Bugfixes to waypoint interface, added UAS icons

src/Waypoint.cc

-/*=====================================================================
-
+/*===================================================================
 QGroundControl Open Source Ground Control Station
 
 (c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
@@ -10,15 +9,15 @@ This file is part of the QGROUNDCONTROL project
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
-
+    
     QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
-
+    
     You should have received a copy of the GNU General Public License
     along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
+    
 ======================================================================*/
 
 /**
@@ -34,23 +33,24 @@ This file is part of the QGROUNDCONTROL project
 #include <QStringList>
 
 Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _autocontinue, bool _current, float _orbit, int _holdTime, MAV_FRAME _frame, MAV_ACTION _action)
-: id(_id),
-  x(_x),
-  y(_y),
-  z(_z),
-  yaw(_yaw),
-  frame(_frame),
-  action(_action),
-  autocontinue(_autocontinue),
-  current(_current),
-  orbit(_orbit),
-  holdTime(_holdTime)
+    : id(_id),
+    x(_x),
+    y(_y),
+    z(_z),
+    yaw(_yaw),
+    frame(_frame),
+    action(_action),
+    autocontinue(_autocontinue),
+    current(_current),
+    orbit(_orbit),
+    holdTime(_holdTime),
+    name(QString("WP%1").arg(id, 2, 10, QChar('0')))
 {
 }
 
 Waypoint::~Waypoint()
 {
-
+    
 }
 
 void Waypoint::save(QTextStream &saveStream)
@@ -90,79 +90,141 @@ bool Waypoint::load(QTextStream &loadStream)
 void Waypoint::setId(quint16 id)
 {
     this->id = id;
+    this->name = QString("WP%1").arg(id, 2, 10, QChar('0'));
+    emit changed(this);
 }
 
 void Waypoint::setX(float x)
 {
-    this->x = x;
+    if (this->x != x)
+    {
+        this->x = x;
+        emit changed(this);
+    }
 }
 
 void Waypoint::setY(float y)
 {
-    this->y = y;
+    if (this->y != y)
+    {
+        this->y = y;
+        emit changed(this);
+    }
 }
 
 void Waypoint::setZ(float z)
 {
-    this->z = z;
+    if (this->z != z)
+    {
+        this->z = z;
+        emit changed(this);
+    }
 }
 
 void Waypoint::setYaw(float yaw)
 {
-    this->yaw = yaw;
+    if (this->yaw != yaw)
+    {
+        this->yaw = yaw;
+        emit changed(this);
+    }
 }
 
 void Waypoint::setAction(MAV_ACTION action)
 {
-    this->action = action;
+    if (this->action != action)
+    {
+        this->action = action;
+        emit changed(this);
+    }
 }
 
 void Waypoint::setFrame(MAV_FRAME frame)
 {
-    this->frame = frame;
+    if (this->frame != frame)
+    {
+        this->frame = frame;
+        emit changed(this);
+    }
 }
 
 void Waypoint::setAutocontinue(bool autoContinue)
 {
-    this->autocontinue = autoContinue;
+    if (this->autocontinue != autocontinue)
+    {
+        this->autocontinue = autoContinue;
+        emit changed(this);
+    }
 }
 
 void Waypoint::setCurrent(bool current)
 {
-    this->current = current;
+    if (this->current != current)
+    {
+        this->current = current;
+        emit changed(this);
+    }
 }
 
 void Waypoint::setOrbit(float orbit)
 {
-    this->orbit = orbit;
+    if (this->orbit != orbit)
+    {
+        this->orbit = orbit;
+        emit changed(this);
+    }
 }
 
 void Waypoint::setHoldTime(int holdTime)
 {
-    this->holdTime = holdTime;
+    if (this->holdTime != holdTime)
+    {
+        this->holdTime = holdTime;
+        emit changed(this);
+    }
 }
 
 void Waypoint::setX(double x)
 {
-    this->x = x;
+    if (this->x != static_cast<float>(x))
+    {
+        this->x = x;
+        emit changed(this);
+    }
 }
 
 void Waypoint::setY(double y)
 {
-    this->y = y;
+    if (this->y != static_cast<float>(y))
+    {
+        this->y = y;
+        emit changed(this);
+    }
 }
 
 void Waypoint::setZ(double z)
 {
-    this->z = z;
+    if (this->z != static_cast<float>(z))
+    {
+        this->z = z;
+        emit changed(this);
+    }
 }
 
 void Waypoint::setYaw(double yaw)
 {
-    this->yaw = yaw;
+    if (this->yaw != static_cast<float>(yaw))
+    {
+        this->yaw = yaw;
+        emit changed(this);
+    }
 }
 
 void Waypoint::setOrbit(double orbit)
 {
-    this->orbit = orbit;
+    if (this->orbit != static_cast<float>(orbit))
+    {
+        this->orbit = orbit;
+        emit changed(this);
+    }
 }

src/Waypoint.h

@@ -59,6 +59,7 @@ public:
     float getHoldTime() const { return holdTime; }
     MAV_FRAME getFrame() const { return frame; }
     MAV_ACTION getAction() const { return action; }
+    const QString& getName() const { return name; }
 
     void save(QTextStream &saveStream);
     bool load(QTextStream &loadStream);
@@ -76,6 +77,7 @@ protected:
     bool current;
     float orbit;
     int holdTime;
+    QString name;
 
 public slots:
     void setId(quint16 id);
@@ -97,6 +99,10 @@ public slots:
     void setZ(double z);
     void setYaw(double yaw);
     void setOrbit(double orbit);
+
+signals:
+    /** @brief Announces a change to the waypoint data */
+    void changed(Waypoint* wp);
 };
 
 #endif // WAYPOINT_H

src/configuration.h

@@ -17,7 +17,7 @@
 #define WITH_TEXT_TO_SPEECH 1
 
 #define QGC_APPLICATION_NAME "QGroundControl"
-#define QGC_APPLICATION_VERSION "v. 0.8.3 (Alpha)"
+#define QGC_APPLICATION_VERSION "v. 0.8.3 (Alpha RC6)"
 
 namespace QGC
 

src/uas/UAS.cc

@@ -1038,7 +1038,7 @@ void UAS::getStatusForCode(int statusCode, QString& uasState, QString& stateDesc
         break;
     case MAV_STATE_EMERGENCY:
         uasState = tr("EMERGENCY");
-        stateDescription = tr("EMERGENCY: Please land");
+        stateDescription = tr("EMERGENCY: Land!");
         break;
     case MAV_STATE_POWEROFF:
         uasState = tr("SHUTDOWN");

src/uas/UASWaypointManager.cc

@@ -267,9 +267,16 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
 
 void UASWaypointManager::notifyOfChange(Waypoint* wp)
 {
-    Q_UNUSED(wp);
-    emit waypointListChanged();
-    emit waypointListChanged(uas.getUASID());
+    // If only one waypoint was changed, emit only WP signal
+    if (wp != NULL)
+    {
+        emit waypointChanged(uas.getUASID(), wp);
+    }
+    else
+    {
+        emit waypointListChanged();
+        emit waypointListChanged(uas.getUASID());
+    }
 }
 
 int UASWaypointManager::setCurrentWaypoint(quint16 seq)
@@ -318,11 +325,10 @@ void UASWaypointManager::addWaypoint(Waypoint *wp)
     {
         wp->setId(waypoints.size());
         waypoints.insert(waypoints.size(), wp);
+        connect(wp, SIGNAL(changed(Waypoint*)), this, SLOT(notifyOfChange(Waypoint*)));
 
         emit waypointListChanged();
         emit waypointListChanged(uas.getUASID());
-
-        qDebug() << "ADDED WAYPOINT WITH ID:" << wp->getId();
     }
 }
 

src/uas/UASWaypointManager.h

@@ -86,16 +86,6 @@ public:
     /** @name Waypoint list operations */
     /*@{*/
     const QVector<Waypoint *> &getWaypointList(void) { return waypoints; }  ///< Returns a const reference to the waypoint list.
-    int removeWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
-    void moveWaypoint(quint16 cur_seq, quint16 new_seq);   ///< locally move a waypoint from its current position cur_seq to a new position new_seq
-    void saveWaypoints(const QString &saveFile);           ///< saves the local waypoint list to saveFile
-    void loadWaypoints(const QString &loadFile);           ///< loads a waypoint list from loadFile
-    void notifyOfChange(Waypoint* wp);                     ///< Notifies manager to changes to a waypoint
-    void localAddWaypoint(Waypoint *wp);                        ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly
-    int localRemoveWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
-    void localMoveWaypoint(quint16 cur_seq, quint16 new_seq);   ///< locally move a waypoint from its current position cur_seq to a new position new_seq
-    void localSaveWaypoints(const QString &saveFile);           ///< saves the local waypoint list to saveFile
-    void localLoadWaypoints(const QString &loadFile);           ///< loads a waypoint list from loadFile
     int getIndexOf(Waypoint* wp);                               ///< Get the index of a waypoint in the list
     /*@}*/
 
@@ -122,7 +112,15 @@ private:
 
 public slots:
     void timeout();                                 ///< Called by the timer if a response times out. Handles send retries.
+    /** @name Waypoint list operations */
+    /*@{*/
     void addWaypoint(Waypoint *wp);                 ///< adds a new waypoint to the end of the list and changes its sequence number accordingly
+    int removeWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
+    void moveWaypoint(quint16 cur_seq, quint16 new_seq);   ///< locally move a waypoint from its current position cur_seq to a new position new_seq
+    void saveWaypoints(const QString &saveFile);           ///< saves the local waypoint list to saveFile
+    void loadWaypoints(const QString &loadFile);           ///< loads a waypoint list from loadFile
+    void notifyOfChange(Waypoint* wp);                     ///< Notifies manager to changes to a waypoint
+    /*@}*/
 
 signals:
     void waypointListChanged(void);                 ///< emits signal that the waypoint list has been changed

src/ui/MainWindow.cc

@@ -38,7 +38,7 @@
 #include "SlugsMAV.h"
 
 
-#include "LogCompressor.h"
+#include "LogCompressor.h"s
 
 MainWindow* MainWindow::instance()
 {
@@ -72,13 +72,6 @@ MainWindow::MainWindow(QWidget *parent):
     {
         // Set this view as default view
         settings.setValue("CURRENT_VIEW", currentView);
-
-        // Enable default tools
-
-        // ENABLE UAS LIST
-        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST,currentView), true);
-        // ENABLE COMMUNICATION CONSOLE
-        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_DEBUG_CONSOLE,currentView), true);
     }
     else
     {
@@ -98,32 +91,9 @@ MainWindow::MainWindow(QWidget *parent):
 
     // Setup user interface
     ui.setupUi(this);
-    ui.actionNewCustomWidget->setEnabled(false);
 
     setVisible(false);
 
-    // Bind together the perspective actions
-    QActionGroup* perspectives = new QActionGroup(ui.menuPerspectives);
-    perspectives->addAction(ui.actionEngineersView);
-    perspectives->addAction(ui.actionMavlinkView);
-    perspectives->addAction(ui.actionPilotsView);
-    perspectives->addAction(ui.actionOperatorsView);
-    perspectives->addAction(ui.actionUnconnectedView);
-    perspectives->setExclusive(true);
-
-    // Mark the right one as selected
-    if (currentView == VIEW_ENGINEER) ui.actionEngineersView->setChecked(true);
-    if (currentView == VIEW_MAVLINK) ui.actionMavlinkView->setChecked(true);
-    if (currentView == VIEW_PILOT) ui.actionPilotsView->setChecked(true);
-    if (currentView == VIEW_OPERATOR) ui.actionOperatorsView->setChecked(true);
-    if (currentView == VIEW_UNCONNECTED) ui.actionUnconnectedView->setChecked(true);
-
-    // The pilot, engineer and operator view are not available on startup
-    // since they only make sense with a system connected.
-    ui.actionPilotsView->setEnabled(false);
-    ui.actionOperatorsView->setEnabled(false);
-    ui.actionEngineersView->setEnabled(false);
-
     buildCommonWidgets();
 
     connectCommonWidgets();
@@ -204,6 +174,11 @@ void MainWindow::setDefaultSettingsForAp()
     if (!settings.contains(centralKey))
     {
         settings.setValue(centralKey,true);
+
+        // ENABLE UAS LIST
+        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST, VIEW_UNCONNECTED), true);
+        // ENABLE COMMUNICATION CONSOLE
+        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_DEBUG_CONSOLE, VIEW_UNCONNECTED), true);
     }
 
     // OPERATOR VIEW DEFAULT
@@ -223,6 +198,8 @@ void MainWindow::setDefaultSettingsForAp()
     if (!settings.contains(centralKey))
     {
         settings.setValue(centralKey,true);
+        // Enable Parameter widget
+        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_PARAMETERS,VIEW_ENGINEER), true);
     }
 
     // MAVLINK VIEW DEFAULT
@@ -237,6 +214,8 @@ void MainWindow::setDefaultSettingsForAp()
     if (!settings.contains(centralKey))
     {
         settings.setValue(centralKey,true);
+        // Enable Flight display
+        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_HDD_1,VIEW_PILOT), true);
     }
 }
 
@@ -895,9 +874,11 @@ QString MainWindow::buildMenuKey(SETTINGS_SECTIONS section, TOOLS_WIDGET_NAMES t
     // Key is built as follows: autopilot_type/section_menu/view/tool/section
     int apType;
 
-    apType = (UASManager::instance() && UASManager::instance()->silentGetActiveUAS())?
-             UASManager::instance()->getActiveUAS()->getAutopilotType():
-             -1;
+//    apType = (UASManager::instance() && UASManager::instance()->silentGetActiveUAS())?
+//             UASManager::instance()->getActiveUAS()->getAutopilotType():
+//             -1;
+
+    apType = 1;
 
     return (QString::number(apType) + "_" +
             QString::number(SECTION_MENU) + "_" +
@@ -1266,6 +1247,36 @@ void MainWindow::showInfoMessage(const QString& title, const QString& message)
 **/
 void MainWindow::connectCommonActions()
 {
+    ui.actionNewCustomWidget->setEnabled(false);
+
+    // Bind together the perspective actions
+    QActionGroup* perspectives = new QActionGroup(ui.menuPerspectives);
+    perspectives->addAction(ui.actionEngineersView);
+    perspectives->addAction(ui.actionMavlinkView);
+    perspectives->addAction(ui.actionPilotsView);
+    perspectives->addAction(ui.actionOperatorsView);
+    perspectives->addAction(ui.actionUnconnectedView);
+    perspectives->setExclusive(true);
+
+    // Mark the right one as selected
+    if (currentView == VIEW_ENGINEER) ui.actionEngineersView->setChecked(true);
+    if (currentView == VIEW_MAVLINK) ui.actionMavlinkView->setChecked(true);
+    if (currentView == VIEW_PILOT) ui.actionPilotsView->setChecked(true);
+    if (currentView == VIEW_OPERATOR) ui.actionOperatorsView->setChecked(true);
+    if (currentView == VIEW_UNCONNECTED) ui.actionUnconnectedView->setChecked(true);
+
+    // The pilot, engineer and operator view are not available on startup
+    // since they only make sense with a system connected.
+    ui.actionPilotsView->setEnabled(false);
+    ui.actionOperatorsView->setEnabled(false);
+    ui.actionEngineersView->setEnabled(false);
+    // The UAS actions are not enabled without connection to system
+    ui.actionLiftoff->setEnabled(false);
+    ui.actionLand->setEnabled(false);
+    ui.actionEmergency_Kill->setEnabled(false);
+    ui.actionEmergency_Land->setEnabled(false);
+    ui.actionShutdownMAV->setEnabled(false);
+
     // Connect actions from ui
     connect(ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(addLink()));
 
@@ -1278,7 +1289,7 @@ void MainWindow::connectCommonActions()
     connect(ui.actionLand, SIGNAL(triggered()), UASManager::instance(), SLOT(returnActiveUAS()));
     connect(ui.actionEmergency_Land, SIGNAL(triggered()), UASManager::instance(), SLOT(stopActiveUAS()));
     connect(ui.actionEmergency_Kill, SIGNAL(triggered()), UASManager::instance(), SLOT(killActiveUAS()));
-
+    connect(ui.actionShutdownMAV, SIGNAL(triggered()), UASManager::instance(), SLOT(shutdownActiveUAS()));
     connect(ui.actionConfiguration, SIGNAL(triggered()), UASManager::instance(), SLOT(configureActiveUAS()));
 
     // Views actions
@@ -1439,6 +1450,12 @@ void MainWindow::UASCreated(UASInterface* uas)
         ui.actionPilotsView->setEnabled(true);
         ui.actionOperatorsView->setEnabled(true);
         ui.actionEngineersView->setEnabled(true);
+        // The UAS actions are not enabled without connection to system
+        ui.actionLiftoff->setEnabled(true);
+        ui.actionLand->setEnabled(true);
+        ui.actionEmergency_Kill->setEnabled(true);
+        ui.actionEmergency_Land->setEnabled(true);
+        ui.actionShutdownMAV->setEnabled(true);
 
         QIcon icon;
         // Set matching icon
@@ -1644,6 +1661,7 @@ void MainWindow::clearView()
         {
             // Remove dock widget from main window
             removeDockWidget(dockWidget);
+            dockWidget->hide();
             //dockWidget->setVisible(false);
         }
     }

src/ui/MainWindow.ui

@@ -77,7 +77,7 @@
    </widget>
    <widget class="QMenu" name="menuConnected_Systems">
     <property name="enabled">
-     <bool>false</bool>
+     <bool>true</bool>
     </property>
     <property name="title">
      <string>Select System</string>
@@ -85,7 +85,7 @@
    </widget>
    <widget class="QMenu" name="menuUnmanned_System">
     <property name="enabled">
-     <bool>false</bool>
+     <bool>true</bool>
     </property>
     <property name="title">
      <string>Unmanned System</string>
@@ -93,6 +93,7 @@
     <property name="separatorsCollapsible">
      <bool>false</bool>
     </property>
+    <addaction name="actionShutdownMAV"/>
     <addaction name="actionLiftoff"/>
     <addaction name="actionLand"/>
     <addaction name="actionEmergency_Land"/>
@@ -413,6 +414,21 @@
     <string>Meta+U</string>
    </property>
   </action>
+  <action name="actionShutdownMAV">
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/actions/system-log-out.svg</normaloff>:/images/actions/system-log-out.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Shutdown MAV</string>
+   </property>
+   <property name="toolTip">
+    <string>Shutdown the onboard computer - works not during flight</string>
+   </property>
+   <property name="statusTip">
+    <string>Shutdown the onboard computer - works not during flight</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>

src/ui/MapWidget.cc

@@ -632,6 +632,7 @@ MapWidget::~MapWidget()
 void MapWidget::addUAS(UASInterface* uas)
 {
     connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
+    connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
     //connect(uas->getWaypointManager(), SIGNAL(waypointListChanged()), this, SLOT(redoWaypoints()));
 }
 
@@ -700,14 +701,10 @@ void MapWidget::activeUASSet(UASInterface* uas)
     // Disconnect old MAV
     if (mav)
     {
-        // clear path create on the map
+        // Disconnect the waypoint manager / data storage from the UI
         disconnect(mav->getWaypointManager(), SIGNAL(waypointListChanged(int)), this, SLOT(updateWaypointList(int)));
-        // add Waypoint widget in the WaypointList widget when mouse clicked
+        disconnect(mav->getWaypointManager(), SIGNAL(waypointUpdated(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
         disconnect(this, SIGNAL(waypointCreated(Waypoint*)), mav->getWaypointManager(), SLOT(addWaypoint(Waypoint*)));
-
-
-        // it notifies that a waypoint global goes to do create and a map graphic too
-        //connect(waypointsDockWidget->widget(), SIGNAL(createWaypointAtMap(QPointF)), mapWidget, SLOT(createWaypointGraphAtMap(QPointF)));
     }
 
     if (uas)
@@ -721,16 +718,32 @@ void MapWidget::activeUASSet(UASInterface* uas)
         // FIXME Remove after refactoring
         waypointPath->setPen(pen);
 
-        // Delete all waypoints and start fresh
+        // Delete all waypoints and add waypoint from new system
         redoWaypoints();
 
-        // clear path create on the map
+        // Connect the waypoint manager / data storage to the UI
         connect(mav->getWaypointManager(), SIGNAL(waypointListChanged(int)), this, SLOT(updateWaypointList(int)));
-        // add Waypoint widget in the WaypointList widget when mouse clicked
+        connect(mav->getWaypointManager(), SIGNAL(waypointUpdated(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
         connect(this, SIGNAL(waypointCreated(Waypoint*)), mav->getWaypointManager(), SLOT(addWaypoint(Waypoint*)));
     }
 }
 
+void MapWidget::updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 usec)
+{
+    Q_UNUSED(roll);
+    Q_UNUSED(pitch);
+    Q_UNUSED(usec);
+
+    if (uas)
+    {
+        MAV2DIcon* icon = dynamic_cast<MAV2DIcon*>(uasIcons.value(uas->getUASID(), NULL));
+        if (icon)
+        {
+            icon->setYaw(yaw);
+        }
+    }
+}
+
 /**
  * Updates the global position of one MAV and append the last movement to the trail
  *
@@ -766,24 +779,24 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
         //QPen* pointpen = new QPen(uasColor);
         qDebug() << "2D MAP: ADDING" << uas->getUASName() << __FILE__ << __LINE__;
         //p = new MAV2DIcon(lat, lon, 20, uas->getUASName(), qmapcontrol::Point::Middle, mavPens.value(uas->getUASID()));
-        p = new Waypoint2DIcon(lat, lon, 20, QString("%1").arg(uas->getUASID()), qmapcontrol::Point::Middle);
+        p = new MAV2DIcon(lat, lon, 50, uas->getSystemType(), uas->getColor(), QString("%1").arg(uas->getUASID()), qmapcontrol::Point::Middle);
         uasIcons.insert(uas->getUASID(), p);
         mc->layer("Waypoints")->addGeometry(p);
 
         // Line
         // A QPen also can use transparency
 
-        QList<qmapcontrol::Point*> points;
-        points.append(new qmapcontrol::Point(coordinate.x(), coordinate.y()));
-        QPen* linepen = new QPen(uasColor.darker());
-        linepen->setWidth(2);
+//        QList<qmapcontrol::Point*> points;
+//        points.append(new qmapcontrol::Point(coordinate.x(), coordinate.y()));
+//        QPen* linepen = new QPen(uasColor.darker());
+//        linepen->setWidth(2);
 
-        // Create tracking line string
-        qmapcontrol::LineString* ls = new qmapcontrol::LineString(points, QString("%1").arg(uas->getUASID()), linepen);
-        uasTrails.insert(uas->getUASID(), ls);
+//        // Create tracking line string
+//        qmapcontrol::LineString* ls = new qmapcontrol::LineString(points, QString("%1").arg(uas->getUASID()), linepen);
+//        uasTrails.insert(uas->getUASID(), ls);
 
-        // Add the LineString to the layer
-        mc->layer("Waypoints")->addGeometry(ls);
+//        // Add the LineString to the layer
+//        mc->layer("Waypoints")->addGeometry(ls);
     }
     else
     {
@@ -795,7 +808,7 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
             //p->setYaw(uas->getYaw());
 //        }
         // Extend trail
-        uasTrails.value(uas->getUASID())->addPoint(new qmapcontrol::Point(coordinate.x(), coordinate.y()));
+//        uasTrails.value(uas->getUASID())->addPoint(new qmapcontrol::Point(coordinate.x(), coordinate.y()));
     }
 
 mc->updateRequest(p->boundingBox().toRect());

src/ui/MapWidget.h

@@ -68,6 +68,8 @@ public:
 public slots:
     void addUAS(UASInterface* uas);
     void activeUASSet(UASInterface* uas);
+    /** @brief Update the attitude */
+    void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 usec);
     void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
     void updatePosition(float time, double lat, double lon);
     void updateCameraPosition(double distance, double bearing, QString dir);

src/ui/UASView.ui

@@ -146,10 +146,20 @@ QPushButton:pressed#killButton {
 }
 
 
-QProgressBar {
+QProgressBar:horizontal {
+	border: 1px solid #4A4A4F;
+	border-radius: 4px;
+	text-align: center;
+	padding: 2px;
+	color: #DDDDDF;
+	background-color: #111118;
+}
+
+QProgressBar:vertical {
 	border: 1px solid #4A4A4F;
 	border-radius: 4px;
 	text-align: center;
+	font-size: 7px;
 	padding: 2px;
 	color: #DDDDDF;
 	background-color: #111118;
@@ -159,12 +169,16 @@ QProgressBar:horizontal {
 	height: 10px;
 }
 
-QProgressBar QLabel {
-	font-size: 8px;
+QProgressBar:horizontal QLabel {
+	font-size: 9px;
+}
+
+QProgressBar:vertical QLabel {
+	font-size: 7px;
 }
 
 QProgressBar:vertical {
-	width: 12px;
+	width: 14px;
 }
 
 QProgressBar::chunk {
@@ -231,7 +245,7 @@ QMenu::separator {
      <property name="title">
       <string/>
      </property>
-     <layout class="QGridLayout" name="gridLayout">
+     <layout class="QGridLayout" name="gridLayout" columnstretch="10,10,1,10,10,10,100,100">
       <property name="horizontalSpacing">
        <number>4</number>
       </property>
@@ -281,9 +295,12 @@ QMenu::separator {
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
+        <property name="sizeType">
+         <enum>QSizePolicy::MinimumExpanding</enum>
+        </property>
         <property name="sizeHint" stdset="0">
          <size>
-          <width>6</width>
+          <width>4</width>
           <height>88</height>
          </size>
         </property>
@@ -327,7 +344,7 @@ QMenu::separator {
          </font>
         </property>
         <property name="text">
-         <string>Waiting for first update..</string>
+         <string/>
         </property>
        </widget>
       </item>
@@ -466,7 +483,7 @@ QMenu::separator {
          </font>
         </property>
         <property name="text">
-         <string>UNINIT</string>
+         <string/>
         </property>
        </widget>
       </item>
@@ -481,14 +498,14 @@ QMenu::separator {
          </font>
         </property>
         <property name="text">
-         <string>WPX</string>
+         <string>---</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
         </property>
        </widget>
       </item>
-      <item row="2" column="6">
+      <item row="2" column="6" colspan="2">
        <widget class="QLabel" name="positionLabel">
         <property name="minimumSize">
          <size>
@@ -515,33 +532,6 @@ QMenu::separator {
         </property>
        </widget>
       </item>
-      <item row="2" column="7">
-       <widget class="QLabel" name="gpsLabel">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>12</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>16777215</width>
-          <height>12</height>
-         </size>
-        </property>
-        <property name="font">
-         <font>
-          <pointsize>-1</pointsize>
-          <weight>50</weight>
-          <italic>false</italic>
-          <bold>false</bold>
-         </font>
-        </property>
-        <property name="text">
-         <string>00 00 00 N  00 00 00 E</string>
-        </property>
-       </widget>
-      </item>
       <item row="5" column="6" colspan="2">
        <widget class="QLabel" name="statusTextLabel">
         <property name="maximumSize">
@@ -556,7 +546,7 @@ QMenu::separator {
          </font>
         </property>
         <property name="text">
-         <string>Unknown status</string>
+         <string/>
         </property>
        </widget>
       </item>

src/ui/WaypointList.cc

@@ -129,6 +129,7 @@ void WaypointList::setUAS(UASInterface* uas)
 
         connect(uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)),        this, SLOT(updateStatusLabel(const QString &)));
         connect(uas->getWaypointManager(), SIGNAL(waypointListChanged(void)),                  this, SLOT(waypointListChanged(void)));
+        connect(uas->getWaypointManager(), SIGNAL(waypointChanged(int,Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
         connect(uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)),            this, SLOT(currentWaypointChanged(quint16)));
         connect(uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
         connect(uas->getWaypointManager(),SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool)));
@@ -214,10 +215,10 @@ void WaypointList::add()
                     wp = new Waypoint(0, uas->getLongitude(), uas->getLatitude(), uas->getAltitude(), 0.0, true, true, 0.15, 0, MAV_FRAME_GLOBAL, MAV_ACTION_NAVIGATE);
                     uas->getWaypointManager()->addWaypoint(wp);
             }
-            if (wp->getFrame() == MAV_FRAME_GLOBAL)
-            {
-                emit createWaypointAtMap(QPointF(wp->getX(), wp->getY()));
-            }
+//            if (wp->getFrame() == MAV_FRAME_GLOBAL)
+//            {
+//                emit createWaypointAtMap(QPointF(wp->getX(), wp->getY()));
+//            }
         }
     }
 }
@@ -293,6 +294,13 @@ void WaypointList::currentWaypointChanged(quint16 seq)
     }
 }
 
+void WaypointList::updateWaypoint(int uas, Waypoint* wp)
+{
+    Q_UNUSED(uas);
+    WaypointView *wpv = wpViews.value(wp);
+    wpv->updateValues();
+}
+
 void WaypointList::waypointListChanged()
 {
     if (uas)

src/ui/WaypointList.h

@@ -65,7 +65,7 @@ public slots:
     /** @brief Save the local waypoint list to a file */
     void saveWaypoints();
     /** @brief Load a waypoint list from a file */
-    void    loadWaypoints();
+    void loadWaypoints();
     /** @brief Transmit the local waypoint list to the UAS */
     void transmit();
     /** @brief Read the remote waypoint list */
@@ -87,6 +87,8 @@ public slots:
     void changeCurrentWaypoint(quint16 seq);
     /** @brief The waypoint planner changed the current waypoint */
     void currentWaypointChanged(quint16 seq);
+    /** @brief The waypoint manager informs that one waypoint was changed */
+    void updateWaypoint(int uas, Waypoint* wp);
     /** @brief The waypoint manager informs that the waypoint list was changed */
     void waypointListChanged(void);
 
@@ -111,10 +113,6 @@ public slots:
 signals:
   void clearPathclicked();
   void createWaypointAtMap(const QPointF coordinate);
- // void ChangeWaypointGlobalPosition(int index, QPointF coord);
-  void changePositionWPBySpinBox(int indexWP, float lat, float lon);
-
-
 
 protected:
     virtual void changeEvent(QEvent *e);

src/ui/map/MAV2DIcon.cc

 #include "MAV2DIcon.h"
 #include <QPainter>
 
-MAV2DIcon::MAV2DIcon(qreal x, qreal y, int radius, QString name, Alignment alignment, QPen* pen)
+#include <qmath.h>
+
+MAV2DIcon::MAV2DIcon(qreal x, qreal y, int radius, int type, const QColor& color, QString name, Alignment alignment, QPen* pen)
     : Point(x, y, name, alignment),
-    yaw(0.0f)
+    yaw(0.0f),
+    radius(radius),
+    type(type),
+    iconColor(color)
 {
     size = QSize(radius, radius);
     drawIcon(pen);
 }
 
 MAV2DIcon::MAV2DIcon(qreal x, qreal y, QString name, Alignment alignment, QPen* pen)
-    : Point(x, y, name, alignment)
+    : Point(x, y, name, alignment),
+    radius(20),
+    type(0),
+    iconColor(Qt::yellow)
 {
-    int radius = 10;
     size = QSize(radius, radius);
-    if (pen)
-    {
-        drawIcon(pen);
-    }
+    drawIcon(pen);
 }
 
 MAV2DIcon::~MAV2DIcon()
@@ -27,69 +31,110 @@ MAV2DIcon::~MAV2DIcon()
 
 void MAV2DIcon::setPen(QPen* pen)
 {
-    if (pen)
-    {
-        mypen = pen;
-        drawIcon(pen);
-    }
+    mypen = pen;
+    drawIcon(pen);
 }
 
 /**
+ * Yaw changes of less than ±15 degrees are ignored.
+ *
  * @param yaw in radians, 0 = north, positive = clockwise
  */
 void MAV2DIcon::setYaw(float yaw)
 {
-    this->yaw = yaw;
-    drawIcon(mypen);
+    float diff = fabs(yaw - this->yaw);
+    while (diff > M_PI)
+    {
+        diff -= M_PI;
+    }
+
+    if (diff > 0.25)
+    {
+        this->yaw = yaw;
+        drawIcon(mypen);
+    }
 }
 
 void MAV2DIcon::drawIcon(QPen* pen)
 {
+    switch (type)
+    {
+    case MAV_ICON_GENERIC:
+    case MAV_ICON_AIRPLANE:
+    case MAV_ICON_QUADROTOR:
+    case MAV_ICON_ROTARY_WING:
+    default:
+        {
+            mypixmap = new QPixmap(radius+1, radius+1);
+            mypixmap->fill(Qt::transparent);
+            QPainter painter(mypixmap);
+            painter.setRenderHint(QPainter::TextAntialiasing);
+            painter.setRenderHint(QPainter::Antialiasing);
+            painter.setRenderHint(QPainter::HighQualityAntialiasing);
 
-    mypixmap = new QPixmap(radius+1, radius+1);
-    mypixmap->fill(Qt::transparent);
-    QPainter painter(mypixmap);
+            // Rotate by yaw
+            painter.translate(radius/2, radius/2);
+            painter.rotate(((yaw/(float)M_PI)+1.0f)*360.0f);
 
-    // DRAW WAYPOINT
-    QPointF p(radius/2, radius/2);
+            // DRAW AIRPLANE
 
-    float waypointSize = radius;
-    QPolygonF poly(4);
-    // Top point
-    poly.replace(0, QPointF(p.x(), p.y()-waypointSize/2.0f));
-    // Right point
-    poly.replace(1, QPointF(p.x()+waypointSize/2.0f, p.y()));
-    // Bottom point
-    poly.replace(2, QPointF(p.x(), p.y() + waypointSize/2.0f));
-    poly.replace(3, QPointF(p.x() - waypointSize/2.0f, p.y()));
+            qDebug() << "ICON SIZE:" << radius;
 
-//    // Select color based on if this is the current waypoint
-//    if (list.at(i)->getCurrent())
-//    {
-//        color = QGC::colorCyan;//uas->getColor();
-//        pen.setWidthF(refLineWidthToPen(0.8f));
-//    }
-//    else
-//    {
-//        color = uas->getColor();
-//        pen.setWidthF(refLineWidthToPen(0.4f));
-//    }
+            float iconSize = radius*0.9f;
+            QPolygonF poly(24);
+            poly.replace(0, QPointF(0.000000f*iconSize, -0.312500f*iconSize));
+            poly.replace(1, QPointF(0.025000f*iconSize, -0.287500f*iconSize));
+            poly.replace(2, QPointF(0.037500f*iconSize, -0.237500f*iconSize));
+            poly.replace(3, QPointF(0.031250f*iconSize, -0.187500f*iconSize));
+            poly.replace(4, QPointF(0.025000f*iconSize, -0.043750f*iconSize));
+            poly.replace(5, QPointF(0.500000f*iconSize, -0.025000f*iconSize));
+            poly.replace(6, QPointF(0.500000f*iconSize, 0.025000f*iconSize));
+            poly.replace(7, QPointF(0.025000f*iconSize, 0.043750f*iconSize));
+            poly.replace(8, QPointF(0.025000f*iconSize, 0.162500f*iconSize));
+            poly.replace(9, QPointF(0.137500f*iconSize, 0.181250f*iconSize));
+            poly.replace(10, QPointF(0.137500f*iconSize, 0.218750f*iconSize));
+            poly.replace(11, QPointF(0.025000f*iconSize, 0.206250f*iconSize));
+            poly.replace(12, QPointF(-0.025000f*iconSize, 0.206250f*iconSize));
+            poly.replace(13, QPointF(-0.137500f*iconSize, 0.218750f*iconSize));
+            poly.replace(14, QPointF(-0.137500f*iconSize, 0.181250f*iconSize));
+            poly.replace(15, QPointF(-0.025000f*iconSize, 0.162500f*iconSize));
+            poly.replace(16, QPointF(-0.025000f*iconSize, 0.043750f*iconSize));
+            poly.replace(17, QPointF(-0.500000f*iconSize, 0.025000f*iconSize));
+            poly.replace(18, QPointF(-0.500000f*iconSize, -0.025000f*iconSize));
+            poly.replace(19, QPointF(-0.025000f*iconSize, -0.043750f*iconSize));
+            poly.replace(20, QPointF(-0.031250f*iconSize, -0.187500f*iconSize));
+            poly.replace(21, QPointF(-0.037500f*iconSize, -0.237500f*iconSize));
+            poly.replace(22, QPointF(-0.031250f*iconSize, -0.262500f*iconSize));
+            poly.replace(23, QPointF(0.000000f*iconSize, -0.312500f*iconSize));
 
-    //pen.setColor(color);
-    if (pen)
-    {
-        pen->setWidthF(2);
-        painter.setPen(*pen);
-    }
-    else
-    {
-        QPen pen2(Qt::red);
-        pen2.setWidth(2);
-        painter.setPen(pen2);
-    }
-    painter.setBrush(Qt::NoBrush);
+            //    // Select color based on if this is the current waypoint
+            //    if (list.at(i)->getCurrent())
+            //    {
+            //        color = QGC::colorCyan;//uas->getColor();
+            //        pen.setWidthF(refLineWidthToPen(0.8f));
+            //    }
+            //    else
+            //    {
+            //        color = uas->getColor();
+            //        pen.setWidthF(refLineWidthToPen(0.4f));
+            //    }
 
-    float rad = (waypointSize/2.0f) * 0.8 * (1/sqrt(2.0f));
-    painter.drawLine(p.x(), p.y(), p.x()+sin(yaw) * radius, p.y()-cos(yaw) * rad);
-    painter.drawPolygon(poly);
+            //pen.setColor(color);
+//            if (pen)
+//            {
+//                pen->setWidthF(2);
+//                painter.setPen(*pen);
+//            }
+//            else
+//            {
+//                QPen pen2(Qt::red);
+//                pen2.setWidth(0);
+//                painter.setPen(pen2);
+//            }
+            painter.setBrush(QBrush(iconColor));
+
+            painter.drawPolygon(poly);
+        }
+        break;
+    }
 }

src/ui/map/MAV2DIcon.h

 #ifndef MAV2DICON_H
 #define MAV2DICON_H
 
+#include <QGraphicsItem>
 #include "qmapcontrol.h"
 
 class MAV2DIcon : public qmapcontrol::Point
 {
 public:
+    enum
+    {
+        MAV_ICON_GENERIC = 0,
+        MAV_ICON_AIRPLANE,
+        MAV_ICON_QUADROTOR,
+        MAV_ICON_ROTARY_WING
+    } MAV_ICON_TYPE;
     /*!
      *
      * @param x longitude
@@ -26,7 +34,7 @@ public:
      * @param alignment alignment (Middle or TopLeft)
      * @param pen QPen for drawing
      */
-    MAV2DIcon(qreal x, qreal y, int radius = 10, QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
+    MAV2DIcon(qreal x, qreal y, int radius = 10, int type=0, const QColor& color=QColor(Qt::red), QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
     virtual ~MAV2DIcon();
 
     //! sets the QPen which is used for drawing the circle
@@ -38,12 +46,14 @@ public:
     virtual void setPen(QPen* pen);
 
     void setYaw(float yaw);
+
     void drawIcon(QPen* pen);
 
 protected:
-    float yaw;  ///< Yaw angle of the MAV
-    int radius; ///< Maximum dimension of the MAV icon
-
+    float yaw;      ///< Yaw angle of the MAV
+    int radius;     ///< Radius / width of the icon
+    int type;       ///< Type of aircraft: 0: generic, 1: airplane, 2: quadrotor, 3-n: rotary wing
+    QColor iconColor; ///< Color to be used for the icon
 
 };
 

src/ui/map/Waypoint2DIcon.cc

@@ -6,6 +6,16 @@ Waypoint2DIcon::Waypoint2DIcon(qreal x, qreal y, int radius, QString name, Align
     yaw(0.0f),
     radius(radius)
 {
+    waypoint = NULL;
+    size = QSize(radius, radius);
+    drawIcon(pen);
+}
+
+Waypoint2DIcon::Waypoint2DIcon(Waypoint* wp, int listIndex, int radius, Alignment alignment, QPen* pen)
+    : Point(wp->getX(), wp->getY(), QString("%1").arg(listIndex), alignment)
+{
+    waypoint = wp;
+    this->yaw = wp->getYaw();
     size = QSize(radius, radius);
     drawIcon(pen);
 }
@@ -13,7 +23,8 @@ Waypoint2DIcon::Waypoint2DIcon(qreal x, qreal y, int radius, QString name, Align
 Waypoint2DIcon::Waypoint2DIcon(qreal x, qreal y, QString name, Alignment alignment, QPen* pen)
     : Point(x, y, name, alignment)
 {
-    int radius = 10;
+    waypoint = NULL;
+    int radius = 20;
     size = QSize(radius, radius);
     drawIcon(pen);
 }
@@ -38,6 +49,18 @@ void Waypoint2DIcon::setYaw(float yaw)
     drawIcon(mypen);
 }
 
+void Waypoint2DIcon::updateWaypoint()
+{
+    if (waypoint)
+    {
+        if (waypoint->getYaw() != yaw)
+        {
+            yaw = waypoint->getYaw();
+            drawIcon(mypen);
+        }
+    }
+}
+
 void Waypoint2DIcon::drawIcon(QPen* pen)
 {
     mypixmap = new QPixmap(radius+1, radius+1);

src/ui/map/Waypoint2DIcon.h

@@ -4,6 +4,8 @@
 #include <QGraphicsItem>
 #include "qmapcontrol.h"
 
+#include "Waypoint.h"
+
 class Waypoint2DIcon : public qmapcontrol::Point
 {
 public:
@@ -27,7 +29,19 @@ public:
      * @param alignment alignment (Middle or TopLeft)
      * @param pen QPen for drawing
      */
-    Waypoint2DIcon(qreal x, qreal y, int radius = 10, QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
+    Waypoint2DIcon(qreal x, qreal y, int radius = 20, QString name = QString(), Alignment alignment = Middle, QPen* pen=0);
+
+    /**
+     *
+     * @param wp Waypoint
+     * @param listIndex Index in the waypoint list
+     * @param radius the radius of the circle
+     * @param name name of the circle point
+     * @param alignment alignment (Middle or TopLeft)
+     * @param pen QPen for drawing
+     */
+    Waypoint2DIcon(Waypoint* wp, int listIndex, int radius = 20, Alignment alignment = Middle, QPen* pen=0);
+
     virtual ~Waypoint2DIcon();
 
     //! sets the QPen which is used for drawing the circle
@@ -42,9 +56,13 @@ public:
 
     void drawIcon(QPen* pen);
 
+public slots:
+    void updateWaypoint();
+
 protected:
     float yaw;      ///< Yaw angle of the MAV
-    int radius;     ///<
+    int radius;     ///< Radius / diameter of the icon in pixels
+    Waypoint* waypoint;   ///< Waypoint data container this icon represents
 
 };
 

src/ui/uas/UASView.cc

@@ -51,7 +51,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
         uas(uas),
         load(0),
         state("UNKNOWN"),
-        stateDesc(tr("Unknown system state")),
+        stateDesc(tr("Unknown state")),
         mode("MAV_MODE_UNKNOWN"),
         thrust(0),
         isActive(false),
@@ -129,15 +129,6 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     m_ui->killButton->hide();
     m_ui->shutdownButton->hide();
 
-    if (localFrame)
-    {
-        m_ui->gpsLabel->hide();
-    }
-    else
-    {
-        m_ui->positionLabel->hide();
-    }
-
     setSystemType(uas, uas->getSystemType());
 }
 
@@ -332,8 +323,6 @@ void UASView::updateLocalPosition(UASInterface* uas, double x, double y, double
     if (!localFrame)
     {
         localFrame = true;
-        m_ui->gpsLabel->hide();
-        m_ui->positionLabel->show();
     }
 }
 
@@ -471,7 +460,7 @@ void UASView::refresh()
 
         // Position
         QString position;
-        position = position.sprintf("%05.1f %05.1f %05.1f m", x, y, z);
+        position = position.sprintf("%05.1f %05.1f %06.1f m", x, y, z);
         m_ui->positionLabel->setText(position);
         QString globalPosition;
         QString latIndicator;
@@ -492,17 +481,17 @@ void UASView::refresh()
         {
             lonIndicator = "W";
         }
-        globalPosition = globalPosition.sprintf("%05.1f%s %05.1f%s %05.1f m", lon, lonIndicator.toStdString().c_str(), lat, latIndicator.toStdString().c_str(), alt);
-        m_ui->gpsLabel->setText(globalPosition);
+        globalPosition = globalPosition.sprintf("%05.1f%s %05.1f%s %06.1f m", lon, lonIndicator.toStdString().c_str(), lat, latIndicator.toStdString().c_str(), alt);
+        m_ui->positionLabel->setText(globalPosition);
 
         // Altitude
         if (groundDistance == 0 && alt != 0)
         {
-            m_ui->groundDistanceLabel->setText(QString("%1 m").arg(alt, 5, 'f', 1, '0'));
+            m_ui->groundDistanceLabel->setText(QString("%1 m").arg(alt, 6, 'f', 1, '0'));
         }
         else
         {
-            m_ui->groundDistanceLabel->setText(QString("%1 m").arg(groundDistance, 5, 'f', 1, '0'));
+            m_ui->groundDistanceLabel->setText(QString("%1 m").arg(groundDistance, 6, 'f', 1, '0'));
         }
 
         // Speed