Merge branch 'dev' of pixhawk.ethz.ch:qgroundcontrol into dev

.gitignore

@@ -26,3 +26,4 @@ deploy/mac
 deploy/linux
 controller_log*
 user_config.pri
+*.app

qgroundcontrol.pri

@@ -65,7 +65,7 @@ macx {
 
     QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.5
 
-    DESTDIR = $$BASEDIR/bin/mac
+    #DESTDIR = $$BASEDIR/bin/mac
     INCLUDEPATH += -framework SDL
 
     LIBS += -framework IOKit \
@@ -77,11 +77,11 @@ macx {
     ICON = $$BASEDIR/images/icons/macx.icns
 
     # Copy audio files if needed
-    QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$DESTDIR/qgroundcontrol.app/Contents/MacOs/.
+    QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/.
     # Copy google earth starter file
-    QMAKE_PRE_LINK += && cp -f $$BASEDIR/images/earth.html $$DESTDIR/qgroundcontrol.app/Contents/MacOs/.
+    QMAKE_PRE_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/.
     # Copy model files
-    QMAKE_PRE_LINK += && cp -f $$BASEDIR/models/*.skp $$DESTDIR/qgroundcontrol.app/Contents/MacOs/.
+    #QMAKE_PRE_LINK += && cp -f $$BASEDIR/models/*.dae $$TARGETDIR/qgroundcontrol.app/Contents/MacOs/.
 
     exists(/Library/Frameworks/osg.framework):exists(/Library/Frameworks/OpenThreads.framework) {
     # No check for GLUT.framework since it's a MAC default
@@ -146,12 +146,12 @@ macx {
 linux-g++ {
 
     debug {
-        DESTDIR = $$BUILDDIR/debug
+        #DESTDIR = $$BUILDDIR/debug
         CONFIG += debug
     }
 
     release {
-        DESTDIR = $$BUILDDIR/release
+        #DESTDIR = $$BUILDDIR/release
     }
 
     QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
@@ -178,7 +178,8 @@ linux-g++ {
     message("Building support for OpenSceneGraph")
     DEPENDENCIES_PRESENT += osg
     # Include OpenSceneGraph libraries
-    LIBS += -losg
+    LIBS += -losg \
+            -losgViewer
     DEFINES += QGC_OSG_ENABLED
     }
 
@@ -186,8 +187,7 @@ linux-g++ {
     message("Building support for osgEarth")
     DEPENDENCIES_PRESENT += osgearth
     # Include osgEarth libraries
-    LIBS += -losgViewer \
-            -losgEarth \
+    LIBS += -losgEarth \
             -losgEarthUtil
     DEFINES += QGC_OSGEARTH_ENABLED
     }
@@ -214,12 +214,12 @@ linux-g++ {
 linux-g++-64 {
 
     debug {
-        DESTDIR = $$BUILDDIR/debug
+        #DESTDIR = $$BUILDDIR/debug
         CONFIG += debug
     }
 
     release {
-        DESTDIR = $$BUILDDIR/release
+        #DESTDIR = $$BUILDDIR/release
     }
 
     QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/.
@@ -247,7 +247,8 @@ linux-g++-64 {
     message("Building support for OpenSceneGraph")
     DEPENDENCIES_PRESENT += osg
     # Include OpenSceneGraph libraries
-    LIBS += -losg
+    LIBS += -losg \
+            -losgViewer
     DEFINES += QGC_OSG_ENABLED
     }
 
@@ -255,8 +256,7 @@ linux-g++-64 {
     message("Building support for osgEarth")
     DEPENDENCIES_PRESENT += osgearth
     # Include osgEarth libraries
-    LIBS += -losgViewer \
-            -losgEarth \
+    LIBS += -losgEarth \
             -losgEarthUtil
     DEFINES += QGC_OSGEARTH_ENABLED
     }
@@ -321,28 +321,19 @@ exists($$BASEDIR/lib/osgEarth123) {
     RC_FILE = $$BASEDIR/qgroundcontrol.rc
 
     # Copy dependencies
-    QMAKE_PRE_LINK += && cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/debug/.
-	QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/debug/.
-	
-	
-	#QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/bin/osg55-osg.dll $$TARGETDIR/release/. &&
-	#QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/bin/osg55-osgViewer.dll $$TARGETDIR/release/. &&
-	#QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/bin/osg55-osgGA.dll $$TARGETDIR/release/. &&
-	#QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/bin/osg55-osgDB.dll $$TARGETDIR/release/. &&
-	#QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/bin/osg55-osgText.dll $$TARGETDIR/release/. &&
-	#QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/osgEarth_3rdparty/win32/OpenSceneGraph-2.8.2/bin/OpenThreads.dll $$TARGETDIR/release/. &&
+    BASEDIR_WIN = $$replace(BASEDIR,"/","\\")
+    TARGETDIR_WIN = $$replace(TARGETDIR,"/","\\")
 
-    QMAKE_PRE_LINK += && cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$TARGETDIR/release/.
-    QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/release/.
-    QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/.
-    QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
-
-    # osg/osgEarth dynamic casts might fail without this compiler option.
-    # see http://osgearth.org/wiki/FAQ for details.
+    QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\debug\SDL.dll\"
+    QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\release\SDL.dll\"
+    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\debug\audio\" /S /E /Y
+    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\release\audio\" /S /E /Y
+    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\debug\models\" /S /E /Y
+    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\release\models\" /S /E /Y
 
     # Copy google earth starter file
-    QMAKE_PRE_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/release/
-    QMAKE_PRE_LINK += && cp -f $$BASEDIR/images/earth.html $$TARGETDIR/debug/
+    QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR/images/earth.html $$TARGETDIR_WIN\release\"
+    QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR/images/earth.html $$TARGETDIR_WIN\debug\"
 
 }
 
@@ -364,27 +355,25 @@ win32-g++ {
 
 
     debug {
-        DESTDIR = $$BUILDDIR/debug
+        #DESTDIR = $$BUILDDIR/debug
     }
 
     release {
-        DESTDIR = $$BUILDDIR/release
+        #DESTDIR = $$BUILDDIR/release
     }
         
     RC_FILE = $$BASEDIR/qgroundcontrol.rc
 
     # Copy dependencies
-	debug {
-    QMAKE_PRE_LINK += && cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/debug/.
-    QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/debug/.
-	QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/.
-	}
-	
-	release {
-	QMAKE_PRE_LINK += && cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/release/.
-    QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$TARGETDIR/release/.
-    QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
-	}
+    BASEDIR_WIN = $$replace(BASEDIR,"/","\\")
+    TARGETDIR_WIN = $$replace(TARGETDIR,"/","\\")
+
+    QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\debug\SDL.dll\"
+    QMAKE_PRE_LINK += && copy /Y \"$$BASEDIR_WIN\lib\sdl\win32\SDL.dll\" \"$$TARGETDIR_WIN\release\SDL.dll\"
+    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\debug\audio\" /S /E /Y
+    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\audio\" \"$$TARGETDIR_WIN\release\audio\" /S /E /Y
+    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\debug\models\" /S /E /Y
+    QMAKE_PRE_LINK += && xcopy \"$$BASEDIR_WIN\models\" \"$$TARGETDIR_WIN\release\models\" /S /E /Y
 
     # osg/osgEarth dynamic casts might fail without this compiler option.
     # see http://osgearth.org/wiki/FAQ for details.

src/Waypoint.cc

@@ -33,8 +33,7 @@ This file is part of the QGROUNDCONTROL project
 #include "Waypoint.h"
 #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)
+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),

src/comm/MAVLinkProtocol.cc

@@ -347,7 +347,7 @@ void MAVLinkProtocol::sendHeartbeat()
     if (m_heartbeatsEnabled)
     {
         mavlink_message_t beat;
-        mavlink_msg_heartbeat_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID,&beat, OCU, MAV_AUTOPILOT_GENERIC);
+        mavlink_msg_heartbeat_pack(getSystemId(), getComponentId(),&beat, OCU, MAV_AUTOPILOT_GENERIC);
         sendMessage(beat);
     }
 }

src/uas/UAS.cc

@@ -421,6 +421,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 }
             }
             break;
+        case MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET:
+            {
+                mavlink_gps_local_origin_set_t pos;
+                mavlink_msg_gps_local_origin_set_decode(&message, &pos);
+                // FIXME Emit to other components
+            }
+            break;
         case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
             {
                 mavlink_rc_channels_raw_t channels;
@@ -657,6 +664,36 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
     }
 }
 
+void UAS::setLocalOriginAtCurrentGPSPosition()
+{
+
+    bool result = false;
+    QMessageBox msgBox;
+    msgBox.setIcon(QMessageBox::Warning);
+    msgBox.setText("Setting new World Coordinate Frame Origin");
+    msgBox.setInformativeText("Do you want to set a new origin? Waypoints defined in the local frame will be shifted in their physical location");
+    msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
+    msgBox.setDefaultButton(QMessageBox::Cancel);
+    int ret = msgBox.exec();
+
+    // Close the message box shortly after the click to prevent accidental clicks
+    QTimer::singleShot(5000, &msgBox, SLOT(reject()));
+
+
+    if (ret == QMessageBox::Yes)
+    {
+        mavlink_message_t msg;
+        mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getSystemId(), &msg, this->getUASID(), 0, MAV_ACTION_SET_ORIGIN);
+        // Send message twice to increase chance that it reaches its goal
+        sendMessage(msg);
+        // Wait 5 ms
+        MG::SLEEP::usleep(5000);
+        // Send again
+        sendMessage(msg);
+        result = true;
+    }
+}
+
 void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
 {
     #ifdef MAVLINK_ENABLED_PIXHAWK

src/uas/UAS.h

@@ -243,6 +243,8 @@ public slots:
     /** @brief Update the system state */
     void updateState();
 
+    /** @brief Set world frame origin at current GPS position */
+    void setLocalOriginAtCurrentGPSPosition();
     /** @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 */

src/uas/UASInterface.h

@@ -194,6 +194,8 @@ public slots:
     //virtual void requestWaypoints() = 0;
     /** @brief Clear all existing waypoints on the robot */
     //virtual void clearWaypointList() = 0;
+    /** @brief Set world frame origin at current GPS position */
+    virtual void setLocalOriginAtCurrentGPSPosition() = 0;
     /** @brief Request all onboard parameters of all components */
     virtual void requestParameters() = 0;
     /** @brief Write parameter to permanent storage */

src/uas/UASWaypointManager.cc

@@ -131,7 +131,8 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
 
         if(wp->seq == current_wp_id)
         {
-            Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->param1, wp->param2);
+            qDebug() << "Got WP: " << wp->seq << wp->x <<  wp->y << wp->z << wp->yaw << wp->autocontinue << wp->current << wp->param1 << wp->param2 << (MAV_FRAME) wp->frame << (MAV_ACTION) wp->action;
+            Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->yaw, wp->autocontinue, wp->current, wp->param1, wp->param2, (MAV_FRAME) wp->frame, (MAV_ACTION) wp->action);
             addWaypoint(lwp);
 
             //get next waypoint

src/ui/UASControl.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>210</width>
-    <height>130</height>
+    <width>328</width>
+    <height>357</height>
    </rect>
   </property>
   <property name="minimumSize">
@@ -19,7 +19,7 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" rowstretch="10,10,0,10,10,5,100" columnstretch="0,0,10,10,10,0">
+  <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>
@@ -74,7 +74,7 @@
      </property>
     </spacer>
    </item>
-   <item row="0" column="0" rowspan="6">
+   <item row="0" column="0" rowspan="7">
     <spacer name="horizontalSpacer">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -91,7 +91,7 @@
     <widget class="QPushButton" name="liftoffButton">
      <property name="minimumSize">
       <size>
-       <width>80</width>
+       <width>60</width>
        <height>12</height>
       </size>
      </property>
@@ -108,7 +108,7 @@
     <widget class="QPushButton" name="landButton">
      <property name="minimumSize">
       <size>
-       <width>80</width>
+       <width>60</width>
        <height>12</height>
       </size>
      </property>
@@ -125,7 +125,7 @@
     <widget class="QPushButton" name="shutdownButton">
      <property name="minimumSize">
       <size>
-       <width>80</width>
+       <width>60</width>
        <height>12</height>
       </size>
      </property>
@@ -138,7 +138,7 @@
      </property>
     </widget>
    </item>
-   <item row="0" column="5" rowspan="6">
+   <item row="0" column="5" rowspan="7">
     <spacer name="horizontalSpacer_2">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -178,7 +178,7 @@
      </property>
     </widget>
    </item>
-   <item row="5" column="1" colspan="4">
+   <item row="6" column="1" colspan="4">
     <widget class="QLabel" name="lastActionLabel">
      <property name="minimumSize">
       <size>
@@ -194,7 +194,7 @@
      </property>
     </widget>
    </item>
-   <item row="6" column="0" colspan="6">
+   <item row="7" column="0" colspan="6">
     <spacer name="verticalSpacer">
      <property name="orientation">
       <enum>Qt::Vertical</enum>
@@ -210,6 +210,23 @@
      </property>
     </spacer>
    </item>
+   <item row="5" column="1" colspan="2">
+    <widget class="QPushButton" name="setHomeButton">
+     <property name="minimumSize">
+      <size>
+       <width>60</width>
+       <height>16</height>
+      </size>
+     </property>
+     <property name="text">
+      <string>Set Origin</string>
+     </property>
+     <property name="icon">
+      <iconset resource="../../mavground.qrc">
+       <normaloff>:/images/actions/go-home.svg</normaloff>:/images/actions/go-home.svg</iconset>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources>

src/ui/WaypointList.cc

@@ -203,8 +203,6 @@ void WaypointList::add()
                     Waypoint *wp = new Waypoint(0, uas->getLongitude(), uas->getLatitude(), uas->getAltitude(),
                                                 0.0, true, true, 0.15, 2000);
                     uas->getWaypointManager().addWaypoint(wp);
-
-
             }
         }
     }

src/ui/WaypointView.cc

@@ -60,13 +60,13 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
     m_ui->comboBox_frame->addItem("Global",MAV_FRAME_GLOBAL);
     m_ui->comboBox_frame->addItem("Local",MAV_FRAME_LOCAL);
 
-    // defaults
-    changedAction(0);
-    changedFrame(wp->getFrame());
-
     // Read values and set user interface
     updateValues();
 
+    // defaults
+    //changedAction(wp->getAction());
+    //changedFrame(wp->getFrame());
+
     connect(m_ui->posNSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
     connect(m_ui->posESpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
     connect(m_ui->posDSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setZ(double)));
@@ -133,7 +133,7 @@ void WaypointView::changedAction(int index)
     m_ui->holdTimeSpinBox->hide();
 
     // set waypoint action
-    MAV_ACTION action = (MAV_ACTION)m_ui->comboBox_action->itemData(index).toUInt();
+    MAV_ACTION action = (MAV_ACTION) m_ui->comboBox_action->itemData(index).toUInt();
     wp->setAction(action);
 
     // expose ui based on action
@@ -206,7 +206,8 @@ void WaypointView::updateValues()
 {
     // update frame
     MAV_FRAME frame = wp->getFrame();
-    changedFrame(m_ui->comboBox_frame->findData(frame));
+    int frame_index = m_ui->comboBox_frame->findData(frame);
+    m_ui->comboBox_frame->setCurrentIndex(frame_index);
     switch(frame)
     {
     case(MAV_FRAME_LOCAL):
@@ -220,11 +221,12 @@ void WaypointView::updateValues()
         m_ui->altSpinBox->setValue(wp->getZ());
         break;
     }
+    changedFrame(frame_index);
 
     // update action
     MAV_ACTION action = wp->getAction();
-    changedFrame(m_ui->comboBox_frame->findData(frame));
-    changedAction(m_ui->comboBox_action->findData(action));
+    int action_index = m_ui->comboBox_action->findData(action);
+    m_ui->comboBox_action->setCurrentIndex(action_index);
     switch(action)
     {
     case MAV_ACTION_TAKEOFF:
@@ -238,6 +240,7 @@ void WaypointView::updateValues()
     default:
         std::cerr << "unknown action" << std::endl;
     }
+    changedAction(action_index);
 
     m_ui->yawSpinBox->setValue(wp->getYaw()/M_PI*180.);
     m_ui->selectedBox->setChecked(wp->getCurrent());

src/ui/map3D/QGCGoogleEarthView.cc

@@ -18,6 +18,7 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
         updateTimer(new QTimer(this)),
         mav(NULL),
         followCamera(true),
+        trailEnabled(true),
 #if (defined Q_OS_MAC)
         webViewMac(new QWebView(this)),
 #endif
@@ -51,6 +52,14 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
     updateTimer->start(200);
 #endif
 
+    // Follow checkbox
+    ui->followAirplaneCheckbox->setChecked(followCamera);
+    connect(ui->followAirplaneCheckbox, SIGNAL(toggled(bool)), this, SLOT(follow(bool)));
+
+    // Trail checkbox
+    ui->trailCheckbox->setChecked(trailEnabled);
+    connect(ui->trailCheckbox, SIGNAL(toggled(bool)), this, SLOT(showTrail(bool)));
+
     // Get list of available 3D models
 
     // Load HTML file
@@ -70,19 +79,19 @@ void QGCGoogleEarthView::setActiveUAS(UASInterface* uas)
     mav = uas;
 }
 
-void QGCGoogleEarthView::showTrail(int state)
+void QGCGoogleEarthView::showTrail(bool state)
 {
 
 }
 
-void QGCGoogleEarthView::showWaypoints(int state)
+void QGCGoogleEarthView::showWaypoints(bool state)
 {
 
 }
 
 void QGCGoogleEarthView::follow(bool follow)
 {
-
+    followCamera = follow;
 }
 
 void QGCGoogleEarthView::updateState()

src/ui/map3D/QGCGoogleEarthView.h

@@ -57,9 +57,9 @@ public slots:
     /** @brief Set the currently selected UAS */
     void setActiveUAS(UASInterface* uas);
     /** @brief Show the vehicle trail */
-    void showTrail(int state);
+    void showTrail(bool state);
     /** @brief Show the waypoints */
-    void showWaypoints(int state);
+    void showWaypoints(bool state);
     /** @brief Follow the aircraft during flight */
     void follow(bool follow);
 
@@ -68,6 +68,7 @@ protected:
     QTimer* updateTimer;
     UASInterface* mav;
     bool followCamera;
+    bool trailEnabled;
 #if (defined Q_OS_WIN) && !(defined __MINGW32__)
     WebAxWidget* webViewWin;
 #endif

src/ui/uas/UASControlWidget.cc

@@ -95,6 +95,7 @@ void UASControlWidget::setUAS(UASInterface* uas)
         disconnect(ui.liftoffButton, SIGNAL(clicked()), oldUAS, SLOT(launch()));
         disconnect(ui.landButton, SIGNAL(clicked()), oldUAS, SLOT(home()));
         disconnect(ui.shutdownButton, SIGNAL(clicked()), oldUAS, SLOT(shutdown()));
+        connect(ui.setHomeButton, SIGNAL(clicked()), uas, SLOT(setLocalOriginAtCurrentGPSPosition()));
         disconnect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
         disconnect(uas, SIGNAL(statusChanged(int)), this, SLOT(updateState(int)));
     }
@@ -104,6 +105,7 @@ void UASControlWidget::setUAS(UASInterface* uas)
     connect(ui.liftoffButton, SIGNAL(clicked()), uas, SLOT(launch()));
     connect(ui.landButton, SIGNAL(clicked()), uas, SLOT(home()));
     connect(ui.shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
+    connect(ui.setHomeButton, SIGNAL(clicked()), uas, SLOT(setLocalOriginAtCurrentGPSPosition()));
     connect(uas, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
     connect(uas, SIGNAL(statusChanged(int)), this, SLOT(updateState(int)));
 

src/ui/uas/UASView.cc

@@ -229,7 +229,27 @@ void UASView::setSystemType(UASInterface* uas, unsigned int systemType)
             m_ui->typeButton->setIcon(QIcon(":/images/mavs/helicopter.svg"));
             break;
         case 5:
+            m_ui->typeButton->setIcon(QIcon(":/images/mavs/unknown.svg"));
+            break;
+        case 6:
+            {
+                // A groundstation is a special system type, update widget
+                QString result;
+                m_ui->nameLabel->setText(tr("OCU ") + result.sprintf("%03d", uas->getUASID()));
+                m_ui->waypointLabel->setText("");
+                m_ui->timeRemainingLabel->setText("Online:");
+                m_ui->batteryBar->hide();
+                m_ui->thrustBar->hide();
+                m_ui->stateLabel->hide();
+                m_ui->statusTextLabel->hide();
+                m_ui->waypointLabel->hide();
+                m_ui->liftoffButton->hide();
+                m_ui->haltButton->hide();
+                m_ui->landButton->hide();
+                m_ui->shutdownButton->hide();
+                m_ui->abortButton->hide();
             m_ui->typeButton->setIcon(QIcon(":/images/mavs/groundstation.svg"));
+        }
             break;
         default:
             m_ui->typeButton->setIcon(QIcon(":/images/mavs/unknown.svg"));