A lot of bugfixing of window positions, plots, buttons, initialization values

src/comm/MAVLinkSimulationLink.cc

@@ -907,6 +907,7 @@ bool MAVLinkSimulationLink::disconnect() {
         _isConnected = false;
 
         emit disconnected();
+        emit connected(false);
 
         //exit();
     }
@@ -923,6 +924,8 @@ bool MAVLinkSimulationLink::disconnect() {
 bool MAVLinkSimulationLink::connect()
 {
     _isConnected = true;
+    emit connected();
+    emit connected(true);
 
     start(LowPriority);
     //    timer->start(rate);

src/uas/UAS.cc

@@ -318,7 +318,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "pitch V (deg/s)", (attitude.pitchspeed/M_PI)*180.0, time);
                 emit valueChanged(uasId, "yaw V (deg/s)", (attitude.yawspeed/M_PI)*180.0, time);
 
-                emit attitudeChanged(this, mavlink_msg_attitude_get_roll(&message), mavlink_msg_attitude_get_pitch(&message), mavlink_msg_attitude_get_yaw(&message), time);
+                emit attitudeChanged(this, attitude.roll, attitude.pitch, attitude.yaw, time);
             }
             break;
         case MAVLINK_MSG_ID_LOCAL_POSITION:

src/ui/DebugConsole.cc

@@ -35,6 +35,7 @@ This file is part of the QGROUNDCONTROL project
 #include "LinkManager.h"
 #include "UASManager.h"
 #include "protocol.h"
+#include "QGC.h"
 
 #include <QDebug>
 
@@ -102,6 +103,8 @@ DebugConsole::DebugConsole(QWidget *parent) :
     connect(m_ui->holdCheckBox, SIGNAL(clicked(bool)), this, SLOT(setAutoHold(bool)));
     // Connect hold button
     connect(m_ui->holdButton, SIGNAL(toggled(bool)), this, SLOT(hold(bool)));
+    // Connect connect button
+    connect(m_ui->connectButton, SIGNAL(clicked()), this, SLOT(handleConnectButton()));
 
     this->setVisible(false);
 }
@@ -122,6 +125,7 @@ void DebugConsole::addLink(LinkInterface* link)
     m_ui->linkComboBox->insertItem(link->getId(), link->getName());
     // Set new item as current
     m_ui->linkComboBox->setCurrentIndex(qMax(0, links.size() - 1));
+    linkSelected(m_ui->linkComboBox->currentIndex());
 
     // Register for name changes
     connect(link, SIGNAL(nameChanged(QString)), this, SLOT(updateLinkName(QString)));
@@ -149,6 +153,7 @@ void DebugConsole::linkSelected(int linkId)
     if (currLink)
     {
         disconnect(currLink, SIGNAL(bytesReceived(LinkInterface*,QByteArray)), this, SLOT(receiveBytes(LinkInterface*, QByteArray)));
+        disconnect(currLink, SIGNAL(connected(bool)), this, SLOT(setConnectionState(bool)));
     }
     // Clear data
     m_ui->receiveText->clear();
@@ -156,6 +161,8 @@ void DebugConsole::linkSelected(int linkId)
     // Connect new link
     currLink = links[linkId];
     connect(currLink, SIGNAL(bytesReceived(LinkInterface*,QByteArray)), this, SLOT(receiveBytes(LinkInterface*, QByteArray)));
+    connect(currLink, SIGNAL(connected(bool)), this, SLOT(setConnectionState(bool)));
+    setConnectionState(currLink->isConnected());
 }
 
 /**
@@ -422,6 +429,47 @@ void DebugConsole::hold(bool hold)
     this->holdOn = hold;
 }
 
+/**
+ * Sets the connection state the widget shows to this state
+ */
+void DebugConsole::setConnectionState(bool connected)
+{
+    if(connected)
+    {
+        m_ui->connectButton->setText(tr("Disconn."));
+        m_ui->receiveText->appendHtml(QString("<font color=\"%1\">%2</font>").arg(QGC::colorGreen.name(), tr("Link %1 is connected.").arg(currLink->getName())));
+    }
+    else
+    {
+        m_ui->connectButton->setText(tr("Connect"));
+        m_ui->receiveText->appendHtml(QString("<font color=\"%1\">%2</font>").arg(QGC::colorYellow.name(), tr("Link %1 is unconnected.").arg(currLink->getName())));
+    }
+}
+
+/** @brief Handle the connect button */
+void DebugConsole::handleConnectButton()
+{
+    if (currLink)
+    {
+        if (currLink->isConnected())
+        {
+            currLink->disconnect();
+            m_ui->connectButton->setText(tr("Connect"));
+        }
+        else
+        {
+            if (currLink->connect())
+            {
+                m_ui->connectButton->setText(tr("Disconn."));
+            }
+            else
+            {
+                m_ui->receiveText->appendHtml(QString("<font color=\"%1\">%2</font>").arg(QGC::colorRed.name(), tr("Could not connect link %1 ! Please check link hardware.").arg(currLink->getName())));
+            }
+        }
+    }
+}
+
 void DebugConsole::changeEvent(QEvent *e)
 {
     QWidget::changeEvent(e);

src/ui/DebugConsole.h

@@ -75,6 +75,10 @@ public slots:
     void MAVLINKfilterEnabled(bool filter);
     /** @brief Freeze input, do not store new incoming data */
     void hold(bool hold);
+    /** @brief Set connection state of the current link */
+    void setConnectionState(bool);
+    /** @brief Handle the connect button */
+    void handleConnectButton();
     /** @brief Enable auto-freeze mode if traffic intensity is too high to display */
     void setAutoHold(bool hold);
     /** @brief Receive plain text message to output to the user */

src/ui/DebugConsole.ui

@@ -6,14 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>402</width>
-    <height>185</height>
+    <width>463</width>
+    <height>159</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
+  <layout class="QGridLayout" name="gridLayout" columnstretch="0,0">
    <property name="horizontalSpacing">
     <number>6</number>
    </property>
@@ -51,7 +51,7 @@
         <string>Ignore MAVLINK protocol messages in display</string>
        </property>
        <property name="text">
-        <string>No MAVLINK</string>
+        <string>Hide MAVLINK</string>
        </property>
       </widget>
      </item>
@@ -77,7 +77,7 @@
         <string>Enable auto hold to lower the CPU consumption</string>
        </property>
        <property name="text">
-        <string>Hold</string>
+        <string>Auto Hold</string>
        </property>
       </widget>
      </item>
@@ -120,7 +120,7 @@
     </widget>
    </item>
    <item row="3" column="1">
-    <layout class="QHBoxLayout" name="horizontalLayout" stretch="10,10,10">
+    <layout class="QHBoxLayout" name="horizontalLayout" stretch="10,10,10,0">
      <property name="spacing">
       <number>5</number>
      </property>
@@ -155,6 +155,13 @@
        </property>
       </widget>
      </item>
+     <item>
+      <widget class="QPushButton" name="connectButton">
+       <property name="text">
+        <string>Disconn.</string>
+       </property>
+      </widget>
+     </item>
     </layout>
    </item>
   </layout>

src/ui/HDDisplay.cc

@@ -76,6 +76,11 @@ HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) :
 
     restoreState();
 
+    // Set minimum size
+    setMinimumSize(80, 80);
+    // Set preferred size
+    setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+
     createActions();
 
     //    setBackgroundBrush(QBrush(backgroundColor));
@@ -144,6 +149,11 @@ HDDisplay::~HDDisplay()
     delete m_ui;
 }
 
+QSize HDDisplay::sizeHint() const
+{
+    return QSize(400, 400*(vwidth/vheight));
+}
+
 void HDDisplay::enableGLRendering(bool enable)
 {
     Q_UNUSED(enable);
@@ -281,6 +291,7 @@ void HDDisplay::addGauge(const QString& gauge)
             }
         }
     }
+    adjustGaugeAspectRatio();
 }
 
 void HDDisplay::createActions()
@@ -313,6 +324,16 @@ void HDDisplay::setColumns()
 void HDDisplay::setColumns(int cols)
 {
     columns = cols;
+    adjustGaugeAspectRatio();
+}
+
+void HDDisplay::adjustGaugeAspectRatio()
+{
+    // Adjust vheight dynamically according to the number of rows
+    float vColWidth = vwidth / columns;
+    int vRows = ceil(acceptList->length()/(float)columns);
+    // Assuming square instruments, vheight is column width*row count
+    vheight = vColWidth * vRows;
 }
 
 void HDDisplay::setTitle()
@@ -349,12 +370,6 @@ void HDDisplay::renderOverlay()
     // adjust scaling to fit both horizontally and vertically
     scalingFactor = this->width()/vwidth;
 
-    // Adjust vheight dynamically according to the number of rows
-    float vColWidth = vwidth / columns;
-    int vRows = ceil(acceptList->length()/(float)columns);
-    // Assuming square instruments, vheight is column width*row count
-    vheight = vColWidth * vRows;
-
     double scalingFactorH = this->height()/vheight;
     if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH;
 

src/ui/HDDisplay.h

@@ -89,8 +89,11 @@ protected slots:
     //void render(QPainter* painter, const QRectF& target = QRectF(), const QRect& source = QRect(), Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
     void renderOverlay();
     void triggerUpdate();
+    /** @brief Adjust the size hint for the current gauge layout */
+    void adjustGaugeAspectRatio();
 
 protected:
+    QSize sizeHint() const;
     void changeEvent(QEvent* e);
     void paintEvent(QPaintEvent* event);
     void showEvent(QShowEvent* event);

src/ui/HUD.cc

@@ -112,13 +112,18 @@ HUD::HUD(int width, int height, QWidget* parent)
     strongStrokeWidth(1.5f),
     normalStrokeWidth(1.0f),
     fineStrokeWidth(0.5f),
-    waypointName("")
+    waypointName(""),
+    roll(0.0f),
+    pitch(0.0f),
+    yaw(0.0f)
 {
     // Set auto fill to false
     setAutoFillBackground(false);
 
     // Set minimum size
     setMinimumSize(80, 60);
+    // Set preferred size
+    setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
 
     // Fill with black background
     QImage fill = QImage(width, height, QImage::Format_Indexed8);
@@ -170,8 +175,6 @@ HUD::HUD(int width, int height, QWidget* parent)
     // Connect with UAS
     UASManager* manager = UASManager::instance();
     connect(manager, SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
-
-    this->setVisible(false);
 }
 
 HUD::~HUD()
@@ -179,6 +182,11 @@ HUD::~HUD()
 
 }
 
+QSize HUD::sizeHint() const
+{
+    return QSize(800, 600);
+}
+
 void HUD::showEvent(QShowEvent* event)
 {
     // React only to internal (pre-display)
@@ -240,16 +248,9 @@ void HUD::setActiveUAS(UASInterface* uas)
         // Disconnect any previously connected active MAV
         disconnect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*, double, double, double, quint64)));
         disconnect(uas, SIGNAL(batteryChanged(UASInterface*, double, double, int)), this, SLOT(updateBattery(UASInterface*, double, double, int)));
-        disconnect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
-        disconnect(uas, SIGNAL(thrustChanged(UASInterface*, double)), this, SLOT(updateThrust(UASInterface*, double)));
-        disconnect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
-        disconnect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
-        disconnect(uas, SIGNAL(speedChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateSpeed(UASInterface*,double,double,double,quint64)));
         disconnect(uas, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString)));
         disconnect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
-        disconnect(uas, SIGNAL(loadChanged(UASInterface*, double)), this, SLOT(updateLoad(UASInterface*, double)));
-        disconnect(uas, SIGNAL(attitudeThrustSetPointChanged(UASInterface*,double,double,double,double,quint64)), this, SLOT(updateAttitudeThrustSetPoint(UASInterface*,double,double,double,double,quint64)));
-        disconnect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
+        disconnect(uas, SIGNAL(heartbeat(UASInterface*)), this, SLOT(receiveHeartbeat(UASInterface*)));
     }
 
     // Now connect the new UAS
@@ -284,7 +285,7 @@ void HUD::updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double
 
 void HUD::updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp)
 {
-    //qDebug() << __FILE__ << __LINE__ << "ROLL" << roll;
+    qDebug() << __FILE__ << __LINE__ << "ROLL" << yaw;
     updateValue(uas, "roll", roll, timestamp);
     updateValue(uas, "pitch", pitch, timestamp);
     updateValue(uas, "yaw", yaw, timestamp);
@@ -573,10 +574,6 @@ void HUD::paintHUD()
 #endif
 
     // Read out most important values to limit hash table lookups
-    static float roll = 0.0f;
-    static float pitch = 0.0f;
-    static float yaw = 0.0f;
-
     // Low-pass roll, pitch and yaw
     roll = roll * 0.2f + 0.8f * values.value("roll", 0.0f);
     pitch = pitch * 0.2f + 0.8f * values.value("pitch", 0.0f);
@@ -725,7 +722,7 @@ void HUD::paintHUD()
     QString yawAngle;
 
     const float yawDeg = ((values.value("yaw", 0.0f)/M_PI)*180.0f)+180.f;
-    //qDebug() << "YAW: " << yawDeg;
+    qDebug() << "YAW: " << yawDeg;
     yawAngle.sprintf("%03d", (int)yawDeg);
     paintText(yawAngle, defaultColor, 3.5f, -3.7f, compassY+ 0.9f, &painter);
 

src/ui/HUD.h

@@ -118,6 +118,8 @@ protected:
     float refLineWidthToPen(float line);
     /** @brief Rotate a polygon around a point clockwise */
     void rotatePolygonClockWiseRad(QPolygonF& p, float angle, QPointF origin);
+    /** @brief Preferred Size */
+    QSize sizeHint() const;
     /** @brief Start updating widget */
     void showEvent(QShowEvent* event);
     /** @brief Stop updating widget */
@@ -183,6 +185,9 @@ protected:
     float fineStrokeWidth;     ///< Fine line stroke width, used throughout the HUD
 
     QString waypointName;      ///< Waypoint name displayed in HUD
+    float roll;
+    float pitch;
+    float yaw;
     void paintEvent(QPaintEvent *event);
 
 };

src/ui/QGCRemoteControlView.cc

@@ -176,6 +176,7 @@ void QGCRemoteControlView::appendChannelWidget(int channelId)
     // Add content
     layout->addWidget(new QLabel(QString("Channel %1").arg(channelId + 1), this));
     QLabel* raw = new QLabel(this);
+
     // Append raw label
     rawLabels.append(raw);
     layout->addWidget(raw);
@@ -196,7 +197,7 @@ void QGCRemoteControlView::redraw()
         // Update raw values
         for(int i = 0; i < rawLabels.count(); i++)
         {
-            rawLabels.at(i)->setText(QString("%1 us").arg(raw.at(i)));
+            rawLabels.at(i)->setText(QString("%1 us").arg(raw.at(i), 4));
         }
 
         // Update percent bars

src/ui/UASControl.ui

@@ -6,10 +6,16 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>328</width>
-    <height>357</height>
+    <width>210</width>
+    <height>141</height>
    </rect>
   </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
   <property name="minimumSize">
    <size>
     <width>210</width>
@@ -19,19 +25,26 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" rowstretch="10,10,0,10,10,10,10,100" columnstretch="0,10,5,5,10,0">
-   <property name="margin">
-    <number>0</number>
-   </property>
-   <property name="spacing">
-    <number>6</number>
-   </property>
+  <layout class="QGridLayout" name="gridLayout" columnstretch="0,100,50,50,100,0">
+   <item row="0" column="0" rowspan="6">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>31</width>
+       <height>159</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
    <item row="0" column="1" colspan="4">
     <widget class="QLabel" name="controlStatusLabel">
      <property name="minimumSize">
       <size>
-       <width>50</width>
-       <height>20</height>
+       <width>0</width>
+       <height>0</height>
       </size>
      </property>
      <property name="text">
@@ -45,6 +58,19 @@
      </property>
     </widget>
    </item>
+   <item row="0" column="5" rowspan="6">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>30</width>
+       <height>159</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
    <item row="1" column="1" colspan="4">
     <widget class="QPushButton" name="controlButton">
      <property name="minimumSize">
@@ -58,40 +84,11 @@
      </property>
     </widget>
    </item>
-   <item row="2" column="1" colspan="4">
-    <spacer name="verticalSpacer_2">
-     <property name="orientation">
-      <enum>Qt::Vertical</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::MinimumExpanding</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>20</width>
-       <height>2</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="0" column="0" rowspan="7">
-    <spacer name="horizontalSpacer">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>31</width>
-       <height>159</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="3" column="1">
+   <item row="2" column="1">
     <widget class="QPushButton" name="liftoffButton">
      <property name="minimumSize">
       <size>
-       <width>60</width>
+       <width>40</width>
        <height>12</height>
       </size>
      </property>
@@ -104,11 +101,11 @@
      </property>
     </widget>
    </item>
-   <item row="3" column="2" colspan="2">
+   <item row="2" column="2" colspan="2">
     <widget class="QPushButton" name="landButton">
      <property name="minimumSize">
       <size>
-       <width>60</width>
+       <width>40</width>
        <height>12</height>
       </size>
      </property>
@@ -121,11 +118,11 @@
      </property>
     </widget>
    </item>
-   <item row="3" column="4">
+   <item row="2" column="4">
     <widget class="QPushButton" name="shutdownButton">
      <property name="minimumSize">
       <size>
-       <width>60</width>
+       <width>40</width>
        <height>12</height>
       </size>
      </property>
@@ -138,20 +135,7 @@
      </property>
     </widget>
    </item>
-   <item row="0" column="5" rowspan="7">
-    <spacer name="horizontalSpacer_2">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>30</width>
-       <height>159</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="4" column="1" colspan="2">
+   <item row="3" column="1" colspan="2">
     <widget class="QComboBox" name="modeComboBox">
      <property name="minimumSize">
       <size>
@@ -161,7 +145,7 @@
      </property>
     </widget>
    </item>
-   <item row="4" column="3" colspan="2">
+   <item row="3" column="3" colspan="2">
     <widget class="QPushButton" name="setModeButton">
      <property name="minimumSize">
       <size>
@@ -178,52 +162,36 @@
      </property>
     </widget>
    </item>
-   <item row="6" column="1" colspan="4">
-    <widget class="QLabel" name="lastActionLabel">
+   <item row="4" column="3" colspan="2">
+    <widget class="QPushButton" name="setHomeButton">
      <property name="minimumSize">
       <size>
-       <width>0</width>
-       <height>12</height>
+       <width>40</width>
+       <height>16</height>
       </size>
      </property>
      <property name="text">
-      <string>No actions executed so far</string>
+      <string>Set Origin</string>
      </property>
-     <property name="alignment">
-      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
+     <property name="icon">
+      <iconset resource="../../mavground.qrc">
+       <normaloff>:/images/actions/go-home.svg</normaloff>:/images/actions/go-home.svg</iconset>
      </property>
     </widget>
    </item>
-   <item row="7" column="0" colspan="6">
-    <spacer name="verticalSpacer">
-     <property name="orientation">
-      <enum>Qt::Vertical</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Expanding</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>0</width>
-       <height>1</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="5" column="1" colspan="2">
-    <widget class="QPushButton" name="setHomeButton">
+   <item row="5" column="1" colspan="4">
+    <widget class="QLabel" name="lastActionLabel">
      <property name="minimumSize">
       <size>
-       <width>60</width>
-       <height>16</height>
+       <width>0</width>
+       <height>12</height>
       </size>
      </property>
      <property name="text">
-      <string>Set Origin</string>
+      <string>No actions executed so far</string>
      </property>
-     <property name="icon">
-      <iconset resource="../../mavground.qrc">
-       <normaloff>:/images/actions/go-home.svg</normaloff>:/images/actions/go-home.svg</iconset>
+     <property name="alignment">
+      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
      </property>
     </widget>
    </item>

src/ui/UASInfo.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>223</width>
-    <height>138</height>
+    <width>230</width>
+    <height>161</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -105,7 +105,7 @@
       <number>100</number>
      </property>
      <property name="value">
-      <number>80</number>
+      <number>0</number>
      </property>
      <property name="textVisible">
       <bool>true</bool>
@@ -363,7 +363,7 @@
       </size>
      </property>
      <property name="value">
-      <number>24</number>
+      <number>0</number>
      </property>
      <property name="textVisible">
       <bool>true</bool>
@@ -442,7 +442,7 @@
       </size>
      </property>
      <property name="value">
-      <number>24</number>
+      <number>0</number>
      </property>
     </widget>
    </item>

src/ui/linechart/LinechartPlot.cc

 /*=====================================================================
-
 PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
 
 (c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
@@ -10,15 +9,15 @@ This file is part of the PIXHAWK 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.
-
+    
     PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
-
+    
 ======================================================================*/
 
 /**
@@ -64,23 +63,23 @@ d_curve(NULL)
 {
     this->plotid = plotid;
     this->plotInterval = interval;
-
+    
     maxValue = DBL_MIN;
     minValue = DBL_MAX;
-
+    
     //lastMaxTimeAdded = QTime();
-
+    
     curves = QMap<QString, QwtPlotCurve*>();
     data = QMap<QString, TimeSeriesData*>();
     scaleMaps = QMap<QString, QwtScaleMap*>();
-
+    
     yScaleEngine = new QwtLinearScaleEngine();
     setAxisScaleEngine(QwtPlot::yLeft, yScaleEngine);
-
+    
     /* Create color map */
     colors = QList<QColor>();
     nextColor = 0;
-
+    
     ///> Color map for plots, includes 20 colors
     ///> Map will start from beginning when the first 20 colors are exceeded
     colors.append(QColor(242,255,128));
@@ -103,11 +102,11 @@ d_curve(NULL)
     colors.append(QColor(161,252,116));
     colors.append(QColor(87,231,246));
     colors.append(QColor(230,126,23));
-
+    
     plotPosition = 0;
-
+    
     setAutoReplot(false);
-
+    
     // Set grid
     QwtPlotGrid *grid = new QwtPlotGrid;
     grid->setMinPen(QPen(Qt::darkGray, 0, Qt::DotLine));
@@ -115,39 +114,39 @@ d_curve(NULL)
     grid->enableXMin(true);
     // TODO xmin?
     grid->attach(this);
-
+    
     // Set left scale
     //setAxisOptions(QwtPlot::yLeft, QwtAutoScale::Logarithmic);
-
+    
     // Set bottom scale
     setAxisScaleDraw(QwtPlot::xBottom, new TimeScaleDraw());
     setAxisLabelRotation(QwtPlot::xBottom, -25.0);
     setAxisLabelAlignment(QwtPlot::xBottom, Qt::AlignLeft | Qt::AlignBottom);
-
+    
     // Add some space on the left and right side of the scale to prevent flickering
-
+    
     QwtScaleWidget* bottomScaleWidget = axisWidget(QwtPlot::xBottom);
     const int fontMetricsX = QFontMetrics(bottomScaleWidget->font()).height();
     bottomScaleWidget->setMinBorderDist(fontMetricsX * 2, fontMetricsX / 2);
-
+    
     plotLayout()->setAlignCanvasToScales(true);
-
+    
     // Set canvas background
     setCanvasBackground(QColor(40, 40, 40));
-
+    
     // Enable zooming
     //zoomer = new Zoomer(canvas());
     zoomer = new ScrollZoomer(canvas());
     zoomer->setRubberBandPen(QPen(Qt::blue, 1.2, Qt::DotLine));
     zoomer->setTrackerPen(QPen(Qt::blue));
-
+    
     // Start QTimer for plot update
     updateTimer = new QTimer(this);
     connect(updateTimer, SIGNAL(timeout()), this, SLOT(paintRealtime()));
     //updateTimer->start(DEFAULT_REFRESH_RATE);
-
+    
     //    QwtPlot::setAutoReplot();
-
+    
     //    canvas()->setPaintAttribute(QwtPlotCanvas::PaintCached, false);
     //    canvas()->setPaintAttribute(QwtPlotCanvas::PaintPacked, false);
 }
@@ -246,31 +245,39 @@ void LinechartPlot::appendData(QString dataname, quint64 ms, double value)
 {
     /* Lock resource to ensure data integrity */
     datalock.lock();
-
+    
     /* Check if dataset identifier already exists */
     if(!data.contains(dataname)) {
         addCurve(dataname);
     }
-
+    
     // Add new value
     TimeSeriesData* dataset = data.value(dataname);
-
+    
+    quint64 time;
+    
     // Append data
     if (m_groundTime)
     {
         // Use the current (receive) time
-        dataset->append(MG::TIME::getGroundTimeNow(), value);
+        //dataset->append(MG::TIME::getGroundTimeNow(), value);
+        time = QGC::groundTimeUsecs()/1000;
+        //qDebug() << "QGC:" << QGC::groundTimeUsecs()/1000;
     }
     else
     {
         // Use timestamp from dataset
-        dataset->append(ms, value);
+        time = ms;
+        //qDebug() << "MS:" << ms;
+        //qDebug() << "QGC:" << QGC::groundTimeUsecs()/1000;
     }
+    dataset->append(time, value);
 
     // Scaling values
     if(ms < minTime) minTime = ms;
     if(ms > maxTime) maxTime = ms;
     storageInterval = maxTime - minTime;
+    lastTime = time;
 
     //
     if (value < minValue) minValue = value;
@@ -628,7 +635,9 @@ void LinechartPlot::paintRealtime()
     if (m_active)
     {
 #if (QGC_EVENTLOOP_DEBUG)
-    qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
+        static quint64 timestamp = 0;
+        qDebug() << "EVENTLOOP: (" << MG::TIME::getGroundTimeNow() - timestamp << ")" << __FILE__ << __LINE__;
+        timestamp = MG::TIME::getGroundTimeNow();
 #endif
         // Update plot window value to new max time if the last time was also the max time
         windowLock.lock();
@@ -637,14 +646,14 @@ void LinechartPlot::paintRealtime()
 
             // FIXME Check, but commenting this out should have been
             // beneficial (does only add complexity)
-//            if (MG::TIME::getGroundTimeNow() > maxTime && abs(MG::TIME::getGroundTimeNow() - maxTime) < 5000000)
-//            {
-//                plotPosition = MG::TIME::getGroundTimeNow();
-//            }
-//            else
-//            {
-                plotPosition = maxTime;// + lastMaxTimeAdded.msec();
-//            }
+            //            if (MG::TIME::getGroundTimeNow() > maxTime && abs(MG::TIME::getGroundTimeNow() - maxTime) < 5000000)
+            //            {
+            //                plotPosition = MG::TIME::getGroundTimeNow();
+            //            }
+            //            else
+            //            {
+            plotPosition = lastTime;// + lastMaxTimeAdded.msec();
+            //            }
             setAxisScale(QwtPlot::xBottom, plotPosition - plotInterval, plotPosition, timeScaleStep);
 
             // FIXME Last fix for scroll zoomer is here
@@ -702,12 +711,7 @@ void LinechartPlot::paintRealtime()
                 canvas()->setPaintAttribute(QwtPlotCanvas::PaintCached, cacheMode);
         }*/
 
-//        static quint64 timestamp = 0;
-//
-//
-//        qDebug() << "PLOT INTERVAL:" << MG::TIME::getGroundTimeNow() - timestamp;
-//
-//        timestamp = MG::TIME::getGroundTimeNow();
+
     }
 }
 
@@ -815,7 +819,7 @@ void TimeSeriesData::append(quint64 ms, double value)
     this->variance = 0;
     for (unsigned int i = 0; (i < averageWindow) && (((int)count - (int)i) >= 0); ++i)
     {
-       this->variance += (this->value[count-i] - mean) * (this->value[count-i] - mean);
+        this->variance += (this->value[count-i] - mean) * (this->value[count-i] - mean);
     }
     this->variance = this->variance / static_cast<double>(qMin(averageWindow,static_cast<unsigned int>(count)));
 

src/ui/linechart/LinechartPlot.h

@@ -284,6 +284,7 @@ protected:
     // TODO CHECK THIS!!!
     int scaling;
     QwtScaleEngine* yScaleEngine;
+    quint64 lastTime; ///< Last added timestamp
     quint64 minTime; ///< The smallest timestamp occured so far
     quint64 maxTime; ///< The biggest timestamp occured so far
     quint64 maxInterval;

src/ui/uas/UASControlWidget.cc

@@ -117,15 +117,15 @@ void UASControlWidget::setUAS(UASInterface* uas)
     {
         QPushButton* startRecButton = new QPushButton(tr("Record"));
         connect(startRecButton, SIGNAL(clicked()), mav, SLOT(startDataRecording()));
-        ui.gridLayout->addWidget(startRecButton, 10, 1);
+        ui.gridLayout->addWidget(startRecButton, 10, 0, 0, 2);
 
         QPushButton* pauseRecButton = new QPushButton(tr("Pause"));
         connect(pauseRecButton, SIGNAL(clicked()), mav, SLOT(pauseDataRecording()));
-        ui.gridLayout->addWidget(pauseRecButton, 10, 2);
+        ui.gridLayout->addWidget(pauseRecButton, 10, 2, 0, 2);
 
         QPushButton* stopRecButton = new QPushButton(tr("Stop"));
         connect(stopRecButton, SIGNAL(clicked()), mav, SLOT(stopDataRecording()));
-        ui.gridLayout->addWidget(stopRecButton, 10, 3);
+        ui.gridLayout->addWidget(stopRecButton, 10, 4, 0, 2);
     }
 
 

src/ui/uas/UASInfoWidget.cc

@@ -29,6 +29,8 @@ This file is part of the PIXHAWK project
  *
  */
 
+#include <QtGlobal>
+
 #include <float.h>
 #include <UASInfoWidget.h>
 #include <UASManager.h>
@@ -69,14 +71,14 @@ UASInfoWidget::UASInfoWidget(QWidget *parent, QString name) : QWidget(parent)
     this->load = 0;
     receiveLoss = 0;
     sendLoss = 0;
+    changed = true;
     errors = QMap<QString, int>();
 
     updateTimer = new QTimer(this);
     connect(updateTimer, SIGNAL(timeout()), this, SLOT(refresh()));
-    updateTimer->start(50);
+    updateTimer->start(updateInterval);
 
     this->setVisible(false);
-
 }
 
 UASInfoWidget::~UASInfoWidget()
@@ -84,6 +86,22 @@ UASInfoWidget::~UASInfoWidget()
 
 }
 
+void UASInfoWidget::showEvent(QShowEvent* event)
+{
+    // React only to internal (pre-display)
+    // events
+    Q_UNUSED(event);
+    updateTimer->start(updateInterval);
+}
+
+void UASInfoWidget::hideEvent(QHideEvent* event)
+{
+    // React only to internal (pre-display)
+    // events
+    Q_UNUSED(event);
+    updateTimer->stop();
+}
+
 void UASInfoWidget::addUAS(UASInterface* uas)
 {
     if (uas != NULL)
@@ -172,13 +190,13 @@ void UASInfoWidget::setTimeRemaining(UASInterface* uas, double seconds)
 void UASInfoWidget::refresh()
 {
     ui.voltageLabel->setText(QString::number(this->voltage, 'f', voltageDecimals));
-    ui.batteryBar->setValue(static_cast<int>(this->chargeLevel));
+    ui.batteryBar->setValue(qMax(0,qMin(static_cast<int>(this->chargeLevel), 100)));
 
     ui.loadLabel->setText(QString::number(this->load, 'f', loadDecimals));
-    ui.loadBar->setValue(static_cast<int>(this->load));
+    ui.loadBar->setValue(qMax(0, qMin(static_cast<int>(this->load), 100)));
 
-    ui.receiveLossBar->setValue(receiveLoss);
-    ui.receiveLossLabel->setText(QString::number(receiveLoss,'f', 2));
+    ui.receiveLossBar->setValue(qMax(0, qMin(static_cast<int>(receiveLoss), 100)));
+    ui.receiveLossLabel->setText(QString::number(receiveLoss, 'f', 2));
 
     ui.sendLossBar->setValue(sendLoss);
     ui.sendLossLabel->setText(QString::number(sendLoss, 'f', 2));

src/ui/uas/UASInfoWidget.h

@@ -89,56 +89,15 @@ protected:
     double load;
     float receiveLoss;
     float sendLoss;
+    bool changed;
     QTimer* updateTimer;
     QString name;
     quint64 startTime;
     QMap<QString, int> errors;
-//    double lastRemainingTime;
-//    double lastChargeLevel;
-//    double startVoltage;
-//    double fullVoltage;
-//    double emptyVoltage;
-//    double currentVoltage;
-    // Battery Type
-//    BatteryType batteryType;
-    // Number of cells
-//    int cells;
-
-    /*
-    QMap<QString, QProgressBar*>* instruments;
-
-    class Instrument
-    {
-        public:
-        void setMin(double min)
-        {
-            this->min = min;
-        }
-
-                void setMax(double max)
-        {
-            this->max = max;
-        }
-
-                        void setValue(double value)
-        {
-            this->value = value;
-        }
-
-        void refresh()
-        {
-            bar.setValue(value);
-        }
-
-
-        protected:
-            double min;
-            double max;
-            double value;
-            QString unit;
-            QLabel label;
-            QProgressBar bar
-    };*/
+    static const int updateInterval = 200; ///< Refresh interval in milliseconds
+
+    void showEvent(QShowEvent* event);
+    void hideEvent(QHideEvent* event);
 
 private:
     Ui::uasInfo ui;

src/ui/uas/UASListWidget.cc

@@ -81,6 +81,8 @@ void UASListWidget::changeEvent(QEvent *e)
     }
 }
 
+
+
 void UASListWidget::addUAS(UASInterface* uas)
 {
     if (uasViews.isEmpty())