** @brief Load a specific style */
-    void loadStyle(QGC_MAINWINDOW_STYLE style);
-
-    /** @brief Add a custom tool widget */
-    void createCustomWidget();
-
-    /** @brief Load a custom tool widget from a file chosen by user (QFileDialog) */
-    void loadCustomWidget();
-
-    /** @brief Load a custom tool widget from a file */
-    void loadCustomWidget(const QString& fileName, bool singleinstance=false);
-
-    /** @brief Load custom widgets from default file */
-    void loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType);
-
-    /** @brief Loads and shows the HIL Configuration Widget for the given UAS*/
-    void showHILConfigurationWidget(UASInterface *uas);
-
-    void closeEvent(QCloseEvent* event);
-
-    /** @brief Load data view, allowing to plot flight data */
-    void loadDataView(QString fileName);
-
-    /**
-     * @brief Shows a Docked Widget based on the action sender
-     *
-     * This slot is written to be used in conjunction with the addTool() function
-     * It shows the QDockedWidget based on the action sender
-     *
-     */
-    void showTool(bool visible);
-
-    /**
-     * @brief Shows a Widget from the center stack based on the action sender
-     *
-     * This slot is written to be used in conjunction with the addCentralWidget() function
-     * It shows the Widget based on the action sender
-     *
-     */
-    void showCentralWidget();
-
-    /** @brief Update the window name */
-    void configureWindowName();
-
-signals:
-    void initStatusChanged(const QString& message);
-
-public:
-    QGCMAVLinkLogPlayer* getLogPlayer()
-    {
-        return logPlayer;
-    }
-
-    MAVLinkProtocol* getMAVLink()
-    {
-        return mavlink;
-    }
-
-protected:
-
-    MainWindow(QWidget *parent = 0);
-
-    typedef enum _VIEW_SECTIONS
-    {
-        VIEW_ENGINEER,
-        VIEW_OPERATOR,
-        VIEW_PILOT,
-        VIEW_MAVLINK,
-        VIEW_FIRMWAREUPDATE,
-        VIEW_UNCONNECTED,    ///< View in unconnected mode, when no UAS is available
-        VIEW_FULL            ///< All widgets shown at once
-    } VIEW_SECTIONS;
-
-    /**
-     * @brief Adds an already instantiated QDockedWidget to the Tools Menu
-     *
-     * This function does all the hosekeeping to have a QDockedWidget added to the
-     * tools menu and connects the QMenuAction to a slot that shows the widget and
-     * checks/unchecks the tools menu item
-     *
-     * @param widget    The QDockWidget being added
-     * @param title     The entry that will appear in the Menu and in the QDockedWidget title bar
-     * @param location  The default location for the QDockedWidget in case there is no previous key in the settings
-     */
-    void addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea location=Qt::RightDockWidgetArea);
-
-    /**
-     * @brief Adds an already instantiated QWidget to the center stack
-     *
-     * This function does all the hosekeeping to have a QWidget added to the tools menu
-     * tools menu and connects the QMenuAction to a slot that shows the widget and
-     * checks/unchecks the tools menu item. This is used for all the central widgets (those in
-     * the center stack.
-     *
-     * @param widget        The QWidget being added
-     * @param title         The entry that will appear in the Menu
-     */
-    void addCentralWidget(QWidget* widget, const QString& title);
-
-    /** @brief Catch window resize events */
-    void resizeEvent(QResizeEvent * event);
-
-    /** @brief Keeps track of the current view */
-    VIEW_SECTIONS currentView;
-    QGC_MAINWINDOW_STYLE currentStyle;
-    bool aboutToCloseFlag;
-    bool changingViewsFlag;
-
-    void storeViewState();
-    void loadViewState();
-
-    void buildCustomWidget();
-    void buildCommonWidgets();
-    void connectCommonWidgets();
-    void connectCommonActions();
-	void connectSenseSoarActions();
-
-    void loadSettings();
-    void storeSettings();
-
-    // TODO Should be moved elsewhere, as the protocol does not belong to the UI
-    MAVLinkProtocol* mavlink;
-
-    MAVLinkSimulationLink* simulationLink;
-    LinkInterface* udpLink;
-
-    QSettings settings;
-    QStackedWidget *centerStack;
-    QActionGroup* centerStackActionGroup;
-
-    // Center widgets
-    QPointer<Linecharts> linechartWidget;
-    QPointer<HUD> hudWidget;
-    QPointer<QGCVehicleConfig> configWidget;
-    QPointer<QGCMapTool> mapWidget;
-    QPointer<XMLCommProtocolWidget> protocolWidget;
-    QPointer<QGCDataPlot2D> dataplotWidget;
-#ifdef QGC_OSG_ENABLED
-    QPointer<QWidget> _3DWidget;
-#endif
-#if (defined _MSC_VER) || (defined Q_OS_MAC)
-    QPointer<QGCGoogleEarthView> gEarthWidget;
-#endif
-    QPointer<QGCFirmwareUpdate> firmwareUpdateWidget;
-
-    // Dock widgets
-    QPointer<QDockWidget> controlDockWidget;
-    QPointer<QDockWidget> controlParameterWidget;
-    QPointer<QDockWidget> infoDockWidget;
-    QPointer<QDockWidget> cameraDockWidget;
-    QPointer<QDockWidget> listDockWidget;
-    QPointer<QDockWidget> waypointsDockWidget;
-    QPointer<QDockWidget> detectionDockWidget;
-    QPointer<QDockWidget> debugConsoleDockWidget;
-    QPointer<QDockWidget> parametersDockWidget;
-    QPointer<QDockWidget> headDown1DockWidget;
-    QPointer<QDockWidget> headDown2DockWidget;
-    QPointer<QDockWidget> watchdogControlDockWidget;
-
-    QPointer<QDockWidget> headUpDockWidget;
-    QPointer<QDockWidget> video1DockWidget;
-    QPointer<QDockWidget> video2DockWidget;
-    QPointer<QDockWidget> rgbd1DockWidget;
-    QPointer<QDockWidget> rgbd2DockWidget;
-    QPointer<QDockWidget> logPlayerDockWidget;
-
-    QPointer<QDockWidget> hsiDockWidget;
-    QPointer<QDockWidget> rcViewDockWidget;
-    QPointer<QDockWidget> hudDockWidget;
-    QPointer<QDockWidget> slugsDataWidget;
-    QPointer<QDockWidget> slugsHilSimWidget;
-    QPointer<QDockWidget> slugsCamControlWidget;
-
-    QPointer<QGCToolBar> toolBar;
-
-    QPointer<QDockWidget> mavlinkInspectorWidget;
-    QPointer<MAVLinkDecoder> mavlinkDecoder;
-    QPointer<QDockWidget> mavlinkSenderWidget;
-    QGCMAVLinkLogPlayer* logPlayer;
-
-    // Popup widgets
-    JoystickWidget* joystickWidget;
-
-    JoystickInput* joystick;
-
-    /** User interface actions **/
-    QAction* connectUASAct;
-    QAction* disconnectUASAct;
-    QAction* startUASAct;
-    QAction* returnUASAct;
-    QAction* stopUASAct;
-    QAction* killUASAct;
-    QAction* simulateUASAct;
-
-
-    LogCompressor* comp;
-    QString screenFileName;
-    QTimer* videoTimer;
-    QString styleFileName;
-    bool autoReconnect;
-    Qt::WindowStates windowStateVal;
-    bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
-    QGCFlightGearLink* fgLink;
-    QTimer windowNameUpdateTimer;
-
-private:
-    Ui::MainWindow ui;
-
-    QString getWindowStateKey();
-    QString getWindowGeometryKey();
-
-};
-
-#endif /* _MAINWINDOW_H_ */
+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    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/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of class MainWindow
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#ifndef _MAINWINDOW_H_
+#define _MAINWINDOW_H_
+
+#include <QtGui/QMainWindow>
+#include <QStatusBar>
+#include <QStackedWidget>
+#include <QSettings>
+#include <qlist.h>
+
+#include "ui_MainWindow.h"
+#include "LinkManager.h"
+#include "LinkInterface.h"
+#include "UASInterface.h"
+#include "UASManager.h"
+#include "UASControlWidget.h"
+#include "Linecharts.h"
+#include "UASInfoWidget.h"
+#include "WaypointList.h"
+#include "CameraView.h"
+#include "UASListWidget.h"
+#include "MAVLinkProtocol.h"
+#include "MAVLinkSimulationLink.h"
+#include "ObjectDetectionView.h"
+#include "HUD.h"
+#include "JoystickWidget.h"
+#include "input/JoystickInput.h"
+#if (defined MOUSE_ENABLED_WIN) | (defined MOUSE_ENABLED_LINUX)
+#include "Mouse6dofInput.h"
+#endif // MOUSE_ENABLED_WIN
+#include "DebugConsole.h"
+#include "ParameterInterface.h"
+#include "XMLCommProtocolWidget.h"
+#include "HDDisplay.h"
+#include "WatchdogControl.h"
+#include "HSIDisplay.h"
+#include "QGCDataPlot2D.h"
+#include "QGCRemoteControlView.h"
+#include "opmapcontrol.h"
+#if (defined Q_OS_MAC) | (defined _MSC_VER)
+#include "QGCGoogleEarthView.h"
+#endif
+#include "QGCToolBar.h"
+#include "SlugsDataSensorView.h"
+#include "LogCompressor.h"
+
+#include "SlugsHilSim.h"
+
+#include "SlugsPadCameraControl.h"
+#include "UASControlParameters.h"
+#include "QGCMAVLinkInspector.h"
+#include "QGCMAVLinkLogPlayer.h"
+#include "QGCVehicleConfig.h"
+#include "MAVLinkDecoder.h"
+
+class QGCMapTool;
+class QGCMAVLinkMessageSender;
+class QGCFirmwareUpdate;
+class QSplashScreen;
+
+/**
+ * @brief Main Application Window
+ *
+ **/
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    static MainWindow* instance(QSplashScreen* screen = 0);
+    ~MainWindow();
+
+    enum QGC_MAINWINDOW_STYLE
+    {
+        QGC_MAINWINDOW_STYLE_NATIVE,
+        QGC_MAINWINDOW_STYLE_INDOOR,
+        QGC_MAINWINDOW_STYLE_OUTDOOR
+    };
+
+    /** @brief Get current visual style */
+    int getStyle()
+    {
+        return currentStyle;
+    }
+    /** @brief Get auto link reconnect setting */
+    bool autoReconnectEnabled()
+    {
+        return autoReconnect;
+    }
+
+    /** @brief Get low power mode setting */
+    bool lowPowerModeEnabled()
+    {
+        return lowPowerMode;
+    }
+
+    QList<QAction*> listLinkMenuActions(void);
+
+public slots:
+
+    /** @brief Shows a status message on the bottom status bar */
+    void showStatusMessage(const QString& status, int timeout);
+    /** @brief Shows a status message on the bottom status bar */
+    void showStatusMessage(const QString& status);
+    /** @brief Shows a critical message as popup or as widget */
+    void showCriticalMessage(const QString& title, const QString& message);
+    /** @brief Shows an info message as popup or as widget */
+    void showInfoMessage(const QString& title, const QString& message);
+
+    /** @brief Show the application settings */
+    void showSettings();
+    /** @brief Add a communication link */
+    void addLink();
+    void addLink(LinkInterface* link);
+    void configure();
+    /** @brief Set the currently controlled UAS */
+    void setActiveUAS(UASInterface* uas);
+
+    /** @brief Add a new UAS */
+    void UASCreated(UASInterface* uas);
+    /** Delete an UAS */
+    void UASDeleted(UASInterface* uas);
+    /** @brief Update system specs of a UAS */
+    void UASSpecsChanged(int uas);
+    void startVideoCapture();
+    void stopVideoCapture();
+    void saveScreen();
+
+    /** @brief Load default view when no MAV is connected */
+    void loadUnconnectedView();
+    /** @brief Load view for pilot */
+    void loadPilotView();
+    /** @brief Load view for engineer */
+    void loadEngineerView();
+    /** @brief Load view for operator */
+    void loadOperatorView();
+    /** @brief Load MAVLink XML generator view */
+    void loadMAVLinkView();
+    /** @brief Load firmware update view */
+    void loadFirmwareUpdateView();
+
+    /** @brief Show the online help for users */
+    void showHelp();
+    /** @brief Show the authors / credits */
+    void showCredits();
+    /** @brief Show the project roadmap */
+    void showRoadMap();
+
+    /** @brief Reload the CSS style sheet */
+    void reloadStylesheet();
+    /** @brief Let the user select the CSS style sheet */
+    void selectStylesheet();
+    /** @brief Automatically reconnect last link */
+    void enableAutoReconnect(bool enabled);
+    /** @brief Save power by reducing update rates */
+    void enableLowPowerMode(bool enabled) { lowPowerMode = enabled; }
+    /** @brief Switch to native application style */
+    void loadNativeStyle();
+    /** @brief Switch to indoor mission style */
+    void loadIndoorStyle();
+    /** @brief Switch to outdoor mission style */
+    void loadOutdoorStyle();
+    /** @brief Load a specific style */
+    void loadStyle(QGC_MAINWINDOW_STYLE style);
+
+    /** @brief Add a custom tool widget */
+    void createCustomWidget();
+
+    /** @brief Load a custom tool widget from a file chosen by user (QFileDialog) */
+    void loadCustomWidget();
+
+    /** @brief Load a custom tool widget from a file */
+    void loadCustomWidget(const QString& fileName, bool singleinstance=false);
+
+    /** @brief Load custom widgets from default file */
+    void loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType);
+
+    /** @brief Loads and shows the HIL Configuration Widget for the given UAS*/
+    void showHILConfigurationWidget(UASInterface *uas);
+
+    void closeEvent(QCloseEvent* event);
+
+    /** @brief Load data view, allowing to plot flight data */
+    void loadDataView(QString fileName);
+
+    /**
+     * @brief Shows a Docked Widget based on the action sender
+     *
+     * This slot is written to be used in conjunction with the addTool() function
+     * It shows the QDockedWidget based on the action sender
+     *
+     */
+    void showTool(bool visible);
+
+    /**
+     * @brief Shows a Widget from the center stack based on the action sender
+     *
+     * This slot is written to be used in conjunction with the addCentralWidget() function
+     * It shows the Widget based on the action sender
+     *
+     */
+    void showCentralWidget();
+
+    /** @brief Update the window name */
+    void configureWindowName();
+
+signals:
+    void initStatusChanged(const QString& message);
+#ifdef MOUSE_ENABLED_LINUX
+    /** @brief Forward X11Event to catch 3DMouse inputs */
+    void x11EventOccured(XEvent *event);
+#endif //MOUSE_ENABLED_LINUX
+
+public:
+    QGCMAVLinkLogPlayer* getLogPlayer()
+    {
+        return logPlayer;
+    }
+
+    MAVLinkProtocol* getMAVLink()
+    {
+        return mavlink;
+    }
+
+protected:
+
+    MainWindow(QWidget *parent = 0);
+
+    typedef enum _VIEW_SECTIONS
+    {
+        VIEW_ENGINEER,
+        VIEW_OPERATOR,
+        VIEW_PILOT,
+        VIEW_MAVLINK,
+        VIEW_FIRMWAREUPDATE,
+        VIEW_UNCONNECTED,    ///< View in unconnected mode, when no UAS is available
+        VIEW_FULL            ///< All widgets shown at once
+    } VIEW_SECTIONS;
+
+    /**
+     * @brief Adds an already instantiated QDockedWidget to the Tools Menu
+     *
+     * This function does all the hosekeeping to have a QDockedWidget added to the
+     * tools menu and connects the QMenuAction to a slot that shows the widget and
+     * checks/unchecks the tools menu item
+     *
+     * @param widget    The QDockWidget being added
+     * @param title     The entry that will appear in the Menu and in the QDockedWidget title bar
+     * @param location  The default location for the QDockedWidget in case there is no previous key in the settings
+     */
+    void addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea location=Qt::RightDockWidgetArea);
+
+    /**
+     * @brief Adds an already instantiated QWidget to the center stack
+     *
+     * This function does all the hosekeeping to have a QWidget added to the tools menu
+     * tools menu and connects the QMenuAction to a slot that shows the widget and
+     * checks/unchecks the tools menu item. This is used for all the central widgets (those in
+     * the center stack.
+     *
+     * @param widget        The QWidget being added
+     * @param title         The entry that will appear in the Menu
+     */
+    void addCentralWidget(QWidget* widget, const QString& title);
+
+    /** @brief Catch window resize events */
+    void resizeEvent(QResizeEvent * event);
+
+    /** @brief Keeps track of the current view */
+    VIEW_SECTIONS currentView;
+    QGC_MAINWINDOW_STYLE currentStyle;
+    bool aboutToCloseFlag;
+    bool changingViewsFlag;
+
+    void storeViewState();
+    void loadViewState();
+
+    void buildCustomWidget();
+    void buildCommonWidgets();
+    void connectCommonWidgets();
+    void connectCommonActions();
+	void connectSenseSoarActions();
+
+    void loadSettings();
+    void storeSettings();
+
+    // TODO Should be moved elsewhere, as the protocol does not belong to the UI
+    MAVLinkProtocol* mavlink;
+
+    MAVLinkSimulationLink* simulationLink;
+    LinkInterface* udpLink;
+
+    QSettings settings;
+    QStackedWidget *centerStack;
+    QActionGroup* centerStackActionGroup;
+
+    // Center widgets
+    QPointer<Linecharts> linechartWidget;
+    QPointer<HUD> hudWidget;
+    QPointer<QGCVehicleConfig> configWidget;
+    QPointer<QGCMapTool> mapWidget;
+    QPointer<XMLCommProtocolWidget> protocolWidget;
+    QPointer<QGCDataPlot2D> dataplotWidget;
+#ifdef QGC_OSG_ENABLED
+    QPointer<QWidget> _3DWidget;
+#endif
+#if (defined _MSC_VER) || (defined Q_OS_MAC)
+    QPointer<QGCGoogleEarthView> gEarthWidget;
+#endif
+    QPointer<QGCFirmwareUpdate> firmwareUpdateWidget;
+
+    // Dock widgets
+    QPointer<QDockWidget> controlDockWidget;
+    QPointer<QDockWidget> controlParameterWidget;
+    QPointer<QDockWidget> infoDockWidget;
+    QPointer<QDockWidget> cameraDockWidget;
+    QPointer<QDockWidget> listDockWidget;
+    QPointer<QDockWidget> waypointsDockWidget;
+    QPointer<QDockWidget> detectionDockWidget;
+    QPointer<QDockWidget> debugConsoleDockWidget;
+    QPointer<QDockWidget> parametersDockWidget;
+    QPointer<QDockWidget> headDown1DockWidget;
+    QPointer<QDockWidget> headDown2DockWidget;
+    QPointer<QDockWidget> watchdogControlDockWidget;
+
+    QPointer<QDockWidget> headUpDockWidget;
+    QPointer<QDockWidget> video1DockWidget;
+    QPointer<QDockWidget> video2DockWidget;
+    QPointer<QDockWidget> rgbd1DockWidget;
+    QPointer<QDockWidget> rgbd2DockWidget;
+    QPointer<QDockWidget> logPlayerDockWidget;
+
+    QPointer<QDockWidget> hsiDockWidget;
+    QPointer<QDockWidget> rcViewDockWidget;
+    QPointer<QDockWidget> hudDockWidget;
+    QPointer<QDockWidget> slugsDataWidget;
+    QPointer<QDockWidget> slugsHilSimWidget;
+    QPointer<QDockWidget> slugsCamControlWidget;
+
+    QPointer<QGCToolBar> toolBar;
+
+    QPointer<QDockWidget> mavlinkInspectorWidget;
+    QPointer<MAVLinkDecoder> mavlinkDecoder;
+    QPointer<QDockWidget> mavlinkSenderWidget;
+    QGCMAVLinkLogPlayer* logPlayer;
+
+    // Popup widgets
+    JoystickWidget* joystickWidget;
+
+    JoystickInput* joystick;
+
+#ifdef MOUSE_ENABLED_WIN
+    /** @brief 3d Mouse support (WIN only) */
+    Mouse3DInput* mouseInput;               ///< 3dConnexion 3dMouse SDK
+    Mouse6dofInput* mouse;                  ///< Implementation for 3dMouse input
+#endif // MOUSE_ENABLED_WIN
+
+#ifdef MOUSE_ENABLED_LINUX
+    /** @brief Reimplementation of X11Event to handle 3dMouse Events (magellan) */
+    bool x11Event(XEvent *event);
+    Mouse6dofInput* mouse;                  ///< Implementation for 3dMouse input
+#endif // MOUSE_ENABLED_LINUX
+
+    /** User interface actions **/
+    QAction* connectUASAct;
+    QAction* disconnectUASAct;
+    QAction* startUASAct;
+    QAction* returnUASAct;
+    QAction* stopUASAct;
+    QAction* killUASAct;
+    QAction* simulateUASAct;
+
+
+    LogCompressor* comp;
+    QString screenFileName;
+    QTimer* videoTimer;
+    QString styleFileName;
+    bool autoReconnect;
+    Qt::WindowStates windowStateVal;
+    bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
+    QGCFlightGearLink* fgLink;
+    QTimer windowNameUpdateTimer;
+
+private:
+    Ui::MainWindow ui;
+
+    QString getWindowStateKey();
+    QString getWindowGeometryKey();
+
+};
+
+#endif /* _MAINWINDOW_H_ */