From d461662537edc6195a929d96f861e80d8fdf2087 Mon Sep 17 00:00:00 2001
From: oberion <dabuuschti@hotmail.de>
Date: Wed, 2 Nov 2011 17:34:18 +0100
Subject: [PATCH] Intermediate step

---
 src/comm/SerialLink.cc                               | 4 ++--
 src/uas/QGCMAVLinkUASFactory.cc                      | 2 ++
 src/uas/UASManager.cc                                | 2 --
 src/ui/MainWindow.cc                                 | 3 ++-
 thirdParty/mavlink/message_definitions/SenseSoar.xml | 4 ++--
 5 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/src/comm/SerialLink.cc b/src/comm/SerialLink.cc
index 364f3240b..262141b10 100644
--- a/src/comm/SerialLink.cc
+++ b/src/comm/SerialLink.cc
@@ -340,7 +340,7 @@ QVector<QString>* SerialLink::getCurrentPorts()
         QextPortInfo portInfo = ports.at(i);
         QString portString = QString(portInfo.portName.toLocal8Bit().constData()) + " - " + QString(ports.at(i).friendName.toLocal8Bit().constData()).split("(").first();
         // Prepend newly found port to the list
-        ports.append(portString);
+        this->ports->append(portString);
     }
 
     //printf("port name: %s\n", ports.at(i).portName.toLocal8Bit().constData());
@@ -349,7 +349,7 @@ QVector<QString>* SerialLink::getCurrentPorts()
     //printf("enumerator name: %s\n", ports.at(i).enumName.toLocal8Bit().constData());
     //printf("===================================\n\n");
 #endif
-    return ports;
+    return this->ports;
 }
 
 void SerialLink::loadSettings()
diff --git a/src/uas/QGCMAVLinkUASFactory.cc b/src/uas/QGCMAVLinkUASFactory.cc
index e17cb00d2..0902ba07a 100644
--- a/src/uas/QGCMAVLinkUASFactory.cc
+++ b/src/uas/QGCMAVLinkUASFactory.cc
@@ -72,6 +72,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
         uas = mav;
     }
     break;
+#ifdef QGC_USE_SENSESOAR_MESSAGES
 	case MAV_AUTOPILOT_SENSESOAR:
 		{
 			senseSoarMAV* mav = new senseSoarMAV(mavlink,sysid);
@@ -80,6 +81,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
 			uas = mav;
 			break;
 		}
+#endif
     default:
     {
         UAS* mav = new UAS(mavlink, sysid);
diff --git a/src/uas/UASManager.cc b/src/uas/UASManager.cc
index e0a6a679b..7c247f538 100644
--- a/src/uas/UASManager.cc
+++ b/src/uas/UASManager.cc
@@ -248,8 +248,6 @@ UASManager::~UASManager()
     foreach (UASInterface* mav, systems) {
         delete mav;
     }
-	this->quit();
-	this->wait();
 }
 
 void UASManager::addUAS(UASInterface* uas)
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index 22446478e..9ffc7905d 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -1499,7 +1499,7 @@ QList<QAction*> MainWindow::listLinkMenuActions(void)
 {
     return ui.menuNetwork->actions();
 }
-
+/*
 void MainWindow::buildSenseSoarWidgets()
 {
 	if (!linechartWidget) 
@@ -1603,3 +1603,4 @@ void MainWindow::arrangeSenseSoarCenterStack()
 void MainWindow::connectSenseSoarActions()
 {
 }
+*/
\ No newline at end of file
diff --git a/thirdParty/mavlink/message_definitions/SenseSoar.xml b/thirdParty/mavlink/message_definitions/SenseSoar.xml
index 1f444d246..4c7140f93 100644
--- a/thirdParty/mavlink/message_definitions/SenseSoar.xml
+++ b/thirdParty/mavlink/message_definitions/SenseSoar.xml
@@ -13,8 +13,8 @@
           <message id="170" name="OBS_POSITION">
      Position estimate of the observer in global frame
      <field type="int32_t" name="lon">Longitude expressed in 1E7</field>
- <field type="int32_t" name="lat">Latitude expressed in 1E7</field>
- <field type="int32_t" name="alt">Altitude expressed in milimeters</field>
+               <field type="int32_t" name="lat">Latitude expressed in 1E7</field>
+               <field type="int32_t" name="alt">Altitude expressed in milimeters</field>
           </message>
           <message id="172" name="OBS_VELOCITY">
      velocity estimate of the observer in NED inertial frame
-- 
2.22.0