Merge remote-tracking branch 'remotes/pixhawk/v10release' into dev_senseSoarMavlinkv10

qgroundcontrol.pri

@@ -42,8 +42,8 @@ macx {
    # COMPILER_VERSION = $$system(gcc -v)
     #message(Using compiler $$COMPILER_VERSION)
 
-        CONFIG += x86 cocoa phonon
-        CONFIG -= x86_64
+        CONFIG += x86_64 cocoa phonon
+        CONFIG -= x86
 
     #HARDWARE_PLATFORM = $$system(uname -a)
     #contains( $$HARDWARE_PLATFORM, "9.6.0" ) || contains( $$HARDWARE_PLATFORM, "9.7.0" ) || contains( $$HARDWARE_PLATFORM, "9.8.0" ) || contains( $$HARDWARE_PLATFORM, "9.9.0" ) {
@@ -65,11 +65,10 @@ macx {
       #          debug {
                         #QMAKE_CXXFLAGS += -finstrument-functions
                         #LIBS += -lSaturn
-                        CONFIG += console
       #          }
     #}
 
-    QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.5
+    QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.6
 
     #DESTDIR = $$BASEDIR/bin/mac
     INCLUDEPATH += -framework SDL
@@ -103,7 +102,7 @@ macx {
     DEFINES += QGC_OSG_ENABLED
     # Include OpenSceneGraph libraries
     INCLUDEPATH += -framework GLUT \
-            -framework Carbon \
+            -framework Cocoa \
             -framework OpenThreads \
             -framework osg \
             -framework osgViewer \
@@ -113,7 +112,7 @@ macx {
             -framework osgWidget
 
     LIBS += -framework GLUT \
-            -framework Carbon \
+            -framework Cocoa \
             -framework OpenThreads \
             -framework osg \
             -framework osgViewer \
@@ -123,37 +122,13 @@ macx {
             -framework osgWidget
     }
 
-    exists(/usr/include/osgEarth) {
-    message("Building support for osgEarth")
-    DEPENDENCIES_PRESENT += osgearth
-    # Include osgEarth libraries
-    INCLUDEPATH += -framework GDAL \
-            $$IN_PWD/lib/mac32-gcc/include \
-            -framework GEOS \
-            -framework SQLite3 \
-            -framework osgFX \
-            -framework osgTerrain
-
-    LIBS += -framework GDAL \
-            -framework GEOS \
-            -framework SQLite3 \
-            -framework osgFX \
-            -framework osgTerrain
-    DEFINES += QGC_OSGEARTH_ENABLED
-    }
-
-
-    exists(/opt/local/include/libfreenect) {
+    exists(/opt/local/include/libfreenect)|exists(/usr/local/include/libfreenect) {
     message("Building support for libfreenect")
     DEPENDENCIES_PRESENT += libfreenect
     # Include libfreenect libraries
     LIBS += -lfreenect
     DEFINES += QGC_LIBFREENECT_ENABLED
     }
-
-    # osg/osgEarth dynamic casts might fail without this compiler option.
-    # see http://osgearth.org/wiki/FAQ for details.
-    #QMAKE_CXXFLAGS += -Wl,-E
 }
 
 # GNU/Linux

qgroundcontrol.pro

@@ -42,12 +42,14 @@ RCC_DIR = $${BUILDDIR}/rcc
 MAVLINK_CONF = ""
 DEFINES += MAVLINK_NO_DATA
 
+win32 {
 QMAKE_INCDIR_QT = $$(QTDIR)/include
 QMAKE_LIBDIR_QT = $$(QTDIR)/lib
 QMAKE_UIC = "$$(QTDIR)/bin/uic.exe"
 QMAKE_MOC = "$$(QTDIR)/bin/moc.exe"
 QMAKE_RCC = "$$(QTDIR)/bin/rcc.exe"
 QMAKE_QMAKE = "$$(QTDIR)/bin/qmake.exe"
+}
 
 
 
@@ -540,19 +542,19 @@ TRANSLATIONS += es-MX.ts \
 
 # xbee support
 # libxbee only supported by linux and windows systems
-win32-msvc2008|win32-msvc2010|linux{
-    HEADERS += src/comm/XbeeLinkInterface.h \
-	src/comm/XbeeLink.h \
-	src/comm/HexSpinBox.h \
-	src/ui/XbeeConfigurationWindow.h \
-	src/comm/CallConv.h
-    SOURCES += src/comm/XbeeLink.cpp \
-	src/comm/HexSpinBox.cpp \
-	src/ui/XbeeConfigurationWindow.cpp
-    DEFINES += XBEELINK
-    INCLUDEPATH += thirdParty/libxbee
+#win32-msvc2008|win32-msvc2010|linux{
+#    HEADERS += src/comm/XbeeLinkInterface.h \
+#	src/comm/XbeeLink.h \
+#	src/comm/HexSpinBox.h \
+#	src/ui/XbeeConfigurationWindow.h \
+#	src/comm/CallConv.h
+#    SOURCES += src/comm/XbeeLink.cpp \
+#	src/comm/HexSpinBox.cpp \
+#	src/ui/XbeeConfigurationWindow.cpp
+#    DEFINES += XBEELINK
+#    INCLUDEPATH += thirdParty/libxbee
 # TO DO: build library when it does not exists already
-    LIBS += -LthirdParty/libxbee/lib \
-	-llibxbee
-
-}
+#    LIBS += -LthirdParty/libxbee/lib \
+#	-llibxbee
+#
+#}

src/GAudioOutput.cc

@@ -119,9 +119,9 @@ GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
     }
 #endif
     // Initialize audio output
-    m_media = new Phonon::MediaObject(this);
-    Phonon::AudioOutput *audioOutput = new Phonon::AudioOutput(Phonon::MusicCategory, this);
-    createPath(m_media, audioOutput);
+    //m_media = new Phonon::MediaObject(this);
+    //Phonon::AudioOutput *audioOutput = new Phonon::AudioOutput(Phonon::MusicCategory, this);
+    //createPath(m_media, audioOutput);
 
     // Prepare regular emergency signal, will be fired off on calling startEmergency()
     emergencyTimer = new QTimer();
@@ -228,8 +228,8 @@ void GAudioOutput::notifyPositive()
     if (!muted) {
         // Use QFile to transform path for all OS
         QFile f(QCoreApplication::applicationDirPath()+QString("/audio/double_notify.wav"));
-        m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
-        m_media->play();
+        //m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
+        //m_media->play();
     }
 }
 
@@ -238,8 +238,8 @@ void GAudioOutput::notifyNegative()
     if (!muted) {
         // Use QFile to transform path for all OS
         QFile f(QCoreApplication::applicationDirPath()+QString("/audio/flat_notify.wav"));
-        m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
-        m_media->play();
+        //m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
+        //m_media->play();
     }
 }
 
@@ -283,8 +283,8 @@ void GAudioOutput::beep()
         // Use QFile to transform path for all OS
         QFile f(QCoreApplication::applicationDirPath()+QString("/audio/alert.wav"));
         qDebug() << "FILE:" << f.fileName();
-        m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
-        m_media->play();
+        //m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
+        //m_media->play();
     }
 }
 

src/comm/MAVLinkSimulationLink.cc

@@ -705,9 +705,9 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
             }
             break;
             // EXECUTE OPERATOR ACTIONS
-            case MAVLINK_MSG_ID_COMMAND_SHORT: {
-                mavlink_command_short_t action;
-                mavlink_msg_command_short_decode(&msg, &action);
+            case MAVLINK_MSG_ID_COMMAND_LONG: {
+                mavlink_command_long_t action;
+                mavlink_msg_command_long_decode(&msg, &action);
 
                 qDebug() << "SIM" << "received action" << action.command << "for system" << action.target_system;
 

src/comm/MAVLinkSimulationLink.h

@@ -38,6 +38,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QQueue>
 #include <QMutex>
 #include <QMap>
+#include <qmath.h>
 #include <inttypes.h>
 #include "QGCMAVLink.h"
 

src/comm/MAVLinkSimulationMAV.cc

@@ -303,12 +303,12 @@ void MAVLinkSimulationMAV::mainloop()
     timer25Hz--;
 }
 
-static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS];
+//static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS];
 
 static const unsigned message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
-static unsigned error_count;
+//static unsigned error_count;
 
-static const mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;
+mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;
 
 static void print_one_field(const mavlink_message_t *msg, const mavlink_field_info_t *f, int idx)
 {

src/comm/MAVLinkSimulationWaypointPlanner.cc

@@ -815,10 +815,10 @@ void MAVLinkSimulationWaypointPlanner::mavlink_handler (const mavlink_message_t*
         break;
     }
 
-    case MAVLINK_MSG_ID_COMMAND_SHORT:
+    case MAVLINK_MSG_ID_COMMAND_LONG:
     { // special action from ground station
-        mavlink_command_short_t action;
-        mavlink_msg_command_short_decode(msg, &action);
+        mavlink_command_long_t action;
+        mavlink_msg_command_long_decode(msg, &action);
         if(action.target_system == systemid) {
             if (verbose) qDebug("Waypoint: received message with action %d\n", action.command);
 //            switch (action.action) {

src/comm/SerialLink.cc

@@ -211,8 +211,9 @@ using namespace TNX;
 
 SerialLink::SerialLink(QString portname, int baudRate, bool hardwareFlowControl, bool parity,
                        int dataBits, int stopBits) :
-    port(NULL), m_stopp(false),
-    ports(new QVector<QString>())
+    port(NULL),
+    ports(new QVector<QString>()),
+          m_stopp(false)
 {
     // Setup settings
     this->porthandle = portname.trimmed();

src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp

@@ -33,7 +33,18 @@
 namespace mapcontrol
 {
 
-    OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config):QGraphicsView(parent),configuration(config),UAV(0),GPS(0),Home(0),followmouse(true),compass(0),showuav(false),showhome(false),showDiag(false),diagGraphItem(0),diagTimer(0)
+    OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView(parent),
+        configuration(config),
+        UAV(0),
+        GPS(0),
+        Home(0),
+        followmouse(true),
+        compass(0),
+        showuav(false),
+        showhome(false),
+        diagTimer(0),
+        showDiag(false),
+        diagGraphItem(0)
     {
         setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
         core=new internals::Core;
@@ -277,6 +288,7 @@ namespace mapcontrol
     }
     void OPMapWidget::WPCreate(int id, WayPointItem* item)
     {
+        Q_UNUSED(id);
         static internals::PointLatLng lastPos;
 
         ConnectWP(item);

src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp

@@ -29,14 +29,14 @@ namespace mapcontrol
 {
     WayPointItem::WayPointItem(const internals::PointLatLng &coord,double const& altitude, MapGraphicItem *map) :
         map(map),
+        autoreachedEnabled(true),
         coord(coord),
         reached(false),
         description(""),
         shownumber(true),
         isDragging(false),
         altitude(altitude),
-        heading(0),
-        autoreachedEnabled(true)
+        heading(0)
     {
         text=0;
         numberI=0;
@@ -53,13 +53,13 @@ namespace mapcontrol
         RefreshPos();
     }
     WayPointItem::WayPointItem(const internals::PointLatLng &coord,double const& altitude, const QString &description, MapGraphicItem *map) :
+        map(map),
         coord(coord),
         reached(false),
         description(description),
         shownumber(true),
         isDragging(false),
         altitude(altitude),
-        map(map),
         heading(0)
     {
         text=0;

src/libs/utils/xmlconfig.cpp

@@ -63,7 +63,7 @@ bool XmlConfig::readXmlFile(QIODevice &device, QSettings::SettingsMap &map)
                       .arg(errorLine)
                       .arg(errorColumn)
                       .arg(errorStr);
-        qFatal(err.toLatin1().data());
+        qFatal("%s", err.toLatin1().data());
         return false;
     }
     root = domDoc.documentElement();

src/uas/UAS.cc

@@ -1459,6 +1459,7 @@ void UAS::writeParametersToStorage()
 {
     mavlink_message_t msg;
     mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0);
+    qDebug() << "SENT COMMAND" << MAV_CMD_PREFLIGHT_STORAGE;
     sendMessage(msg);
 }
 
@@ -1492,7 +1493,6 @@ void UAS::enableAllDataTransmission(int rate)
     mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 }
 
 void UAS::enableRawSensorDataTransmission(int rate)
@@ -1514,7 +1514,6 @@ void UAS::enableRawSensorDataTransmission(int rate)
     mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 }
 
 void UAS::enableExtendedSystemStatusTransmission(int rate)
@@ -1536,7 +1535,6 @@ void UAS::enableExtendedSystemStatusTransmission(int rate)
     mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 }
 
 void UAS::enableRCChannelDataTransmission(int rate)
@@ -1562,7 +1560,6 @@ void UAS::enableRCChannelDataTransmission(int rate)
     mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 #endif
 }
 
@@ -1585,7 +1582,6 @@ void UAS::enableRawControllerDataTransmission(int rate)
     mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 }
 
 //void UAS::enableRawSensorFusionTransmission(int rate)
@@ -1629,7 +1625,6 @@ void UAS::enablePositionTransmission(int rate)
     mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
     // Send message twice to increase chance of reception
     sendMessage(msg);
-    sendMessage(msg);
 }
 
 void UAS::enableExtra1Transmission(int rate)
@@ -2122,7 +2117,7 @@ void UAS::shutdown()
     {
         // If the active UAS is set, execute command
         mavlink_message_t msg;
-        mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 0, 2, 0, 0, 0, 0, 0, 0);
+        mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 0, 2, 0, 0, 0, 0, 0);
         sendMessage(msg);
         result = true;
     }
@@ -2165,33 +2160,34 @@ QString UAS::getShortModeTextFor(int id)
     qDebug() << "MODE:" << modeid;
 
     // BASE MODE DECODING
-    if (modeid & MAV_MODE_FLAG_DECODE_POSITION_AUTO)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_AUTO)
     {
-        mode = "AUTO";
+        mode += "AUTO";
     }
-    else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_GUIDED)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED)
     {
-        mode = "GUIDED";
+        mode += "GUIDED";
     }
-    else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_STABILIZE)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE)
     {
-        mode = "STABILIZED";
+        mode += "STABILIZED";
     }
-    else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_TEST)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_TEST)
     {
-        mode = "TEST";
+        mode += "TEST";
     }
-    else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_MANUAL)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL)
     {
-        mode = "MANUAL";
+        mode += "MANUAL";
     }
-    else
+
+    if (modeid == 0)
     {
         mode = "PREFLIGHT";
     }
 
     // ARMED STATE DECODING
-    if (modeid & MAV_MODE_FLAG_DECODE_POSITION_SAFETY)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_SAFETY)
     {
         mode.prepend("A|");
     }
@@ -2201,7 +2197,7 @@ QString UAS::getShortModeTextFor(int id)
     }
 
     // HARDWARE IN THE LOOP DECODING
-    if (modeid & MAV_MODE_FLAG_DECODE_POSITION_HIL)
+    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_HIL)
     {
         mode.prepend("HIL:");
     }

src/uas/UASWaypointManager.cc

@@ -45,8 +45,8 @@ UASWaypointManager::UASWaypointManager(UAS* _uas)
       current_state(WP_IDLE),
       current_partner_systemid(0),
       current_partner_compid(0),
-      protocol_timer(this),
-      currentWaypointEditable(NULL)
+      currentWaypointEditable(NULL),
+      protocol_timer(this)
 {
     if (uas)
     {
@@ -112,7 +112,14 @@ void UASWaypointManager::handleLocalPositionChanged(UASInterface* mav, double x,
 
 void UASWaypointManager::handleGlobalPositionChanged(UASInterface* mav, double lat, double lon, double alt, quint64 time)
 {
-
+    Q_UNUSED(mav);
+    Q_UNUSED(time);
+    if (waypointsEditable.count() > 0 && currentWaypointEditable && (currentWaypointEditable->getFrame() == MAV_FRAME_GLOBAL || currentWaypointEditable->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT))
+    {
+        // TODO FIXME Calculate distance
+        double dist = 0;
+        emit waypointDistanceChanged(dist);
+    }
 }
 
 void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, quint16 count)
@@ -240,6 +247,7 @@ void UASWaypointManager::handleWaypointReached(quint8 systemId, quint8 compId, m
 
 void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, mavlink_mission_current_t *wpc)
 {
+    Q_UNUSED(compId);
     if (!uas) return;
     if (systemId == uasid) {
         // FIXME Petri

src/ui/HDDisplay.cc

@@ -216,7 +216,7 @@ void HDDisplay::saveState()
     // Restore instrument settings
     for (int i = 0; i < acceptList->count(); i++) {
         QString key = acceptList->at(i);
-        instruments += "|" + QString::number(minValues.value(key, -1.0))+","+key+","+acceptUnitList->at(i)+","+QString::number(maxValues.value(key, +1.0))+","+((symmetric.value(key, false)) ? "s" : "");
+        instruments += "|" + QString::number(minValues.value(key, -1.0))+","+key+","+acceptUnitList->at(i)+","+QString::number(maxValues.value(key, +1.0))+","+customNames.value(key, "")+","+((symmetric.value(key, false)) ? "s" : "");
     }
 
     // qDebug() << "Saving" << instruments;
@@ -271,16 +271,23 @@ void HDDisplay::addGauge()
     QStringList items;
     for (int i = 0; i < values.count(); ++i) {
         QString key = values.keys().at(i);
+        QString label = key;
+        QStringList keySplit = key.split(".");
+        if (keySplit.size() > 1)
+        {
+            keySplit.removeFirst();
+            label = keySplit.join(".");
+        }
         QString unit = units.value(key);
         if (unit.contains("deg") || unit.contains("rad")) {
-            items.append(QString("%1,%2,%3,%4,s").arg("-180").arg(key).arg(unit).arg("+180"));
+            items.append(QString("%1,%2,%3,%4,%5,s").arg("-180").arg(key).arg(unit).arg("+180").arg(label));
         } else {
-            items.append(QString("%1,%2,%3,%4").arg("0").arg(key).arg(unit).arg("+100"));
+            items.append(QString("%1,%2,%3,%4,%5").arg("0").arg(key).arg(unit).arg("+100").arg(label));
         }
     }
     bool ok;
     QString item = QInputDialog::getItem(this, tr("Add Gauge Instrument"),
-                                         tr("Format: min, curve name, unit, max[,s]"), items, 0, true, &ok);
+                                         tr("Format: min, data name, unit, max, label [,s]"), items, 0, true, &ok);
     if (ok && !item.isEmpty()) {
         addGauge(item);
     }
@@ -307,9 +314,19 @@ void HDDisplay::addGauge(const QString& gauge)
                 val = parts.at(3).toDouble(&ok);
                 success &= ok;
                 if (ok) maxValues.insert(key, val);
+                // Convert name
+                if (parts.length() >= 5)
+                {
+                    if (parts.at(4).length() > 0)
+                    {
+                        customNames.insert(key, parts.at(4));
+                    }
+                }
                 // Convert symmetric flag
-                if (parts.length() >= 5) {
-                    if (parts.at(4).contains("s")) {
+                if (parts.length() >= 6)
+                {
+                    if (parts.at(5).contains("s"))
+                    {
                         symmetric.insert(key, true);
                     }
                 }
@@ -425,12 +442,15 @@ void HDDisplay::renderOverlay()
     float topSpacing = leftSpacing;
     float yCoord = topSpacing + gaugeWidth/2.0f;
 
-    for (int i = 0; i < acceptList->size(); ++i) {
+    for (int i = 0; i < acceptList->size(); ++i)
+    {
         QString value = acceptList->at(i);
-        drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, -1.0f), maxValues.value(value, 1.0f), value, values.value(value, minValues.value(value, 0.0f)), gaugeColor, &painter, symmetric.value(value, false), goodRanges.value(value, qMakePair(0.0f, 0.5f)), critRanges.value(value, qMakePair(0.7f, 1.0f)), true);
+        QString label = customNames.value(value);
+        drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, -1.0f), maxValues.value(value, 1.0f), label, values.value(value, minValues.value(value, 0.0f)), gaugeColor, &painter, symmetric.value(value, false), goodRanges.value(value, qMakePair(0.0f, 0.5f)), critRanges.value(value, qMakePair(0.7f, 1.0f)), true);
         xCoord += gaugeWidth + leftSpacing;
         // Move one row down if necessary
-        if (xCoord + gaugeWidth*0.9f > vwidth) {
+        if (xCoord + gaugeWidth*0.9f > vwidth)
+        {
             yCoord += topSpacing + gaugeWidth;
             xCoord = leftSpacing + gaugeWidth/2.0f;
         }
@@ -807,12 +827,45 @@ float HDDisplay::refLineWidthToPen(float line)
     return line * 2.50f;
 }
 
+void HDDisplay::addSource(QObject* obj)
+{
+    //genericSources.append(obj);
+    // FIXME XXX HACK
+//    if (plots.size() > 0)
+//    {
+        // Connect generic source
+        connect(obj, SIGNAL(valueChanged(int,QString,QString,int,quint64)), this, SLOT(updateValue(int,QString,QString,int,quint64)));
+        connect(obj, SIGNAL(valueChanged(int,QString,QString,unsigned int,quint64)), this, SLOT(updateValue(int,QString,QString,unsigned int,quint64)));
+        connect(obj, SIGNAL(valueChanged(int,QString,QString,quint64,quint64)), this, SLOT(updateValue(int,QString,QString,quint64,quint64)));
+        connect(obj, SIGNAL(valueChanged(int,QString,QString,qint64,quint64)), this, SLOT(updateValue(int,QString,QString,qint64,quint64)));
+        connect(obj, SIGNAL(valueChanged(int,QString,QString,double,quint64)), this, SLOT(updateValue(int,QString,QString,double,quint64)));
+//    }
+}
+
 void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const int value, const quint64 msec)
 {
     if (!intValues.contains(name)) intValues.insert(name, true);
     updateValue(uasId, name, unit, (double)value, msec);
 }
 
+void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const unsigned int value, const quint64 msec)
+{
+    if (!intValues.contains(name)) intValues.insert(name, true);
+    updateValue(uasId, name, unit, (double)value, msec);
+}
+
+void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const qint64 value, const quint64 msec)
+{
+    if (!intValues.contains(name)) intValues.insert(name, true);
+    updateValue(uasId, name, unit, (double)value, msec);
+}
+
+void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const quint64 value, const quint64 msec)
+{
+    if (!intValues.contains(name)) intValues.insert(name, true);
+    updateValue(uasId, name, unit, (double)value, msec);
+}
+
 void HDDisplay::updateValue(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec)
 {
     Q_UNUSED(uasId);

src/ui/HDDisplay.h

@@ -68,7 +68,14 @@ public slots:
     void updateValue(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec);
     /** @brief Update a HDD integer value */
     void updateValue(const int uasId, const QString& name, const QString& unit, const int value, const quint64 msec);
+    /** @brief Update a HDD integer value */
+    void updateValue(const int uasId, const QString& name, const QString& unit, const unsigned int value, const quint64 msec);
+    /** @brief Update a HDD integer value */
+    void updateValue(const int uasId, const QString& name, const QString& unit, const qint64 value, const quint64 msec);
+    /** @brief Update a HDD integer value */
+    void updateValue(const int uasId, const QString& name, const QString& unit, const quint64 value, const quint64 msec);
     virtual void setActiveUAS(UASInterface* uas);
+    void addSource(QObject* obj);
 
     /** @brief Removes a plot item by the action data */
     void removeItemByAction();
@@ -149,6 +156,7 @@ protected:
     QMap<QString, float> maxValues;    ///< The maximum value this variable is assumed to have
     QMap<QString, bool> symmetric;     ///< Draw the gauge / dial symmetric bool = yes
     QMap<QString, bool> intValues;     ///< Is the gauge value an integer?
+    QMap<QString, QString> customNames; ///< Custom names for the data names
     QMap<QString, QPair<float, float> > goodRanges; ///< The range of good values
     QMap<QString, QPair<float, float> > critRanges; ///< The range of critical values
     double scalingFactor;      ///< Factor used to scale all absolute values to screen coordinates

src/ui/HSIDisplay.cc

@@ -99,12 +99,13 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
     laserFix(0),
     mavInitialized(false),
     bottomMargin(10.0f),
-    topMargin(12.0f),
-    userSetPointSet(false),
     dragStarted(false),
+    topMargin(12.0f),
     leftDragStarted(false),
     mouseHasMoved(false),
-    actionPending(false)
+    actionPending(false),
+    userSetPointSet(false),
+    userXYSetPointSet(false)
 {
     refreshTimer->setInterval(updateInterval);
 

src/ui/MAVLinkDecoder.cc

@@ -12,7 +12,6 @@ MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
     messageFilter.insert(MAVLINK_MSG_ID_HEARTBEAT, false);
     messageFilter.insert(MAVLINK_MSG_ID_SYS_STATUS, false);
     messageFilter.insert(MAVLINK_MSG_ID_STATUSTEXT, false);
-    messageFilter.insert(MAVLINK_MSG_ID_COMMAND_SHORT, false);
     messageFilter.insert(MAVLINK_MSG_ID_COMMAND_LONG, false);
     messageFilter.insert(MAVLINK_MSG_ID_COMMAND_ACK, false);
     messageFilter.insert(MAVLINK_MSG_ID_PARAM_SET, false);

src/ui/MainWindow.cc

@@ -88,12 +88,12 @@ MainWindow* MainWindow::instance(QSplashScreen* screen)
 MainWindow::MainWindow(QWidget *parent):
     QMainWindow(parent),
     currentView(VIEW_UNCONNECTED),
+    currentStyle(QGC_MAINWINDOW_STYLE_INDOOR),
     aboutToCloseFlag(false),
     changingViewsFlag(false),
+    centerStackActionGroup(this),
     styleFileName(QCoreApplication::applicationDirPath() + "/style-indoor.css"),
     autoReconnect(false),
-    currentStyle(QGC_MAINWINDOW_STYLE_INDOOR),
-    centerStackActionGroup(this),
     lowPowerMode(false)
 {
     hide();
@@ -427,14 +427,18 @@ void MainWindow::buildCommonWidgets()
 
     if (!headDown1DockWidget) {
         headDown1DockWidget = new QDockWidget(tr("Flight Display"), this);
-        headDown1DockWidget->setWidget( new HDDisplay(acceptList, "Flight Display", this) );
+        HDDisplay* hdDisplay = new HDDisplay(acceptList, "Flight Display", this);
+        hdDisplay->addSource(mavlinkDecoder);
+        headDown1DockWidget->setWidget(hdDisplay);
         headDown1DockWidget->setObjectName("HEAD_DOWN_DISPLAY_1_DOCK_WIDGET");
         addTool(headDown1DockWidget, tr("Flight Display"), Qt::RightDockWidgetArea);
     }
 
     if (!headDown2DockWidget) {
         headDown2DockWidget = new QDockWidget(tr("Actuator Status"), this);
-        headDown2DockWidget->setWidget( new HDDisplay(acceptList2, "Actuator Status", this) );
+        HDDisplay* hdDisplay = new HDDisplay(acceptList2, "Actuator Status", this);
+        hdDisplay->addSource(mavlinkDecoder);
+        headDown2DockWidget->setWidget(hdDisplay);
         headDown2DockWidget->setObjectName("HEAD_DOWN_DISPLAY_2_DOCK_WIDGET");
         addTool(headDown2DockWidget, tr("Actuator Status"), Qt::RightDockWidgetArea);
     }
@@ -1603,4 +1607,4 @@ void MainWindow::arrangeSenseSoarCenterStack()
 void MainWindow::connectSenseSoarActions()
 {
 }
-*/
+*/
\ No newline at end of file

src/ui/MainWindow.h

@@ -279,6 +279,7 @@ protected:
 
     /** @brief Keeps track of the current view */
     VIEW_SECTIONS currentView;
+    QGC_MAINWINDOW_STYLE currentStyle;
     bool aboutToCloseFlag;
     bool changingViewsFlag;
 
@@ -372,7 +373,6 @@ protected:
     QTimer* videoTimer;
     QString styleFileName;
     bool autoReconnect;
-    QGC_MAINWINDOW_STYLE currentStyle;
     Qt::WindowStates windowStateVal;
     bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
     QGCFlightGearLink* fgLink;

src/ui/QGCParamWidget.cc

@@ -707,15 +707,15 @@ void QGCParamWidget::saveParameters()
                 {
                 case QVariant::Int:
                     paramValue = paramValue.arg(j.value().toInt());
-                    paramType.arg(MAVLINK_TYPE_INT32_T);
+                    paramType = paramType.arg(MAVLINK_TYPE_INT32_T);
                     break;
                 case QVariant::UInt:
                     paramValue = paramValue.arg(j.value().toUInt());
-                    paramType.arg(MAVLINK_TYPE_UINT32_T);
+                    paramType = paramType.arg(MAVLINK_TYPE_UINT32_T);
                     break;
                 case QMetaType::Float:
                     paramValue = paramValue.arg(j.value().toDouble(), 25, 'g', 12);
-                    paramType.arg(MAVLINK_TYPE_FLOAT);
+                    paramType = paramType.arg(MAVLINK_TYPE_FLOAT);
                     break;
                 default:
                     qCritical() << "ABORTED PARAM WRITE TO FILE, NO VALID QVARIANT TYPE" << j.value();

src/ui/uas/UASControlWidget.cc

@@ -50,12 +50,12 @@ UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
 
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
     ui.modeComboBox->clear();
-    ui.modeComboBox->insertItem(MAV_MODE_PREFLIGHT, UAS::getShortModeTextFor(MAV_MODE_PREFLIGHT));
-    ui.modeComboBox->insertItem(MAV_MODE_STABILIZE_ARMED, UAS::getShortModeTextFor(MAV_MODE_STABILIZE_ARMED));
-    ui.modeComboBox->insertItem(MAV_MODE_MANUAL_ARMED, UAS::getShortModeTextFor(MAV_MODE_MANUAL_ARMED));
-    ui.modeComboBox->insertItem(MAV_MODE_GUIDED_DISARMED, UAS::getShortModeTextFor(MAV_MODE_GUIDED_ARMED));
-    ui.modeComboBox->insertItem(MAV_MODE_AUTO_ARMED, UAS::getShortModeTextFor(MAV_MODE_AUTO_ARMED));
-    ui.modeComboBox->insertItem(MAV_MODE_TEST_ARMED, UAS::getShortModeTextFor(MAV_MODE_TEST_ARMED));
+    ui.modeComboBox->insertItem(0, UAS::getShortModeTextFor(MAV_MODE_PREFLIGHT), MAV_MODE_PREFLIGHT);
+    ui.modeComboBox->insertItem(1, UAS::getShortModeTextFor((MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED)), (MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED));
+    ui.modeComboBox->insertItem(2, UAS::getShortModeTextFor(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED), MAV_MODE_FLAG_MANUAL_INPUT_ENABLED);
+    ui.modeComboBox->insertItem(3, UAS::getShortModeTextFor((MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED)), (MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED));
+    ui.modeComboBox->insertItem(4, UAS::getShortModeTextFor((MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED)), (MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED));
+    ui.modeComboBox->insertItem(5, UAS::getShortModeTextFor((MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_TEST_ENABLED)), (MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_TEST_ENABLED));
     connect(ui.modeComboBox, SIGNAL(activated(int)), this, SLOT(setMode(int)));
     connect(ui.setModeButton, SIGNAL(clicked()), this, SLOT(transmitMode()));
 
@@ -157,7 +157,7 @@ void UASControlWidget::updateState(int state)
 void UASControlWidget::setMode(int mode)
 {
     // Adapt context button mode
-    uasMode = mode;
+    uasMode = ui.modeComboBox->itemData(mode).toInt();
     ui.modeComboBox->blockSignals(true);
     ui.modeComboBox->setCurrentIndex(mode);
     ui.modeComboBox->blockSignals(false);