WIP on mp_merge integration

files/ardupilotmega/fixed_wing/widgets/ardupilot-heading-pid.qgw

-[Heading%20PID%20Tuning]
-QGC_TOOL_WIDGET_ITEMS\1\TYPE=SLIDER
-QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_DESCRIPTION=Heading D Gain
-QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_D
-QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_COMPONENTID=200
-QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MIN=0
-QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MAX=1
-QGC_TOOL_WIDGET_ITEMS\2\TYPE=SLIDER
-QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_DESCRIPTION=Heading P Gain
-QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_P
-QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_COMPONENTID=200
-QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MIN=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MAX=5
-QGC_TOOL_WIDGET_ITEMS\3\TYPE=SLIDER
-QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_DESCRIPTION=Heading I Gain
-QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_I
-QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_COMPONENTID=200
-QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_MIN=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_MAX=1
-QGC_TOOL_WIDGET_ITEMS\4\TYPE=SLIDER
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_DESCRIPTION=Heading I Limit
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_IMAX
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_COMPONENTID=200
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MIN=0
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MAX=3000
-QGC_TOOL_WIDGET_ITEMS\size=4

qgroundcontrol.pro

@@ -226,7 +226,8 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCHilJSBSimConfiguration.ui \
     src/ui/QGCHilXPlaneConfiguration.ui \
     src/ui/designer/QGCComboBox.ui \
-    src/ui/designer/QGCTextLabel.ui
+    src/ui/designer/QGCTextLabel.ui \
+    src/ui/uas/UASQuickView.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -372,7 +373,10 @@ HEADERS += src/MG.h \
     src/ui/QGCHilXPlaneConfiguration.h \
     src/ui/designer/QGCComboBox.h \
     src/ui/designer/QGCTextLabel.h \
-    src/ui/submainwindow.h
+    src/ui/submainwindow.h \
+    src/ui/dockwidgettitlebareventfilter.h \
+    src/ui/uas/UASQuickView.h \
+    src/ui/uas/UASQuickViewItem.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -537,7 +541,10 @@ SOURCES += src/main.cc \
     src/ui/QGCHilXPlaneConfiguration.cc \
     src/ui/designer/QGCComboBox.cc \
     src/ui/designer/QGCTextLabel.cc \
-    src/ui/submainwindow.cpp
+    src/ui/submainwindow.cpp \
+    src/ui/dockwidgettitlebareventfilter.cpp \
+    src/ui/uas/UASQuickViewItem.cc \
+    src/ui/uas/UASQuickView.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

src/configuration.h

@@ -11,14 +11,14 @@
 #define WITH_TEXT_TO_SPEECH 1
 
 #define QGC_APPLICATION_NAME "QGroundControl"
-#define QGC_APPLICATION_VERSION "v. 1.0.7 (beta)"
+#define QGC_APPLICATION_VERSION "v. 1.0.8 (beta)"
 
 namespace QGC
 
 {
 const QString APPNAME = "QGROUNDCONTROL";
 const QString COMPANYNAME = "QGROUNDCONTROL";
-const int APPLICATIONVERSION = 107; // 1.0.7
+const int APPLICATIONVERSION = 108; // 1.0.8
 }
 
 #endif // QGC_CONFIGURATION_H

src/main.cc

@@ -64,7 +64,6 @@ void msgHandler( QtMsgType type, const char* msg )
 
 int main(int argc, char *argv[])
 {
-
 // install the message handler
 #ifdef Q_OS_WIN
     qInstallMsgHandler( msgHandler );

src/uas/UAS.cc

@@ -77,16 +77,10 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     localX(0.0),
     localY(0.0),
     localZ(0.0),
-    latitude(0.0),
-    longitude(0.0),
-    altitude(0.0),
     globalEstimatorActive(false),
     latitude_gps(0.0),
     longitude_gps(0.0),
     altitude_gps(0.0),
-    roll(0.0),
-    pitch(0.0),
-    yaw(0.0),
     statusTimeout(new QTimer(this)),
     #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     receivedOverlayTimestamp(0.0),
@@ -624,9 +618,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             if (!wrongComponent)
             {
                 lastAttitude = time;
-                roll = QGC::limitAngleToPMPIf(attitude.roll);
-                pitch = QGC::limitAngleToPMPIf(attitude.pitch);
-                yaw = QGC::limitAngleToPMPIf(attitude.yaw);
+                //roll = QGC::limitAngleToPMPIf(attitude.roll);
+                setRoll(QGC::limitAngleToPMPIf(attitude.roll));
+                //pitch = QGC::limitAngleToPMPIf(attitude.pitch);
+                setPitch(QGC::limitAngleToPMPIf(attitude.pitch));
+                //yaw = QGC::limitAngleToPMPIf(attitude.yaw);
+                setYaw(QGC::limitAngleToPMPIf(attitude.yaw));
 
                 //                // Emit in angles
 
@@ -646,7 +643,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 //                }
 
                 attitudeKnown = true;
-                emit attitudeChanged(this, roll, pitch, yaw, time);
+                emit attitudeChanged(this, getRoll(), getPitch(), getYaw(), time);
                 emit attitudeSpeedChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
             }
         }
@@ -680,8 +677,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
             if (!attitudeKnown)
             {
-                yaw = QGC::limitAngleToPMPId((((double)hud.heading-180.0)/360.0)*M_PI);
-                emit attitudeChanged(this, roll, pitch, yaw, time);
+                //yaw = QGC::limitAngleToPMPId((((double)hud.heading-180.0)/360.0)*M_PI);
+                setYaw(QGC::limitAngleToPMPId((((double)hud.heading-180.0)/360.0)*M_PI));
+                emit attitudeChanged(this, getRoll(), getPitch(), getYaw(), time);
             }
 
             emit altitudeChanged(uasId, hud.alt);
@@ -737,14 +735,17 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             mavlink_global_position_int_t pos;
             mavlink_msg_global_position_int_decode(&message, &pos);
             quint64 time = getUnixTime();
-            latitude = pos.lat/(double)1E7;
-            longitude = pos.lon/(double)1E7;
-            altitude = pos.alt/1000.0;
+            //latitude = pos.lat/(double)1E7;
+            setLatitude(pos.lat/(double)1E7);
+            //longitude = pos.lon/(double)1E7;
+            setLongitude(pos.lon/(double)1E7);
+            //altitude = pos.alt/1000.0;
+            setAltitude(pos.alt/1000.0);
             globalEstimatorActive = true;
             speedX = pos.vx/100.0;
             speedY = pos.vy/100.0;
             speedZ = pos.vz/100.0;
-            emit globalPositionChanged(this, latitude, longitude, altitude, time);
+            emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitude(), time);
             emit speedChanged(this, speedX, speedY, speedZ, time);
 
             // Set internal state
@@ -777,18 +778,23 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 loc_type = 0; 
             }
             emit localizationChanged(this, loc_type);
+            setSatelliteCount(pos.satellites_visible);
 
             if (pos.fix_type > 2)
             {
+
                 latitude_gps = pos.lat/(double)1E7;
                 longitude_gps = pos.lon/(double)1E7;
                 altitude_gps = pos.alt/1000.0;
 
                 if (!globalEstimatorActive) {
-                    latitude = latitude_gps;
-                    longitude = longitude_gps;
-                    altitude = altitude_gps;
-                    emit globalPositionChanged(this, latitude, longitude, altitude, time);
+                    //latitude = latitude_gps;
+                    setLatitude(latitude_gps);
+                    //longitude = longitude_gps;
+                    setLongitude(longitude_gps);
+                    //altitude = altitude_gps;
+                    setAltitude(altitude_gps);
+                    emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitude(), time);
                 }
 
                 positionLock = true;
@@ -819,6 +825,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 emit gpsSatelliteStatusChanged(uasId, (unsigned char)pos.satellite_prn[i], (unsigned char)pos.satellite_elevation[i], (unsigned char)pos.satellite_azimuth[i], (unsigned char)pos.satellite_snr[i], static_cast<bool>(pos.satellite_used[i]));
             }
+            setSatelliteCount(pos.satellites_visible);
         }
             break;
         case MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN:
@@ -1337,6 +1344,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         case MAVLINK_MSG_ID_RAW_IMU:
         case MAVLINK_MSG_ID_SCALED_IMU:
         case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
+        {
+            //mavlink_set_local_position_setpoint_t p;
+            //mavlink_msg_set_local_position_setpoint_decode(&message, &p);
+            //emit userPositionSetPointsChanged(uasId, p.x, p.y, p.z, p.yaw);
+            mavlink_nav_controller_output_t p;
+            mavlink_msg_nav_controller_output_decode(&message,&p);
+            setDistToWaypoint(p.wp_dist);
+        }
+            break;
         case MAVLINK_MSG_ID_RAW_PRESSURE:
         case MAVLINK_MSG_ID_SCALED_PRESSURE:
         case MAVLINK_MSG_ID_OPTICAL_FLOW:

src/uas/UAS.h

@@ -100,30 +100,99 @@ public:
     /** @brief Get the links associated with this robot */
     QList<LinkInterface*>* getLinks();
 
+    Q_PROPERTY(double localX READ getLocalX WRITE setLocalX NOTIFY localXChanged)
+    Q_PROPERTY(double localY READ getLocalY WRITE setLocalY NOTIFY localYChanged)
+    Q_PROPERTY(double localZ READ getLocalZ WRITE setLocalZ NOTIFY localZChanged)
+    Q_PROPERTY(double latitude READ getLatitude WRITE setLatitude NOTIFY latitudeChanged)
+    Q_PROPERTY(double longitude READ getLongitude WRITE setLongitude NOTIFY longitudeChanged)
+    Q_PROPERTY(double altitude READ getAltitude WRITE setAltitude NOTIFY altitudeChanged)
+    Q_PROPERTY(double satelliteCount READ getSatelliteCount WRITE setSatelliteCount NOTIFY satelliteCountChanged)
+    Q_PROPERTY(bool isLocalPositionKnown READ localPositionKnown)
+    Q_PROPERTY(bool isGlobalPositionKnown READ globalPositionKnown)
+    Q_PROPERTY(double roll READ getRoll WRITE setRoll NOTIFY rollChanged)
+    Q_PROPERTY(double pitch READ getPitch WRITE setPitch NOTIFY pitchChanged)
+    Q_PROPERTY(double yaw READ getYaw WRITE setYaw NOTIFY yawChanged)
+    Q_PROPERTY(double distToWaypoint READ getDistToWaypoint WRITE setDistToWaypoint NOTIFY distToWaypointChanged)
+
+    void setLocalX(double val)
+    {
+        localX = val;
+        emit localXChanged(val,"localX");
+        emit valueChanged(this->uasId,"localX","M",QVariant(val),getUnixTime());
+    }
     double getLocalX() const
     {
         return localX;
     }
+
+    void setLocalY(double val)
+    {
+        localY = val;
+        emit localYChanged(val,"localY");
+        emit valueChanged(this->uasId,"localY","M",QVariant(val),getUnixTime());
+    }
     double getLocalY() const
     {
         return localY;
     }
+
+    void setLocalZ(double val)
+    {
+        localZ = val;
+        emit localZChanged(val,"localZ");
+        emit valueChanged(this->uasId,"localZ","M",QVariant(val),getUnixTime());
+    }
     double getLocalZ() const
     {
         return localZ;
     }
+
+    void setLatitude(double val)
+    {
+        latitude = val;
+        emit latitudeChanged(val,"latitude");
+        emit valueChanged(this->uasId,"latitude","deg",QVariant(val),getUnixTime());
+    }
     double getLatitude() const
     {
         return latitude;
     }
+
+    void setLongitude(double val)
+    {
+        longitude = val;
+        emit longitudeChanged(val,"longitude");
+        emit valueChanged(this->uasId,"longitude","deg",QVariant(val),getUnixTime());
+    }
     double getLongitude() const
     {
         return longitude;
     }
+
+    void setAltitude(double val)
+    {
+        altitude = val;
+        emit altitudeChanged(val,"altitude");
+        emit valueChanged(this->uasId,"altitude","M",QVariant(val),getUnixTime());
+    }
+
     double getAltitude() const
     {
         return altitude;
     }
+
+    void setSatelliteCount(double val)
+    {
+        satelliteCount = val;
+        emit satelliteCountChanged(val,"satelliteCount");
+        emit valueChanged(this->uasId,"satelliteCount","M",QVariant(val),getUnixTime());
+    }
+
+    double getSatelliteCount() const
+    {
+        return satelliteCount;
+    }
+
     virtual bool localPositionKnown() const
     {
         return isLocalPositionKnown;
@@ -133,14 +202,46 @@ public:
         return isGlobalPositionKnown;
     }
 
+    void setDistToWaypoint(double val)
+    {
+        distToWaypoint = val;
+        emit distToWaypointChanged(val,"distToWaypoint");
+        emit valueChanged(this->uasId,"distToWaypoint","M",QVariant(val),getUnixTime());
+    }
+
+    double getDistToWaypoint() const
+    {
+        return distToWaypoint;
+    }
+
+    void setRoll(double val)
+    {
+        roll = val;
+        emit rollChanged(val,"roll");
+    }
+
     double getRoll() const
     {
         return roll;
     }
+
+    void setPitch(double val)
+    {
+        pitch = val;
+        emit pitchChanged(val,"pitch");
+    }
+
     double getPitch() const
     {
         return pitch;
     }
+
+    void setYaw(double val)
+    {
+        yaw = val;
+        emit yawChanged(val,"yaw");
+    }
+
     double getYaw() const
     {
         return yaw;
@@ -281,6 +382,7 @@ protected: //COMMENTS FOR TEST UNIT
     double latitude;            ///< Global latitude as estimated by position estimator
     double longitude;           ///< Global longitude as estimated by position estimator
     double altitude;            ///< Global altitude as estimated by position estimator
+    double satelliteCount;      ///< Number of satellites visible to raw GPS
     bool globalEstimatorActive; ///< Global position estimator present, do not fall back to GPS raw for position
     double latitude_gps;        ///< Global latitude as estimated by raw GPS
     double longitude_gps;       ///< Global longitude as estimated by raw GPS
@@ -288,6 +390,7 @@ protected: //COMMENTS FOR TEST UNIT
     double speedX;              ///< True speed in X axis
     double speedY;              ///< True speed in Y axis
     double speedZ;              ///< True speed in Z axis
+    double distToWaypoint;       ///< Distance to next waypoint
     double roll;
     double pitch;
     double yaw;
@@ -699,6 +802,21 @@ signals:
     /** @brief HIL actuator outputs have changed */
     void hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
 
+    void localXChanged(double val,QString name);
+    void localYChanged(double val,QString name);
+    void localZChanged(double val,QString name);
+    void longitudeChanged(double val,QString name);
+    void latitudeChanged(double val,QString name);
+    void altitudeChanged(double val,QString name);
+    void altitudeChanged(int uasid, double altitude);
+    void rollChanged(double val,QString name);
+    void pitchChanged(double val,QString name);
+    void yawChanged(double val,QString name);
+    void satelliteCountChanged(double val,QString name);
+    void distToWaypointChanged(double val,QString name);
+
+
+
 protected:
     /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
     quint64 getUnixTime(quint64 time=0);

src/uas/UASInterface.h

@@ -449,6 +449,7 @@ signals:
     void valueChanged(const int uasId, const QString& name, const QString& unit, const quint64 value, const quint64 msec);
     void valueChanged(const int uasId, const QString& name, const QString& unit, const qint64 value, const quint64 msec);
     void valueChanged(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec);
+    void valueChanged(const int uasid, const QString& name, const QString& unit, const QVariant value,const quint64 msecs);
 
     void voltageChanged(int uasId, double voltage);
     void waypointUpdated(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool active);

src/uas/UASManager.cc

@@ -235,7 +235,8 @@ UASManager::UASManager() :
         homeLat(47.3769),
         homeLon(8.549444),
         homeAlt(470.0),
-        homeFrame(MAV_FRAME_GLOBAL)
+        homeFrame(MAV_FRAME_GLOBAL),
+        offlineUASWaypointManager(NULL)
 {
     loadSettings();
     setLocalNEDSafetyBorders(1, -1, 0, -1, 1, -1);
@@ -280,6 +281,22 @@ void UASManager::addUAS(UASInterface* uas)
     if (firstUAS)
     {
         setActiveUAS(uas);
+        if (offlineUASWaypointManager->getWaypointEditableList().size() > 0)
+        {
+            if (QMessageBox::question(0,"Question","Do you want to append the offline waypoints to the ones currently on the UAV?",QMessageBox::Yes,QMessageBox::No) == QMessageBox::Yes)
+            {
+                //Need to transfer all waypoints from the offline mode WPManager to the online mode.
+                for (int i=0;i<offlineUASWaypointManager->getWaypointEditableList().size();i++)
+                {
+                    Waypoint *wp = uas->getWaypointManager()->createWaypoint();
+                    wp->setLatitude(offlineUASWaypointManager->getWaypointEditableList()[i]->getLatitude());
+                    wp->setLongitude(offlineUASWaypointManager->getWaypointEditableList()[i]->getLongitude());
+                    wp->setAltitude(offlineUASWaypointManager->getWaypointEditableList()[i]->getAltitude());
+                }
+            }
+            offlineUASWaypointManager->deleteLater();
+            offlineUASWaypointManager = 0;
+        }
     }
 }
 
@@ -336,6 +353,20 @@ UASInterface* UASManager::silentGetActiveUAS()
 {
     return activeUAS; ///< Return zero pointer if no UAS has been loaded
 }
+UASWaypointManager *UASManager::getActiveUASWaypointManager()
+{
+    if (activeUAS)
+    {
+        return activeUAS->getWaypointManager();
+    }
+    if (!offlineUASWaypointManager)
+    {
+        offlineUASWaypointManager = new UASWaypointManager(NULL);
+    }
+    return offlineUASWaypointManager;
+
+
+}
 
 bool UASManager::launchActiveUAS()
 {

src/uas/UASManager.h

@@ -58,6 +58,12 @@ public:
      * @return NULL pointer if no UAS exists, active UAS else
      **/
     UASInterface* getActiveUAS();
+    /**
+     * @brief getActiveUASWaypointManager
+     * @return uas->getUASWaypointManager(), or if not connected, a singleton instance of a UASWaypointManager.
+     */
+    UASWaypointManager *getActiveUASWaypointManager();
+
     UASInterface* silentGetActiveUAS();
     /**
      * @brief Get the UAS with this id
@@ -244,6 +250,7 @@ protected:
     UASManager();
     QList<UASInterface*> systems;
     UASInterface* activeUAS;
+    UASWaypointManager *offlineUASWaypointManager;
     QMutex activeUASMutex;
     double homeLat;
     double homeLon;

src/ui/MainWindow.h

@@ -119,6 +119,12 @@ public:
         return autoReconnect;
     }
 
+    /** @brief Get title bar mode setting */
+    bool dockWidgetTitleBarsEnabled()
+    {
+        return dockWidgetTitleBarEnabled;
+    }
+
     /** @brief Get low power mode setting */
     bool lowPowerModeEnabled()
     {
@@ -186,6 +192,8 @@ public slots:
     void reloadStylesheet();
     /** @brief Let the user select the CSS style sheet */
     void selectStylesheet();
+    /** @breif Enable title bars on dock widgets when no in advanced mode */
+    void enableDockWidgetTitleBars(bool enabled);
     /** @brief Automatically reconnect last link */
     void enableAutoReconnect(bool enabled);
     /** @brief Save power by reducing update rates */
@@ -343,7 +351,7 @@ void createDockWidget(QWidget *parent,QWidget *child,QString title,QString objec
     QPointer<SubMainWindow> simView;
 
     // Center widgets
-    //QPointer<Linecharts> linechartWidget;
+    QPointer<Linecharts> linechartWidget;
     //QPointer<HUD> hudWidget;
     //QPointer<QGCVehicleConfig> configWidget;
     //QPointer<QGCMapTool> mapWidget;
@@ -436,6 +444,7 @@ private:
     QMap<QDockWidget*,QWidget*> dockToTitleBarMap;
     QMap<VIEW_SECTIONS,QMap<QString,QWidget*> > centralWidgetToDockWidgetsMap;
     bool isAdvancedMode;
+    bool dockWidgetTitleBarEnabled;
     Ui::MainWindow ui;
 
     QString getWindowStateKey();

src/ui/QGCSettingsWidget.cc

@@ -42,6 +42,10 @@ QGCSettingsWidget::QGCSettingsWidget(QWidget *parent, Qt::WindowFlags flags) :
     ui->lowPowerCheckBox->setChecked(MainWindow::instance()->lowPowerModeEnabled());
     connect(ui->lowPowerCheckBox, SIGNAL(clicked(bool)), MainWindow::instance(), SLOT(enableLowPowerMode(bool)));
 
+    //Dock widget title bars
+    ui->titleBarCheckBox->setChecked(MainWindow::instance()->dockWidgetTitleBarsEnabled());
+    connect(ui->titleBarCheckBox,SIGNAL(clicked(bool)),MainWindow::instance(),SLOT(enableDockWidgetTitleBars(bool)));
+
     // Style
     MainWindow::QGC_MAINWINDOW_STYLE style = (MainWindow::QGC_MAINWINDOW_STYLE)MainWindow::instance()->getStyle();
     switch (style) {

src/ui/QGCSettingsWidget.ui

@@ -46,7 +46,7 @@
          </property>
         </widget>
        </item>
-       <item row="3" column="0">
+       <item row="4" column="0">
         <widget class="QRadioButton" name="nativeStyle">
          <property name="text">
           <string>Use native platform look and feel (Windows/Linux/Mac OS)</string>
@@ -56,14 +56,14 @@
          </property>
         </widget>
        </item>
-       <item row="4" column="0">
+       <item row="5" column="0">
         <widget class="QRadioButton" name="indoorStyle">
          <property name="text">
           <string>Use indoor mission style (black background)</string>
          </property>
         </widget>
        </item>
-       <item row="5" column="0">
+       <item row="6" column="0">
         <widget class="QRadioButton" name="outdoorStyle">
          <property name="text">
           <string>Use outdoor mission style (light background)</string>
@@ -80,6 +80,16 @@
          </property>
         </widget>
        </item>
+       <item row="3" column="0">
+        <widget class="QCheckBox" name="titleBarCheckBox">
+         <property name="text">
+          <string>Show Docked Widget title bars when NOT in advanced Mode.</string>
+         </property>
+         <property name="checked">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
       </layout>
      </widget>
     </widget>

src/ui/designer/QGCComboBox.cc

@@ -154,7 +154,7 @@ void QGCComboBox::selectParameter(int paramIndex)
         if (uas->getParamManager())
         {
             // Current value
-            uas->getParamManager()->requestParameterUpdate(component, parameterName);
+            //uas->getParamManager()->requestParameterUpdate(component, parameterName);
 
             // Minimum
             if (uas->getParamManager()->isParamMinKnown(parameterName))

src/ui/designer/QGCParamSlider.cc

@@ -184,7 +184,7 @@ void QGCParamSlider::selectParameter(int paramIndex)
         if (uas->getParamManager())
         {
             // Current value
-            uas->getParamManager()->requestParameterUpdate(component, parameterName);
+            //uas->getParamManager()->requestParameterUpdate(component, parameterName);
 
             // Minimum
             if (uas->getParamManager()->isParamMinKnown(parameterName))

src/ui/designer/QGCToolWidget.cc

@@ -117,11 +117,13 @@ QList<QGCToolWidget*> QGCToolWidget::createWidgetsFromSettings(QWidget* parent,
     {
         settings->setArrayIndex(i);
         QString name = settings->value("TITLE", "").toString();
+        QString objname = settings->value("OBJECT_NAME", "").toString();
 
         if (!instances()->contains(name) && name.length() != 0)
         {
             //qDebug() << "CREATED WIDGET:" << name;
             QGCToolWidget* tool = new QGCToolWidget(name, parent, settings);
+            tool->setObjectName(objname);
             newWidgets.append(tool);
         }
         else if (name.length() == 0)
@@ -403,6 +405,7 @@ void QGCToolWidget::storeWidgetsToSettings(QString settingsFile)
             {
                 settings->setArrayIndex(num++);
                 settings->setValue("TITLE", instances()->values().at(i)->getTitle());
+                settings->setValue("OBJECT_NAME", instances()->values().at(i)->objectName());
                 //qDebug() << "WRITING TITLE" << instances()->values().at(i)->getTitle();
             }
         }

src/ui/dockwidgettitlebareventfilter.cpp

+#include "dockwidgettitlebareventfilter.h"
+#include <QDebug>
+#include <QEvent>
+DockWidgetTitleBarEventFilter::DockWidgetTitleBarEventFilter(QObject *parent) : QObject(parent)
+{
+}
+bool DockWidgetTitleBarEventFilter::eventFilter(QObject *object,QEvent *event)
+{
+    qDebug() << event->type();
+    if (event->type() == QEvent::MouseButtonPress || event->type() == QEvent::MouseButtonRelease)
+    {
+        return true;
+    }
+    return QObject::eventFilter(object,event);
+}

src/ui/dockwidgettitlebareventfilter.h

+#ifndef DOCKWIDGETTITLEBAREVENTFILTER_H
+#define DOCKWIDGETTITLEBAREVENTFILTER_H
+
+#include <QObject>
+
+class DockWidgetTitleBarEventFilter : public QObject
+{
+    Q_OBJECT
+public:
+    explicit DockWidgetTitleBarEventFilter(QObject *parent = 0);
+protected:
+    bool eventFilter(QObject *object,QEvent *event);
+signals:
+    
+public slots:
+    
+};
+
+#endif // DOCKWIDGETTITLEBAREVENTFILTER_H

src/ui/map/QGCMapWidget.cc

@@ -9,7 +9,6 @@
 
 QGCMapWidget::QGCMapWidget(QWidget *parent) :
     mapcontrol::OPMapWidget(parent),
-    currWPManager(NULL),
     firingWaypointChange(NULL),
     maxUpdateInterval(2.1f), // 2 seconds
     followUAVEnabled(false),
@@ -17,17 +16,42 @@ QGCMapWidget::QGCMapWidget(QWidget *parent) :
     trailInterval(2.0f),
     followUAVID(0),
     mapInitialized(false),
-    homeAltitude(0)
+    homeAltitude(0),
+    uas(0)
 {
+    //currWPManager = new UASWaypointManager(NULL); //Create a waypoint manager that is null.
+    currWPManager = UASManager::instance()->getActiveUASWaypointManager();
+    connect(currWPManager, SIGNAL(waypointEditableListChanged(int)), this, SLOT(updateWaypointList(int)));
+    connect(currWPManager, SIGNAL(waypointEditableChanged(int, Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
+    connect(this, SIGNAL(waypointCreated(Waypoint*)), currWPManager, SLOT(addWaypointEditable(Waypoint*)));
+    connect(this, SIGNAL(waypointChanged(Waypoint*)), currWPManager, SLOT(notifyOfChangeEditable(Waypoint*)));
+    offlineMode = true;
     // Widget is inactive until shown
     defaultGuidedAlt = -1;
     loadSettings(false);
 
     this->setContextMenuPolicy(Qt::ActionsContextMenu);
 
+    QAction *guidedaction = new QAction(this);
+    guidedaction->setText("Go To Here (Guided Mode)");
+    connect(guidedaction,SIGNAL(triggered()),this,SLOT(guidedActionTriggered()));
+    this->addAction(guidedaction);
+    guidedaction = new QAction(this);
+    guidedaction->setText("Go To Here Alt (Guided Mode)");
+    connect(guidedaction,SIGNAL(triggered()),this,SLOT(guidedAltActionTriggered()));
+    this->addAction(guidedaction);
+    QAction *cameraaction = new QAction(this);
+    cameraaction->setText("Point Camera Here");
+    connect(cameraaction,SIGNAL(triggered()),this,SLOT(cameraActionTriggered()));
+    this->addAction(cameraaction);
 }
 void QGCMapWidget::guidedActionTriggered()
 {
+    if (!uas)
+    {
+        QMessageBox::information(0,"Error","Please connect first");
+        return;
+    }
     if (currWPManager)
     {
         if (defaultGuidedAlt == -1)
@@ -49,6 +73,11 @@ void QGCMapWidget::guidedActionTriggered()
 }
 bool QGCMapWidget::guidedAltActionTriggered()
 {
+    if (!uas)
+    {
+        QMessageBox::information(0,"Error","Please connect first");
+        return false;
+    }
     bool ok = false;
     int tmpalt = QInputDialog::getInt(this,"Altitude","Enter default altitude (in meters) of destination point for guided mode",100,0,30000,1,&ok);
     if (!ok)
@@ -62,6 +91,11 @@ bool QGCMapWidget::guidedAltActionTriggered()
 }
 void QGCMapWidget::cameraActionTriggered()
 {
+    if (!uas)
+    {
+        QMessageBox::information(0,"Error","Please connect first");
+        return;
+    }
     ArduPilotMegaMAV *newmav = qobject_cast<ArduPilotMegaMAV*>(this->uas);
     if (newmav)
     {
@@ -262,32 +296,14 @@ void QGCMapWidget::activeUASSet(UASInterface* uas)