Merge branch 'master' of https://github.com/mavlink/qgroundcontrol into hil_flightgear_dev

.gitignore

@@ -47,6 +47,8 @@ user_config.pri
 *.cproject
 *.sln
 *.suo
+*.uhf.txt
+*.opensdf
 
 thirdParty/qserialport-build-desktop/
 thirdParty/qserialport/bin/

files/px4/widgets/px4_mc_position_pid_params.qgw

+[PX4%20Multirotor%20Attitude%20Control]
+QGC_TOOL_WIDGET_ITEMS\1\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_DESCRIPTION=Attitude P Gain
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_PARAMID=MC_ATT_P
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MAX=1.5
+QGC_TOOL_WIDGET_ITEMS\2\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_DESCRIPTION=Attitude I Gain
+QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_PARAMID=MC_ATT_I
+QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MAX=1
+QGC_TOOL_WIDGET_ITEMS\3\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_DESCRIPTION=Attitude D Gain
+QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_PARAMID=MC_ATT_D
+QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_COMPONENTID=50
+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=Attitude Anti-Windup
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_PARAMID=MC_ATT_AWU
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MAX=1
+QGC_TOOL_WIDGET_ITEMS\5\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_DESCRIPTION=Attitude Output Limit
+QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_PARAMID=MC_ATT_LIM
+QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_MAX=3
+QGC_TOOL_WIDGET_ITEMS\6\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_DESCRIPTION=Heading / Yaw P Gain
+QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_PARAMID=MC_YAWPOS_P
+QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_MAX=1.2
+QGC_TOOL_WIDGET_ITEMS\7\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_DESCRIPTION=Heading / Yaw D Gain
+QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_PARAMID=MC_YAWPOS_D
+QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_MAX=1
+QGC_TOOL_WIDGET_ITEMS\8\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\8\QGC_PARAM_SLIDER_DESCRIPTION=Roll / Pitch Rate P Gain
+QGC_TOOL_WIDGET_ITEMS\8\QGC_PARAM_SLIDER_PARAMID=MC_ATTRATE_P
+QGC_TOOL_WIDGET_ITEMS\8\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\8\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\8\QGC_PARAM_SLIDER_MAX=1.5
+QGC_TOOL_WIDGET_ITEMS\9\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\9\QGC_PARAM_SLIDER_DESCRIPTION=Roll / Pitch Rate D Gain
+QGC_TOOL_WIDGET_ITEMS\9\QGC_PARAM_SLIDER_PARAMID=MC_ATTRATE_D
+QGC_TOOL_WIDGET_ITEMS\9\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\9\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\9\QGC_PARAM_SLIDER_MAX=0.3
+QGC_TOOL_WIDGET_ITEMS\10\TYPE=SLIDER
+QGC_TOOL_WIDGET_ITEMS\10\QGC_PARAM_SLIDER_DESCRIPTION=Yaw Rate P Gain
+QGC_TOOL_WIDGET_ITEMS\10\QGC_PARAM_SLIDER_PARAMID=MC_YAWRATE_P
+QGC_TOOL_WIDGET_ITEMS\10\QGC_PARAM_SLIDER_COMPONENTID=50
+QGC_TOOL_WIDGET_ITEMS\10\QGC_PARAM_SLIDER_MIN=0
+QGC_TOOL_WIDGET_ITEMS\10\QGC_PARAM_SLIDER_MAX=1
+QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_DISPLAY_INFO=false
+QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_DISPLAY_INFO=true
+QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_DISPLAY_INFO=true
+QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_DISPLAY_INFO=true
+QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_DISPLAY_INFO=true
+QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_DISPLAY_INFO=true
+QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_DISPLAY_INFO=true
+QGC_TOOL_WIDGET_ITEMS\8\QGC_PARAM_SLIDER_DISPLAY_INFO=true
+QGC_TOOL_WIDGET_ITEMS\9\QGC_PARAM_SLIDER_DISPLAY_INFO=true
+QGC_TOOL_WIDGET_ITEMS\10\QGC_PARAM_SLIDER_DISPLAY_INFO=true
+QGC_TOOL_WIDGET_ITEMS\size=10

libs/thirdParty/3DMouse/win/I3dMouseParams.h

+#ifndef I3D_MOUSE_PARAMS_H
+#define I3D_MOUSE_PARAMS_H
+
+/*
+   Parameters for the 3D mouse based on the SDK from 3Dconnexion
+*/
+
+class I3dMouseSensor
+{
+public:
+
+	enum ESpeed {
+	   kLowSpeed = 0,
+	   kMidSpeed,
+	   kHighSpeed
+	};
+
+virtual bool	IsPanZoom() const = 0;
+virtual bool	IsRotate() const  = 0;
+virtual ESpeed	GetSpeed() const  = 0;
+
+virtual void	SetPanZoom(bool isPanZoom) = 0;
+virtual void	SetRotate(bool isRotate) = 0;
+virtual void	SetSpeed(ESpeed speed) = 0;
+
+protected:
+
+virtual ~I3dMouseSensor() {}
+
+};
+
+
+class I3dMouseNavigation
+{
+public:
+
+   enum EPivot {
+	  kManualPivot = 0,
+	  kAutoPivot,
+	  kAutoPivotOverride
+   };
+
+   enum ENavigation {
+	  kObjectMode = 0,
+	  kCameraMode,
+	  kFlyMode,
+	  kWalkMode,
+	  kHelicopterMode
+   };
+
+   enum EPivotVisibility {
+	  kHidePivot = 0,
+	  kShowPivot,
+	  kShowMovingPivot
+   };
+
+
+virtual ENavigation		GetNavigationMode() const  = 0;
+virtual EPivot			GetPivotMode() const  = 0;
+virtual EPivotVisibility GetPivotVisibility()  const = 0;
+virtual bool			IsLockHorizon()  const = 0;
+
+virtual void			SetLockHorizon(bool bOn) = 0;
+virtual void			SetNavigationMode(ENavigation navigation) = 0;
+virtual void			SetPivotMode(EPivot pivot) = 0;
+virtual void			SetPivotVisibility(EPivotVisibility visibility) = 0;
+
+protected:
+
+virtual ~I3dMouseNavigation(){}
+
+
+};
+
+
+class I3dMouseParam : public I3dMouseSensor, public I3dMouseNavigation
+{
+public:
+
+virtual ~I3dMouseParam() {}
+
+};
+
+#endif

libs/thirdParty/3DMouse/win/Mouse3DInput.cpp

+
+#include "Mouse3DInput.h"
+
+#include <QApplication>
+
+#define LOGITECH_VENDOR_ID 0x46d
+#define _CONSTANT_INPUT_PERIOD 0
+
+#ifndef RIDEV_DEVNOTIFY
+#define RIDEV_DEVNOTIFY 0x00002000
+#endif
+
+#define _TRACE_WM_INPUT_PERIOD 0
+#define _TRACE_RI_TYPE 0
+#define _TRACE_RIDI_DEVICENAME 0
+#define _TRACE_RIDI_DEVICEINFO 0
+#define _TRACE_RI_RAWDATA 0
+#define _TRACE_3DINPUT_PERIOD 0
+
+#ifdef _WIN64
+typedef unsigned __int64 QWORD;
+#endif
+
+// object angular velocity per mouse tick 0.008 milliradians per second per count
+static const double k3dmouseAngularVelocity = 8.0e-6; // radians per second per count
+
+static const int kTimeToLive = 5;
+
+enum e3dconnexion_pid {
+   eSpacePilot = 0xc625,
+   eSpaceNavigator = 0xc626,
+   eSpaceExplorer = 0xc627,
+   eSpaceNavigatorForNotebooks = 0xc628,
+   eSpacePilotPRO = 0xc629
+};
+
+enum e3dmouse_virtual_key
+{
+   V3DK_INVALID=0
+   , V3DK_MENU=1, V3DK_FIT
+   , V3DK_TOP, V3DK_LEFT, V3DK_RIGHT, V3DK_FRONT, V3DK_BOTTOM, V3DK_BACK
+   , V3DK_CW, V3DK_CCW
+   , V3DK_ISO1, V3DK_ISO2
+   , V3DK_1, V3DK_2, V3DK_3, V3DK_4, V3DK_5, V3DK_6, V3DK_7, V3DK_8, V3DK_9, V3DK_10
+   , V3DK_ESC, V3DK_ALT, V3DK_SHIFT, V3DK_CTRL
+   , V3DK_ROTATE, V3DK_PANZOOM, V3DK_DOMINANT
+   , V3DK_PLUS, V3DK_MINUS
+};
+
+struct tag_VirtualKeys
+{
+   e3dconnexion_pid pid;
+   size_t nKeys;
+   e3dmouse_virtual_key *vkeys;
+};
+
+static const e3dmouse_virtual_key SpaceExplorerKeys [] =
+{
+   V3DK_INVALID     // there is no button 0
+   , V3DK_1, V3DK_2
+   , V3DK_TOP, V3DK_LEFT, V3DK_RIGHT, V3DK_FRONT
+   , V3DK_ESC, V3DK_ALT, V3DK_SHIFT, V3DK_CTRL
+   , V3DK_FIT, V3DK_MENU
+   , V3DK_PLUS, V3DK_MINUS
+   , V3DK_ROTATE
+};
+
+static const e3dmouse_virtual_key SpacePilotKeys [] =
+{
+   V3DK_INVALID
+   , V3DK_1, V3DK_2, V3DK_3, V3DK_4, V3DK_5, V3DK_6
+   , V3DK_TOP, V3DK_LEFT, V3DK_RIGHT, V3DK_FRONT
+   , V3DK_ESC, V3DK_ALT, V3DK_SHIFT, V3DK_CTRL
+   , V3DK_FIT, V3DK_MENU
+   , V3DK_PLUS, V3DK_MINUS
+   , V3DK_DOMINANT, V3DK_ROTATE
+};
+
+static const struct tag_VirtualKeys _3dmouseVirtualKeys[]=
+{
+   eSpacePilot
+   , sizeof(SpacePilotKeys)/sizeof(SpacePilotKeys[0])
+   , const_cast<e3dmouse_virtual_key *>(SpacePilotKeys),
+   eSpaceExplorer
+   , sizeof(SpaceExplorerKeys)/sizeof(SpaceExplorerKeys[0])
+   , const_cast<e3dmouse_virtual_key *>(SpaceExplorerKeys)
+};
+
+/*!
+	Converts a hid device keycode (button identifier) of a pre-2009 3Dconnexion USB device to the standard 3d mouse virtual key definition.
+
+	\a pid USB Product ID (PID) of 3D mouse device
+	\a hidKeyCode  Hid keycode as retrieved from a Raw Input packet
+
+	\return The standard 3d mouse virtual key (button identifier) or zero if an error occurs.
+
+	Converts a hid device keycode (button identifier) of a pre-2009 3Dconnexion USB device
+	to the standard 3d mouse virtual key definition.
+*/
+
+unsigned short HidToVirtualKey(unsigned long pid, unsigned short hidKeyCode)
+{
+   unsigned short virtualkey=hidKeyCode;
+   for (size_t i=0; i<sizeof(_3dmouseVirtualKeys)/sizeof(_3dmouseVirtualKeys[0]); ++i)
+   {
+	  if (pid == _3dmouseVirtualKeys[i].pid)
+	  {
+		 if (hidKeyCode < _3dmouseVirtualKeys[i].nKeys)
+			virtualkey = _3dmouseVirtualKeys[i].vkeys[hidKeyCode];
+		 else
+			virtualkey = V3DK_INVALID;
+		 break;
+	  }
+   }
+   // Remaining devices are unchanged
+   return virtualkey;
+}
+
+
+static Mouse3DInput* gMouseInput = 0;
+
+bool Mouse3DInput::RawInputEventFilter(void* msg, long* result)
+{
+	if (gMouseInput == 0) return false;
+
+	MSG* message = (MSG*)(msg);
+
+	if (message->message == WM_INPUT) {
+		HRAWINPUT hRawInput = reinterpret_cast<HRAWINPUT>(message->lParam);
+		gMouseInput->OnRawInput(RIM_INPUT,hRawInput);
+		if (result != 0)  {
+			result = 0;
+		}
+		return true;
+	}
+
+	return false;
+}
+
+
+Mouse3DInput::Mouse3DInput(QWidget* widget) :
+									QObject(widget)
+{
+	fLast3dmouseInputTime = 0;
+
+	InitializeRawInput(widget->winId());
+
+	gMouseInput = this;
+	qApp->setEventFilter(Mouse3DInput::RawInputEventFilter);
+}
+
+Mouse3DInput::~Mouse3DInput()
+{
+	if (gMouseInput == this) {
+		gMouseInput = 0;
+	}
+}
+
+/*!
+	Access the mouse parameters structure
+*/
+I3dMouseParam& Mouse3DInput::MouseParams()
+{
+	return f3dMouseParams;
+}
+
+/*!
+	Access the mouse parameters structure
+*/
+const I3dMouseParam& Mouse3DInput::MouseParams() const
+{
+	return f3dMouseParams;
+}
+
+/*!
+	Called with the processed motion data when a 3D mouse event is received
+
+	The default implementation emits a Move3d signal with the motion data
+*/
+void Mouse3DInput::Move3d(HANDLE device, std::vector<float>& motionData)
+{
+	Q_UNUSED(device);
+	emit Move3d(motionData);
+}
+
+/*!
+	Called when a 3D mouse key is pressed
+
+	The default implementation emits a On3dmouseKeyDown signal with the key code.
+*/
+void Mouse3DInput::On3dmouseKeyDown(HANDLE device, int virtualKeyCode)
+{
+	Q_UNUSED(device);
+	emit On3dmouseKeyDown(virtualKeyCode);
+}
+
+/*!
+	Called when a 3D mouse key is released
+
+	The default implementation emits a On3dmouseKeyUp signal with the key code.
+*/
+void Mouse3DInput::On3dmouseKeyUp(HANDLE device, int virtualKeyCode)
+{
+	Q_UNUSED(device);
+	emit On3dmouseKeyUp(virtualKeyCode);
+}
+
+/*!
+	Get an initialized array of PRAWINPUTDEVICE for the 3D devices
+
+	pNumDevices returns the number of devices to register. Currently this is always 1.
+ */
+static PRAWINPUTDEVICE GetDevicesToRegister(unsigned int* pNumDevices)
+{
+	// Array of raw input devices to register
+	static RAWINPUTDEVICE sRawInputDevices[] = {
+		{0x01, 0x08, 0x00, 0x00} // Usage Page = 0x01 Generic Desktop Page, Usage Id= 0x08 Multi-axis Controller
+	};
+
+	if (pNumDevices) {
+		*pNumDevices = sizeof(sRawInputDevices) / sizeof(sRawInputDevices[0]);
+	}
+
+	return sRawInputDevices;
+}
+
+/*!
+	Detect the 3D mouse
+*/
+bool Mouse3DInput::Is3dmouseAttached()
+{
+	unsigned int numDevicesOfInterest = 0;
+	PRAWINPUTDEVICE devicesToRegister = GetDevicesToRegister(&numDevicesOfInterest);
+
+	unsigned int nDevices = 0;
+
+	if (::GetRawInputDeviceList(NULL, &nDevices, sizeof(RAWINPUTDEVICELIST)) != 0) {
+		return false;
+	}
+
+	if (nDevices == 0) return false;
+
+	std::vector<RAWINPUTDEVICELIST> rawInputDeviceList(nDevices);
+	if (::GetRawInputDeviceList(&rawInputDeviceList[0], &nDevices, sizeof(RAWINPUTDEVICELIST)) == static_cast<unsigned int>(-1)) {
+		return false;
+	}
+
+	for (unsigned int i = 0; i < nDevices; ++i) {
+		RID_DEVICE_INFO rdi = {sizeof(rdi)};
+		unsigned int cbSize = sizeof(rdi);
+
+		if (GetRawInputDeviceInfo(rawInputDeviceList[i].hDevice, RIDI_DEVICEINFO, &rdi, &cbSize) > 0) {
+			//skip non HID and non logitec (3DConnexion) devices
+			if (rdi.dwType != RIM_TYPEHID || rdi.hid.dwVendorId != LOGITECH_VENDOR_ID) {
+				continue;
+			}
+
+			//check if devices matches Multi-axis Controller
+			for (unsigned int j = 0; j < numDevicesOfInterest; ++j) {
+				if (devicesToRegister[j].usUsage == rdi.hid.usUsage
+						&& devicesToRegister[j].usUsagePage == rdi.hid.usUsagePage) {
+					return true;
+				}
+			}
+		}
+	}
+	return false;
+}
+
+
+
+/*!
+	Initialize the window to recieve raw-input messages
+
+	This needs to be called initially so that Windows will send the messages from the 3D mouse to the window.
+*/
+bool Mouse3DInput::InitializeRawInput(HWND hwndTarget)
+{
+	fWindow = hwndTarget;
+
+	// Simply fail if there is no window
+	if (!hwndTarget)  return false;
+
+	unsigned int numDevices = 0;
+	PRAWINPUTDEVICE devicesToRegister = GetDevicesToRegister(&numDevices);
+
+	if (numDevices == 0) return false;
+
+	// Get OS version.
+	OSVERSIONINFO osvi = {sizeof(OSVERSIONINFO),0};
+	::GetVersionEx(&osvi);
+
+	unsigned int cbSize = sizeof (devicesToRegister[0]);
+	for (size_t i = 0; i < numDevices; i++) {
+		// Set the target window to use
+		//devicesToRegister[i].hwndTarget = hwndTarget;
+
+		// If Vista or newer, enable receiving the WM_INPUT_DEVICE_CHANGE message.
+		if (osvi.dwMajorVersion >= 6) {
+			devicesToRegister[i].dwFlags |= RIDEV_DEVNOTIFY;
+		}
+	}
+	return (::RegisterRawInputDevices(devicesToRegister, numDevices, cbSize) != FALSE);
+}
+
+
+/*!
+	Get the raw input data from Windows
+
+	Includes workaround for incorrect alignment of the RAWINPUT structure on x64 os
+	when running as Wow64 (copied directly from 3DConnexion code)
+*/
+
+UINT Mouse3DInput::GetRawInputBuffer(PRAWINPUT pData, PUINT pcbSize, UINT cbSizeHeader)
+{
+#ifdef _WIN64
+	return ::GetRawInputBuffer(pData, pcbSize, cbSizeHeader);
+#else
+	BOOL bIsWow64 = FALSE;
+	::IsWow64Process(GetCurrentProcess(), &bIsWow64);
+	if (!bIsWow64 || pData==NULL) {
+		return ::GetRawInputBuffer(pData, pcbSize, cbSizeHeader);
+	} else {
+		HWND hwndTarget = fWindow; //fParent->winId();
+
+		size_t cbDataSize=0;
+		UINT nCount=0;
+		PRAWINPUT pri = pData;
+
+		MSG msg;
+		while (PeekMessage(&msg, hwndTarget, WM_INPUT, WM_INPUT, PM_NOREMOVE)) {
+			HRAWINPUT hRawInput = reinterpret_cast<HRAWINPUT>(msg.lParam);
+			size_t cbSize = *pcbSize - cbDataSize;
+			if (::GetRawInputData(hRawInput, RID_INPUT, pri, &cbSize, cbSizeHeader) == static_cast<UINT>(-1)) {
+				if (nCount==0) {
+					return static_cast<UINT>(-1);
+				}  else {
+					break;
+				}
+			}
+			++nCount;
+
+			// Remove the message for the data just read
+			PeekMessage(&msg, hwndTarget, WM_INPUT, WM_INPUT, PM_REMOVE);
+
+			pri = NEXTRAWINPUTBLOCK(pri);
+			cbDataSize = reinterpret_cast<ULONG_PTR>(pri) - reinterpret_cast<ULONG_PTR>(pData);
+			if (cbDataSize >= *pcbSize) {
+				cbDataSize = *pcbSize;
+				break;
+			}
+		}
+		return nCount;
+	}
+#endif
+}
+
+/*!
+	Process the raw input device data
+
+	On3dmouseInput() does all the preprocessing of the rawinput device data before
+	finally calling the Move3d method.
+*/
+
+void Mouse3DInput::On3dmouseInput()
+{
+	// Don't do any data processing in background
+	bool bIsForeground = (::GetActiveWindow() != NULL);
+	if (!bIsForeground) {
+		// set all cached data to zero so that a zero event is seen and the cached data deleted
+		for (std::map<HANDLE, TInputData>::iterator it = fDevice2Data.begin(); it != fDevice2Data.end(); it++) {
+			it->second.fAxes.assign(6, .0);
+			it->second.fIsDirty = true;
+		}
+	}
+
+	DWORD dwNow = ::GetTickCount();           // Current time;
+	DWORD dwElapsedTime;                      // Elapsed time since we were last here
+
+	if (0 == fLast3dmouseInputTime) {
+		dwElapsedTime = 10;                    // System timer resolution
+	} else {
+		dwElapsedTime = dwNow - fLast3dmouseInputTime;
+		if (fLast3dmouseInputTime > dwNow) {
+			dwElapsedTime = ~dwElapsedTime+1;
+		}
+		if (dwElapsedTime<1) {
+			dwElapsedTime=1;
+		} else if (dwElapsedTime > 500) {
+			// Check for wild numbers because the device was removed while sending data
+			dwElapsedTime = 10;
+		}
+	}
+
+#if _TRACE_3DINPUT_PERIOD
+	qDebug("On3DmouseInput() period is %dms\n", dwElapsedTime);
+#endif
+
+	float mouseData2Rotation = k3dmouseAngularVelocity;
+	// v = w * r,  we don't know r yet so lets assume r=1.)
+	float mouseData2PanZoom = k3dmouseAngularVelocity;
+
+	// Grab the I3dmouseParam interface
+	 I3dMouseParam& i3dmouseParam = f3dMouseParams;
+	 // Take a look at the users preferred speed setting and adjust the sensitivity accordingly
+	 I3dMouseSensor::ESpeed speedSetting = i3dmouseParam.GetSpeed();
+	 // See "Programming for the 3D Mouse", Section 5.1.3
+	float speed = (speedSetting == I3dMouseSensor::kLowSpeed ? 0.25f : speedSetting == I3dMouseSensor::kHighSpeed ?  4.f : 1.f);
+
+	 // Multiplying by the following will convert the 3d mouse data to real world units
+	mouseData2PanZoom *= speed;
+	mouseData2Rotation *= speed;
+
+	std::map<HANDLE, TInputData>::iterator iterator=fDevice2Data.begin();
+	while (iterator != fDevice2Data.end()) {
+
+		// If we have not received data for a while send a zero event
+		if ((--(iterator->second.fTimeToLive)) == 0) {
+			iterator->second.fAxes.assign(6, .0);
+		} else if (/*!t_bPoll3dmouse &&*/ !iterator->second.fIsDirty) {
+		  // If we are not polling then only handle the data that was actually received
+			++iterator;
+			continue;
+		}
+		iterator->second.fIsDirty=false;
+
+		// get a copy of the device
+		HANDLE hdevice = iterator->first;
+
+		// get a copy of the motion vectors and apply the user filters
+		std::vector<float> motionData = iterator->second.fAxes;
+
+		// apply the user filters
+
+		// Pan Zoom filter
+		// See "Programming for the 3D Mouse", Section 5.1.2
+		if (!i3dmouseParam.IsPanZoom()) {
+			// Pan zoom is switched off so set the translation vector values to zero
+			motionData[0] =  motionData[1] =  motionData[2] = 0.;
+		}
+
+		// Rotate filter
+		// See "Programming for the 3D Mouse", Section 5.1.1
+		if (!i3dmouseParam.IsRotate()) {
+			// Rotate is switched off so set the rotation vector values to zero
+			motionData[3] =  motionData[4] =  motionData[5] = 0.;
+		}
+
+		// convert the translation vector into physical data
+		for (int axis = 0; axis < 3; axis++) {
+			 motionData[axis] *= mouseData2PanZoom;
+		 }
+		// convert the directed Rotate vector into physical data
+		// See "Programming for the 3D Mouse", Section 7.2.2
+		for (int axis = 3; axis < 6; axis++) {
+			motionData[axis] *= mouseData2Rotation;
+		}
+
+		// Now that the data has had the filters and sensitivty settings applied
+		// calculate the displacements since the last view update
+		for (int axis = 0; axis < 6; axis++) {
+			motionData[axis] *= dwElapsedTime;
+		}
+
+
+		// Now a bit of book keeping before passing on the data
+		if (iterator->second.IsZero()) {
+			iterator = fDevice2Data.erase(iterator);
+		} else {
+			++iterator;
+		}
+
+		// Work out which will be the next device
+		HANDLE hNextDevice = 0;
+		if (iterator != fDevice2Data.end()) {
+			hNextDevice = iterator->first;
+		}
+
+		 // Pass the 3dmouse input to the view controller
+		 Move3d(hdevice, motionData);
+
+		// Because we don't know what happened in the previous call, the cache might have
+		// changed so reload the iterator
+		iterator = fDevice2Data.find(hNextDevice);
+   }
+
+	if (!fDevice2Data.empty()) {
+		fLast3dmouseInputTime = dwNow;
+	} else {
+		fLast3dmouseInputTime = 0;
+	}
+}
+
+/*!
+	Called when new raw input data is available
+*/
+void Mouse3DInput::OnRawInput(UINT nInputCode, HRAWINPUT hRawInput)
+{
+	const size_t cbSizeOfBuffer=1024;
+	BYTE pBuffer[cbSizeOfBuffer];
+
+	PRAWINPUT pRawInput = reinterpret_cast<PRAWINPUT>(pBuffer);
+	UINT cbSize = cbSizeOfBuffer;
+
+	if (::GetRawInputData(hRawInput, RID_INPUT, pRawInput, &cbSize, sizeof(RAWINPUTHEADER)) == static_cast<UINT>(-1)) {
+		return;
+	}
+
+	bool b3dmouseInput = TranslateRawInputData(nInputCode, pRawInput);
+	::DefRawInputProc(&pRawInput, 1, sizeof(RAWINPUTHEADER));
+
+	// Check for any buffered messages
+	cbSize = cbSizeOfBuffer;
+	UINT nCount = this->GetRawInputBuffer(pRawInput, &cbSize, sizeof(RAWINPUTHEADER));
+	if (nCount == (UINT)-1) {
+		 qDebug ("GetRawInputBuffer returned error %d\n", GetLastError());
+	}
+
+	while (nCount>0 && nCount !=  static_cast<UINT>(-1)) {
+		PRAWINPUT pri = pRawInput;
+		UINT nInput;
+		for (nInput=0; nInput<nCount; ++nInput) {
+			b3dmouseInput |= TranslateRawInputData(nInputCode, pri);
+			// clean the buffer
+			::DefRawInputProc(&pri, 1, sizeof(RAWINPUTHEADER));
+
+			pri = NEXTRAWINPUTBLOCK(pri);
+		}
+		cbSize = cbSizeOfBuffer;
+		nCount = this->GetRawInputBuffer(pRawInput, &cbSize, sizeof(RAWINPUTHEADER));
+	}
+
+	// If we have mouse input data for the app then tell tha app about it
+	if (b3dmouseInput) {
+		On3dmouseInput();
+	}
+}
+
+
+
+bool Mouse3DInput::TranslateRawInputData(UINT nInputCode, PRAWINPUT pRawInput)
+{
+	bool bIsForeground = (nInputCode == RIM_INPUT);
+
+#if _TRACE_RI_TYPE
+	qDebug("Rawinput.header.dwType=0x%x\n", pRawInput->header.dwType);
+#endif
+	// We are not interested in keyboard or mouse data received via raw input
+	if (pRawInput->header.dwType != RIM_TYPEHID) return false;
+
+#if _TRACE_RIDI_DEVICENAME
+	UINT dwSize=0;
+	if (::GetRawInputDeviceInfo(pRawInput->header.hDevice, RIDI_DEVICENAME, NULL, &dwSize) == 0)  {
+		std::vector<wchar_t> szDeviceName(dwSize+1);
+		if (::GetRawInputDeviceInfo(pRawInput->header.hDevice, RIDI_DEVICENAME, &szDeviceName[0],	&dwSize) >0) {
+			qDebug("Device Name = %s\nDevice handle = 0x%x\n", &szDeviceName[0], pRawInput->header.hDevice);
+		}
+   }
+#endif
+
+	RID_DEVICE_INFO sRidDeviceInfo;
+	sRidDeviceInfo.cbSize = sizeof(RID_DEVICE_INFO);
+	UINT cbSize = sizeof(RID_DEVICE_INFO);
+
+	if (::GetRawInputDeviceInfo(pRawInput->header.hDevice, RIDI_DEVICEINFO, &sRidDeviceInfo, &cbSize) == cbSize) {
+#if _TRACE_RIDI_DEVICEINFO
+		switch (sRidDeviceInfo.dwType)  {
+			case RIM_TYPEMOUSE:
+				qDebug("\tsRidDeviceInfo.dwType=RIM_TYPEMOUSE\n");
+				break;
+			case RIM_TYPEKEYBOARD:
+				qDebug("\tsRidDeviceInfo.dwType=RIM_TYPEKEYBOARD\n");
+				break;
+			case RIM_TYPEHID:
+				qDebug("\tsRidDeviceInfo.dwType=RIM_TYPEHID\n");
+				qDebug("\tVendor=0x%x\n\tProduct=0x%x\n\tUsagePage=0x%x\n\tUsage=0x%x\n",
+						sRidDeviceInfo.hid.dwVendorId,
+						sRidDeviceInfo.hid.dwProductId,
+						sRidDeviceInfo.hid.usUsagePage,
+						sRidDeviceInfo.hid.usUsage);
+				break;
+		}
+#endif
+
+		if (sRidDeviceInfo.hid.dwVendorId == LOGITECH_VENDOR_ID) {
+			if (pRawInput->data.hid.bRawData[0] == 0x01) { // Translation vector
+
+				TInputData& deviceData = fDevice2Data[pRawInput->header.hDevice];
+				deviceData.fTimeToLive = kTimeToLive;
+				if (bIsForeground) {
+					short* pnRawData = reinterpret_cast<short*>(&pRawInput->data.hid.bRawData[1]);
+					// Cache the pan zoom data
+					deviceData.fAxes[0] = static_cast<float>(pnRawData[0]);
+					deviceData.fAxes[1] = static_cast<float>(pnRawData[1]);
+					deviceData.fAxes[2] = static_cast<float>(pnRawData[2]);
+
+#if _TRACE_RI_RAWDATA
+					qDebug("Pan/Zoom RI Data =\t0x%x,\t0x%x,\t0x%x\n",
+									pnRawData[0],  pnRawData[1],  pnRawData[2]);
+#endif
+					if (pRawInput->data.hid.dwSizeHid >= 13) {// Highspeed package
+						// Cache the rotation data
+						deviceData.fAxes[3] = static_cast<float>(pnRawData[3]);
+						deviceData.fAxes[4] = static_cast<float>(pnRawData[4]);
+						deviceData.fAxes[5] = static_cast<float>(pnRawData[5]);
+						deviceData.fIsDirty = true;
+#if _TRACE_RI_RAWDATA
+						qDebug("Rotation RI Data =\t0x%x,\t0x%x,\t0x%x\n",
+							 pnRawData[3], pnRawData[4], pnRawData[5]);
+#endif
+						return true;
+					}
+				} else { // Zero out the data if the app is not in forground
+					deviceData.fAxes.assign(6, 0.f);
+				}
+			} else if (pRawInput->data.hid.bRawData[0] == 0x02) { // Rotation vector
+				// If we are not in foreground do nothing
+				// The rotation vector was zeroed out with the translation vector in the previous message
+				if (bIsForeground) {
+					TInputData& deviceData = fDevice2Data[pRawInput->header.hDevice];
+					deviceData.fTimeToLive = kTimeToLive;
+
+					short* pnRawData = reinterpret_cast<short*>(&pRawInput->data.hid.bRawData[1]);
+					// Cache the rotation data
+					deviceData.fAxes[3] = static_cast<float>(pnRawData[0]);
+					deviceData.fAxes[4] = static_cast<float>(pnRawData[1]);
+					deviceData.fAxes[5] = static_cast<float>(pnRawData[2]);
+					deviceData.fIsDirty = true;
+
+#if _TRACE_RI_RAWDATA
+					qDebug("Rotation RI Data =\t0x%x,\t0x%x,\t0x%x\n",
+						pnRawData[0],  pnRawData[1], pnRawData[2]);
+#endif
+					return true;
+				}
+			} else if (pRawInput->data.hid.bRawData[0] == 0x03)  { // Keystate change
+				// this is a package that contains 3d mouse keystate information
+				// bit0=key1, bit=key2 etc.
+
+
+				unsigned long dwKeystate = *reinterpret_cast<unsigned long*>(&pRawInput->data.hid.bRawData[1]);
+#if _TRACE_RI_RAWDATA
+				qDebug("ButtonData =0x%x\n", dwKeystate);
+#endif
+				// Log the keystate changes
+				unsigned long dwOldKeystate = fDevice2Keystate[pRawInput->header.hDevice];
+				if (dwKeystate != 0) {
+					fDevice2Keystate[pRawInput->header.hDevice] = dwKeystate;
+				} else {
+					fDevice2Keystate.erase(pRawInput->header.hDevice);
+				}
+
+				//  Only call the keystate change handlers if the app is in foreground
+				if (bIsForeground) {
+					unsigned long dwChange = dwKeystate ^ dwOldKeystate;
+
+
+					for (int nKeycode=1; nKeycode<33; nKeycode++) {
+						if (dwChange & 0x01) {
+							int nVirtualKeyCode = HidToVirtualKey(sRidDeviceInfo.hid.dwProductId, nKeycode);
+							if (nVirtualKeyCode) {
+								if (dwKeystate&0x01) {
+									On3dmouseKeyDown(pRawInput->header.hDevice, nVirtualKeyCode);
+								} else {
+									On3dmouseKeyUp(pRawInput->header.hDevice, nVirtualKeyCode);
+								}
+							}
+						}
+						dwChange >>=1;
+						dwKeystate >>=1;
+					}
+				}
+			}
+		}
+   }
+   return false;
+}

libs/thirdParty/3DMouse/win/Mouse3DInput.h

+#ifndef T3DMOUSE_INPUT_H
+#define T3DMOUSE_INPUT_H
+
+#include "MouseParameters.h"
+
+#include <QWidget>
+#include <vector>
+#include <map>
+
+#ifndef _WIN32_WINNT
+#define _WIN32_WINNT 0x0501  //target at least windows XP
+#endif
+
+#include <windows.h>
+
+
+/*
+	A class for connecting to and receiving data from a 3D Connexion 3D mouse
+
+	This helper class manages the connection to a 3D mouse,  collecting WM_INPUT
+	messages from Windows and converting the data into 3D motion data.
+
+	This class is based on the SDK from 3D Connexion but is modified to work with Qt.
+
+	It is Windows only since it uses the WM_INPUT messages from windows directly
+	rather than Qt events.
+
+	Note that it needs to be compiled with _WIN32_WINNT defined as 0x0501 (windows XP)
+	or later because the raw input API was added in Windows XP. This also means that
+	Qt needs to be compiled with this enabled otherwise the QEventDispatcherWin32 blocks
+	in processEvents because the raw input messages do not cause the thread to be woken if
+	Qt is compiled for Win 2000 targets.
+*/
+
+class Mouse3DInput : public QObject
+{
+	Q_OBJECT
+public:
+		Mouse3DInput(QWidget* widget);
+		~Mouse3DInput();
+
+static	bool		Is3dmouseAttached();
+
+		I3dMouseParam&			MouseParams();
+		const I3dMouseParam&	MouseParams() const;
+
+virtual	void		Move3d(HANDLE device, std::vector<float>& motionData);
+virtual void		On3dmouseKeyDown(HANDLE device, int virtualKeyCode);
+virtual void		On3dmouseKeyUp(HANDLE device, int virtualKeyCode);
+
+signals:
+
+		void		Move3d(std::vector<float>& motionData);
+		void		On3dmouseKeyDown(int virtualKeyCode);
+		void		On3dmouseKeyUp(int virtualKeyCode);
+
+private:
+
+		bool		InitializeRawInput(HWND hwndTarget);
+
+static	bool		RawInputEventFilter(void* msg, long* result);
+
+		void		OnRawInput(UINT nInputCode, HRAWINPUT hRawInput);
+		UINT		GetRawInputBuffer(PRAWINPUT pData, PUINT pcbSize, UINT cbSizeHeader);
+		bool		TranslateRawInputData(UINT nInputCode, PRAWINPUT pRawInput);
+		void		On3dmouseInput();
+
+		class TInputData
+		{
+		public:
+		   TInputData() : fAxes(6) {}
+
+		   bool IsZero() {
+			  return (0.==fAxes[0] && 0.==fAxes[1] && 0.==fAxes[2] &&
+				 0.==fAxes[3] && 0.==fAxes[4] && 0.==fAxes[5]);
+		   }
+
+		   int                   fTimeToLive; // For telling if the device was unplugged while sending data
+		   bool                  fIsDirty;
+		   std::vector<float>	 fAxes;
+
+		};
+
+		HWND								fWindow;
+
+		// Data cache to handle multiple rawinput devices
+		std::map< HANDLE, TInputData>       fDevice2Data;
+		std::map< HANDLE, unsigned long>    fDevice2Keystate;
+
+		// 3dmouse parameters
+		MouseParameters						f3dMouseParams;     // Rotate, Pan Zoom etc.
+
+		// use to calculate distance traveled since last event
+		DWORD								fLast3dmouseInputTime;
+
+};
+
+#endif

libs/thirdParty/3DMouse/win/MouseParameters.cpp

+#include "MouseParameters.h"
+
+MouseParameters::MouseParameters(): fNavigation(kObjectMode)
+	  , fPivot(kAutoPivot)
+	  , fPivotVisibility(kShowPivot)
+	  , fIsLockHorizon(true)
+	  , fIsPanZoom(true)
+	  , fIsRotate(true)
+	  , fSpeed(kLowSpeed)
+{
+}
+
+MouseParameters::~MouseParameters()
+{
+}
+
+bool MouseParameters::IsPanZoom()  const
+{
+	return fIsPanZoom;
+}
+
+bool MouseParameters::IsRotate()  const
+{
+	return fIsRotate;
+}
+
+MouseParameters::ESpeed MouseParameters::GetSpeed()  const
+{
+	return fSpeed;
+}
+
+void MouseParameters::SetPanZoom(bool isPanZoom)
+{
+	fIsPanZoom=isPanZoom;
+}
+
+void MouseParameters::SetRotate(bool isRotate)
+{
+	fIsRotate=isRotate;
+}
+
+void MouseParameters::SetSpeed(ESpeed speed)
+{
+	fSpeed=speed;
+}
+
+
+MouseParameters::ENavigation MouseParameters::GetNavigationMode()  const
+{
+	return fNavigation;
+}
+
+MouseParameters::EPivot MouseParameters::GetPivotMode()  const
+{
+	return fPivot;
+}
+
+MouseParameters::EPivotVisibility MouseParameters::GetPivotVisibility()  const
+{
+	return fPivotVisibility;
+}
+
+bool MouseParameters::IsLockHorizon()  const
+{
+	return fIsLockHorizon;
+}
+
+void MouseParameters::SetLockHorizon(bool bOn)
+{
+	fIsLockHorizon=bOn;
+}
+
+void MouseParameters::SetNavigationMode(ENavigation navigation)
+{
+	fNavigation=navigation;
+}
+
+void MouseParameters::SetPivotMode(EPivot pivot)
+{
+   if (fPivot!=kManualPivot || pivot!=kAutoPivotOverride)
+	  fPivot = pivot;
+}
+
+void MouseParameters::SetPivotVisibility(EPivotVisibility visibility)
+{
+	fPivotVisibility = visibility;
+}
+

libs/thirdParty/3DMouse/win/MouseParameters.h

+
+#ifndef T3D_MOUSE_PARAMS_H
+#define T3D_MOUSE_PARAMS_H
+
+#include "I3dMouseParams.h"
+
+
+class MouseParameters : public I3dMouseParam
+{
+public:
+	MouseParameters();
+	~MouseParameters();
+
+	// I3dmouseSensor interface
+	bool		IsPanZoom()  const;
+	bool		IsRotate()  const;
+	ESpeed		GetSpeed()  const;
+
+	void		SetPanZoom(bool isPanZoom);
+	void		SetRotate(bool isRotate);
+	void		SetSpeed(ESpeed speed);
+
+	// I3dmouseNavigation interface
+	ENavigation			GetNavigationMode()  const;
+	EPivot				GetPivotMode()  const;
+	EPivotVisibility	GetPivotVisibility()  const;
+	bool				IsLockHorizon()  const;
+
+	void				SetLockHorizon(bool bOn);
+	void				SetNavigationMode(ENavigation navigation);
+	void				SetPivotMode(EPivot pivot);
+	void				SetPivotVisibility(EPivotVisibility visibility);
+
+private:
+
+	MouseParameters (const MouseParameters&);
+	const MouseParameters& operator =(const MouseParameters&);
+
+	ENavigation			fNavigation;
+	EPivot				fPivot;
+	EPivotVisibility	fPivotVisibility;
+	bool				fIsLockHorizon;
+
+	bool				fIsPanZoom;
+	bool				fIsRotate;
+	ESpeed				fSpeed;
+};
+
+#endif

qgroundcontrol.pro

-# -------------------------------------------------
-# QGroundControl - Micro Air Vehicle Groundstation
-# Please see our website at <http://qgroundcontrol.org>
-# Maintainer:
-# Lorenz Meier <lm@inf.ethz.ch>
-# (c) 2009-2011 QGroundControl Developers
-# This file is part of the open groundstation project
-# QGroundControl is free software: you can redistribute it and/or modify
-# 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.
-# QGroundControl 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 QGroundControl. If not, see <http://www.gnu.org/licenses/>.
-# -------------------------------------------------
-
-
-# Qt configuration
-CONFIG += qt \
-    thread
-QT += network \
-    opengl \
-    svg \
-    xml \
-    phonon \
-    webkit \
-    sql
-
-TEMPLATE = app
-TARGET = qgroundcontrol
-BASEDIR = $${IN_PWD}
-linux-g++|linux-g++-64{
-    debug {
-        TARGETDIR = $${OUT_PWD}/debug
-        BUILDDIR = $${OUT_PWD}/build-debug
-    }
-    release {
-        TARGETDIR = $${OUT_PWD}/release
-        BUILDDIR = $${OUT_PWD}/build-release
-    }
-} else {
-    TARGETDIR = $${OUT_PWD}
-    BUILDDIR = $${OUT_PWD}/build
-}
-LANGUAGE = C++
-OBJECTS_DIR = $${BUILDDIR}/obj
-MOC_DIR = $${BUILDDIR}/moc
-UI_DIR = $${BUILDDIR}/ui
-RCC_DIR = $${BUILDDIR}/rcc
-MAVLINK_CONF = "pixhawk"
-MAVLINKPATH = $$BASEDIR/libs/mavlink/include/mavlink/v1.0
-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"
-	
-	# Build QAX for GoogleEarth API access
-	!exists( $(QTDIR)/src/activeqt/Makefile ) {
-		message( Making QAx (ONE TIME) )
-		system( cd $$(QTDIR)\\src\\activeqt && $$(QTDIR)\\bin\\qmake.exe )
-		system( cd $$(QTDIR)\\src\\activeqt\\container && $$(QTDIR)\\bin\\qmake.exe )
-		system( cd $$(QTDIR)\\src\\activeqt\\control && $$(QTDIR)\\bin\\qmake.exe )
-	}
-}
-
-
-
-#################################################################
-# EXTERNAL LIBRARY CONFIGURATION
-
-# EIGEN matrix library (header-only)
-INCLUDEPATH += libs/eigen
-
-# OPMapControl library (from OpenPilot)
-include(libs/utils/utils_external.pri)
-include(libs/opmapcontrol/opmapcontrol_external.pri)
-DEPENDPATH += \
-    libs/utils \
-    libs/utils/src \
-    libs/opmapcontrol \
-    libs/opmapcontrol/src \
-    libs/opmapcontrol/src/mapwidget
-
-INCLUDEPATH += \
-    libs/utils \
-    libs \
-    libs/opmapcontrol
-
-# If the user config file exists, it will be included.
-# if the variable MAVLINK_CONF contains the name of an
-# additional project, QGroundControl includes the support
-# of custom MAVLink messages of this project. It will also
-# create a QGC_USE_{AUTOPILOT_NAME}_MESSAGES macro for use
-# within the actual code.
-exists(user_config.pri) { 
-    include(user_config.pri)
-    message("----- USING CUSTOM USER QGROUNDCONTROL CONFIG FROM user_config.pri -----")
-    message("Adding support for additional MAVLink messages for: " $$MAVLINK_CONF)
-    message("------------------------------------------------------------------------")
-}
-INCLUDEPATH += $$MAVLINKPATH
-isEmpty(MAVLINK_CONF) { 
-    INCLUDEPATH += $$MAVLINKPATH/common
-} else {
-    INCLUDEPATH += $$MAVLINKPATH/$$MAVLINK_CONF
-    #DEFINES += 'MAVLINK_CONF="$${MAVLINK_CONF}.h"'
-    DEFINES += $$sprintf('QGC_USE_%1_MESSAGES', $$upper($$MAVLINK_CONF))
-}
-
-# Include general settings for QGroundControl
-# necessary as last include to override any non-acceptable settings
-# done by the plugins above
-include(qgroundcontrol.pri)
-
-# Include MAVLink generator
-# has been deprecated
-DEPENDPATH += \
-    src/apps/mavlinkgen
-
-INCLUDEPATH += \
-    src/apps/mavlinkgen \
-    src/apps/mavlinkgen/ui \
-    src/apps/mavlinkgen/generator
-
-include(src/apps/mavlinkgen/mavlinkgen.pri)
-
-
-
-# Include QWT plotting library
-include(libs/qwt/qwt.pri)
-DEPENDPATH += . \
-    plugins \
-    libs/thirdParty/qserialport/include \
-    libs/thirdParty/qserialport/include/QtSerialPort \
-    libs/thirdParty/qserialport \
-    libs/qextserialport
-
-INCLUDEPATH += . \
-    libs/thirdParty/qserialport/include \
-    libs/thirdParty/qserialport/include/QtSerialPort \
-    libs/thirdParty/qserialport/src \
-    libs/qextserialport
-
-# Include serial port library (QSerial)
-include(qserialport.pri)
-
-# Serial port detection (ripped-off from qextserialport library)
-macx|macx-g++|macx-g++42::SOURCES += libs/qextserialport/qextserialenumerator_osx.cpp
-linux-g++::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
-linux-g++-64::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
-win32::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
-win32-msvc2008|win32-msvc2010::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
-
-# Input
-FORMS += src/ui/MainWindow.ui \
-    src/ui/CommSettings.ui \
-    src/ui/SerialSettings.ui \
-    src/ui/UASControl.ui \
-    src/ui/UASList.ui \
-    src/ui/UASInfo.ui \
-    src/ui/Linechart.ui \
-    src/ui/UASView.ui \
-    src/ui/ParameterInterface.ui \
-    src/ui/WaypointList.ui \    
-    src/ui/ObjectDetectionView.ui \
-    src/ui/JoystickWidget.ui \
-    src/ui/DebugConsole.ui \
-    src/ui/HDDisplay.ui \
-    src/ui/MAVLinkSettingsWidget.ui \
-    src/ui/AudioOutputWidget.ui \
-    src/ui/QGCSensorSettingsWidget.ui \
-    src/ui/watchdog/WatchdogControl.ui \
-    src/ui/watchdog/WatchdogProcessView.ui \
-    src/ui/watchdog/WatchdogView.ui \
-    src/ui/QGCFirmwareUpdate.ui \
-    src/ui/QGCPxImuFirmwareUpdate.ui \
-    src/ui/QGCDataPlot2D.ui \
-    src/ui/QGCRemoteControlView.ui \
-    src/ui/QMap3D.ui \
-    src/ui/QGCWebView.ui \
-    src/ui/map3D/QGCGoogleEarthView.ui \
-    src/ui/SlugsDataSensorView.ui \
-    src/ui/SlugsHilSim.ui \
-    src/ui/SlugsPadCameraControl.ui \
-    src/ui/uas/QGCUnconnectedInfoWidget.ui \
-    src/ui/designer/QGCToolWidget.ui \
-    src/ui/designer/QGCParamSlider.ui \
-    src/ui/designer/QGCActionButton.ui \
-    src/ui/designer/QGCCommandButton.ui \
-    src/ui/QGCMAVLinkLogPlayer.ui \
-    src/ui/QGCWaypointListMulti.ui \
-    src/ui/QGCUDPLinkConfiguration.ui \
-    src/ui/QGCSettingsWidget.ui \
-    src/ui/UASControlParameters.ui \
-    src/ui/map/QGCMapTool.ui \
-    src/ui/map/QGCMapToolBar.ui \
-    src/ui/QGCMAVLinkInspector.ui \
-    src/ui/WaypointViewOnlyView.ui \    
-    src/ui/WaypointEditableView.ui \    
-    src/ui/UnconnectedUASInfoWidget.ui \
-    src/ui/mavlink/QGCMAVLinkMessageSender.ui \
-    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.ui \
-    src/ui/QGCPluginHost.ui \
-    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui \
-    src/ui/mission/QGCMissionOther.ui \
-    src/ui/mission/QGCMissionNavWaypoint.ui \
-    src/ui/mission/QGCMissionDoJump.ui \
-    src/ui/mission/QGCMissionConditionDelay.ui \
-    src/ui/mission/QGCMissionNavLoiterUnlim.ui \
-    src/ui/mission/QGCMissionNavLoiterTurns.ui \
-    src/ui/mission/QGCMissionNavLoiterTime.ui \
-    src/ui/mission/QGCMissionNavReturnToLaunch.ui \
-    src/ui/mission/QGCMissionNavLand.ui \
-    src/ui/mission/QGCMissionNavTakeoff.ui \
-    src/ui/mission/QGCMissionNavSweep.ui \
-    src/ui/mission/QGCMissionDoStartSearch.ui \
-    src/ui/mission/QGCMissionDoFinishSearch.ui \
-    src/ui/QGCVehicleConfig.ui \
-    src/ui/QGCHilConfiguration.ui \
-    src/ui/QGCHilFlightGearConfiguration.ui \
-    src/ui/QGCHilXPlaneConfiguration.ui
-INCLUDEPATH += src \
-    src/ui \
-    src/ui/linechart \
-    src/ui/uas \
-    src/ui/map \
-    src/uas \
-    src/comm \
-    include/ui \
-    src/input \
-    src/lib/qmapcontrol \
-    src/ui/mavlink \
-    src/ui/param \
-    src/ui/watchdog \
-    src/ui/map3D \
-    src/ui/mission \
-    src/ui/designer
-HEADERS += src/MG.h \
-    src/QGCCore.h \
-    src/uas/UASInterface.h \
-    src/uas/UAS.h \
-    src/uas/UASManager.h \
-    src/comm/LinkManager.h \
-    src/comm/LinkInterface.h \
-    src/comm/SerialLinkInterface.h \
-    src/comm/SerialLink.h \
-    src/comm/ProtocolInterface.h \
-    src/comm/MAVLinkProtocol.h \
-    src/comm/QGCFlightGearLink.h \
-    src/comm/QGCXPlaneLink.h \
-    src/ui/CommConfigurationWindow.h \
-    src/ui/SerialConfigurationWindow.h \
-    src/ui/MainWindow.h \
-    src/ui/uas/UASControlWidget.h \
-    src/ui/uas/UASListWidget.h \
-    src/ui/uas/UASInfoWidget.h \
-    src/ui/HUD.h \
-    src/ui/linechart/LinechartWidget.h \
-    src/ui/linechart/LinechartPlot.h \
-    src/ui/linechart/Scrollbar.h \
-    src/ui/linechart/ScrollZoomer.h \
-    src/configuration.h \
-    src/ui/uas/UASView.h \
-    src/ui/CameraView.h \
-    src/comm/MAVLinkSimulationLink.h \
-    src/comm/UDPLink.h \
-    src/ui/ParameterInterface.h \
-    src/ui/WaypointList.h \
-    src/Waypoint.h \   
-    src/ui/ObjectDetectionView.h \
-    src/input/JoystickInput.h \
-    src/ui/JoystickWidget.h \
-    src/ui/DebugConsole.h \
-    src/ui/HDDisplay.h \
-    src/ui/MAVLinkSettingsWidget.h \
-    src/ui/AudioOutputWidget.h \
-    src/GAudioOutput.h \
-    src/LogCompressor.h \
-    src/ui/QGCParamWidget.h \
-    src/ui/QGCSensorSettingsWidget.h \
-    src/ui/linechart/Linecharts.h \
-    src/uas/SlugsMAV.h \
-    src/uas/PxQuadMAV.h \
-    src/uas/ArduPilotMegaMAV.h \
-    src/uas/senseSoarMAV.h \
-    src/ui/watchdog/WatchdogControl.h \
-    src/ui/watchdog/WatchdogProcessView.h \
-    src/ui/watchdog/WatchdogView.h \
-    src/uas/UASWaypointManager.h \
-    src/ui/HSIDisplay.h \
-    src/QGC.h \
-    src/ui/QGCFirmwareUpdate.h \
-    src/ui/QGCPxImuFirmwareUpdate.h \
-    src/ui/QGCDataPlot2D.h \
-    src/ui/linechart/IncrementalPlot.h \
-    src/ui/QGCRemoteControlView.h \
-    src/ui/RadioCalibration/RadioCalibrationData.h \
-    src/ui/RadioCalibration/RadioCalibrationWindow.h \
-    src/ui/RadioCalibration/AirfoilServoCalibrator.h \
-    src/ui/RadioCalibration/SwitchCalibrator.h \
-    src/ui/RadioCalibration/CurveCalibrator.h \
-    src/ui/RadioCalibration/AbstractCalibrator.h \
-    src/comm/QGCMAVLink.h \
-    src/ui/QGCWebView.h \
-    src/ui/map3D/QGCWebPage.h \
-    src/ui/SlugsDataSensorView.h \
-    src/ui/SlugsHilSim.h \
-    src/ui/SlugsPadCameraControl.h \
-    src/ui/QGCMainWindowAPConfigurator.h \
-    src/comm/MAVLinkSwarmSimulationLink.h \
-    src/ui/uas/QGCUnconnectedInfoWidget.h \
-    src/ui/designer/QGCToolWidget.h \
-    src/ui/designer/QGCParamSlider.h \
-    src/ui/designer/QGCCommandButton.h \
-    src/ui/designer/QGCToolWidgetItem.h \
-    src/ui/QGCMAVLinkLogPlayer.h \
-    src/comm/MAVLinkSimulationWaypointPlanner.h \
-    src/comm/MAVLinkSimulationMAV.h \
-    src/uas/QGCMAVLinkUASFactory.h \
-    src/ui/QGCWaypointListMulti.h \
-    src/ui/QGCUDPLinkConfiguration.h \
-    src/ui/QGCSettingsWidget.h \
-    src/ui/uas/UASControlParameters.h \
-    src/uas/QGCUASParamManager.h \
-    src/ui/map/QGCMapWidget.h \
-    src/ui/map/MAV2DIcon.h \
-    src/ui/map/Waypoint2DIcon.h \
-    src/ui/map/QGCMapTool.h \
-    src/ui/map/QGCMapToolBar.h \
-    libs/qextserialport/qextserialenumerator.h \
-    src/QGCGeo.h \
-    src/ui/QGCToolBar.h \
-    src/ui/QGCMAVLinkInspector.h \
-    src/ui/MAVLinkDecoder.h \
-    src/ui/WaypointViewOnlyView.h \
-    src/ui/WaypointViewOnlyView.h \
-    src/ui/WaypointEditableView.h \    
-    src/ui/UnconnectedUASInfoWidget.h \
-    src/ui/QGCRGBDView.h \
-    src/ui/mavlink/QGCMAVLinkMessageSender.h \
-    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
-    src/ui/QGCPluginHost.h \
-    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h \
-    src/ui/mission/QGCMissionOther.h \
-    src/ui/mission/QGCMissionNavWaypoint.h \
-    src/ui/mission/QGCMissionDoJump.h \
-    src/ui/mission/QGCMissionConditionDelay.h \
-    src/ui/mission/QGCMissionNavLoiterUnlim.h \
-    src/ui/mission/QGCMissionNavLoiterTurns.h \
-    src/ui/mission/QGCMissionNavLoiterTime.h \
-    src/ui/mission/QGCMissionNavReturnToLaunch.h \
-    src/ui/mission/QGCMissionNavLand.h \
-    src/ui/mission/QGCMissionNavTakeoff.h \
-    src/ui/mission/QGCMissionNavSweep.h \
-    src/ui/mission/QGCMissionDoStartSearch.h \
-    src/ui/mission/QGCMissionDoFinishSearch.h \
-    src/ui/QGCVehicleConfig.h \
-    src/comm/QGCHilLink.h \
-    src/ui/QGCHilConfiguration.h \
-    src/ui/QGCHilFlightGearConfiguration.h \
-    src/ui/QGCHilXPlaneConfiguration.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::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
-contains(DEPENDENCIES_PRESENT, osg) { 
-    message("Including headers for OpenSceneGraph")
-    
-    # Enable only if OpenSceneGraph is available
-    HEADERS += src/ui/map3D/gpl.h \
-        src/ui/map3D/CameraParams.h \
-        src/ui/map3D/ViewParamWidget.h \
-        src/ui/map3D/SystemContainer.h \
-        src/ui/map3D/SystemViewParams.h \
-        src/ui/map3D/GlobalViewParams.h \
-        src/ui/map3D/SystemGroupNode.h \
-        src/ui/map3D/Q3DWidget.h \
-        src/ui/map3D/GCManipulator.h \
-        src/ui/map3D/ImageWindowGeode.h \
-        src/ui/map3D/PixhawkCheetahNode.h \
-        src/ui/map3D/Pixhawk3DWidget.h \
-        src/ui/map3D/Q3DWidgetFactory.h \
-        src/ui/map3D/WebImageCache.h \
-        src/ui/map3D/WebImage.h \
-        src/ui/map3D/TextureCache.h \
-        src/ui/map3D/Texture.h \
-        src/ui/map3D/Imagery.h \
-        src/ui/map3D/HUDScaleGeode.h \
-        src/ui/map3D/WaypointGroupNode.h \
-        src/ui/map3D/TerrainParamDialog.h \
-        src/ui/map3D/ImageryParamDialog.h
-}
-contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
-    message("Including headers for Protocol Buffers")
-
-    # Enable only if protobuf is available
-    HEADERS += libs/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.pb.h \
-        src/ui/map3D/ObstacleGroupNode.h \
-        src/ui/map3D/GLOverlayGeode.h
-}
-contains(DEPENDENCIES_PRESENT, libfreenect) { 
-    message("Including headers for libfreenect")
-    
-    # Enable only if libfreenect is available
-    HEADERS += src/input/Freenect.h
-}
-SOURCES += src/main.cc \
-    src/QGCCore.cc \
-    src/uas/UASManager.cc \
-    src/uas/UAS.cc \
-    src/comm/LinkManager.cc \
-    src/comm/LinkInterface.cpp \
-    src/comm/SerialLink.cc \
-    src/comm/MAVLinkProtocol.cc \
-    src/comm/QGCFlightGearLink.cc \
-    src/comm/QGCXPlaneLink.cc \
-    src/ui/CommConfigurationWindow.cc \
-    src/ui/SerialConfigurationWindow.cc \
-    src/ui/MainWindow.cc \
-    src/ui/uas/UASControlWidget.cc \
-    src/ui/uas/UASListWidget.cc \
-    src/ui/uas/UASInfoWidget.cc \
-    src/ui/HUD.cc \
-    src/ui/linechart/LinechartWidget.cc \
-    src/ui/linechart/LinechartPlot.cc \
-    src/ui/linechart/Scrollbar.cc \
-    src/ui/linechart/ScrollZoomer.cc \
-    src/ui/uas/UASView.cc \
-    src/ui/CameraView.cc \
-    src/comm/MAVLinkSimulationLink.cc \
-    src/comm/UDPLink.cc \
-    src/ui/ParameterInterface.cc \
-    src/ui/WaypointList.cc \
-    src/Waypoint.cc \
-    src/ui/ObjectDetectionView.cc \
-    src/input/JoystickInput.cc \
-    src/ui/JoystickWidget.cc \
-    src/ui/DebugConsole.cc \
-    src/ui/HDDisplay.cc \
-    src/ui/MAVLinkSettingsWidget.cc \
-    src/ui/AudioOutputWidget.cc \
-    src/GAudioOutput.cc \
-    src/LogCompressor.cc \
-    src/ui/QGCParamWidget.cc \
-    src/ui/QGCSensorSettingsWidget.cc \
-    src/ui/linechart/Linecharts.cc \
-    src/uas/SlugsMAV.cc \
-    src/uas/PxQuadMAV.cc \
-    src/uas/ArduPilotMegaMAV.cc \
-    src/uas/senseSoarMAV.cpp \
-    src/ui/watchdog/WatchdogControl.cc \
-    src/ui/watchdog/WatchdogProcessView.cc \
-    src/ui/watchdog/WatchdogView.cc \
-    src/uas/UASWaypointManager.cc \
-    src/ui/HSIDisplay.cc \
-    src/QGC.cc \
-    src/ui/QGCFirmwareUpdate.cc \
-    src/ui/QGCPxImuFirmwareUpdate.cc \
-    src/ui/QGCDataPlot2D.cc \
-    src/ui/linechart/IncrementalPlot.cc \
-    src/ui/QGCRemoteControlView.cc \
-    src/ui/RadioCalibration/RadioCalibrationWindow.cc \
-    src/ui/RadioCalibration/AirfoilServoCalibrator.cc \
-    src/ui/RadioCalibration/SwitchCalibrator.cc \
-    src/ui/RadioCalibration/CurveCalibrator.cc \
-    src/ui/RadioCalibration/AbstractCalibrator.cc \
-    src/ui/RadioCalibration/RadioCalibrationData.cc \
-    src/ui/QGCWebView.cc \
-    src/ui/map3D/QGCWebPage.cc \
-    src/ui/SlugsDataSensorView.cc \
-    src/ui/SlugsHilSim.cc \
-    src/ui/SlugsPadCameraControl.cpp \
-    src/ui/QGCMainWindowAPConfigurator.cc \
-    src/comm/MAVLinkSwarmSimulationLink.cc \
-    src/ui/uas/QGCUnconnectedInfoWidget.cc \
-    src/ui/designer/QGCToolWidget.cc \
-    src/ui/designer/QGCParamSlider.cc \
-    src/ui/designer/QGCCommandButton.cc \
-    src/ui/designer/QGCToolWidgetItem.cc \
-    src/ui/QGCMAVLinkLogPlayer.cc \
-    src/comm/MAVLinkSimulationWaypointPlanner.cc \
-    src/comm/MAVLinkSimulationMAV.cc \
-    src/uas/QGCMAVLinkUASFactory.cc \
-    src/ui/QGCWaypointListMulti.cc \
-    src/ui/QGCUDPLinkConfiguration.cc \
-    src/ui/QGCSettingsWidget.cc \
-    src/ui/uas/UASControlParameters.cpp \
-    src/uas/QGCUASParamManager.cc \
-    src/ui/map/QGCMapWidget.cc \
-    src/ui/map/MAV2DIcon.cc \
-    src/ui/map/Waypoint2DIcon.cc \
-    src/ui/map/QGCMapTool.cc \
-    src/ui/map/QGCMapToolBar.cc \
-    src/ui/QGCToolBar.cc \
-    src/ui/QGCMAVLinkInspector.cc \
-    src/ui/MAVLinkDecoder.cc \
-    src/ui/WaypointViewOnlyView.cc \
-    src/ui/WaypointEditableView.cc \
-    src/ui/UnconnectedUASInfoWidget.cc \
-    src/ui/QGCRGBDView.cc \
-    src/ui/mavlink/QGCMAVLinkMessageSender.cc \
-    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \
-    src/ui/QGCPluginHost.cc \
-    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc \
-    src/ui/mission/QGCMissionOther.cc \
-    src/ui/mission/QGCMissionNavWaypoint.cc \
-    src/ui/mission/QGCMissionDoJump.cc \
-    src/ui/mission/QGCMissionConditionDelay.cc \
-    src/ui/mission/QGCMissionNavLoiterUnlim.cc \
-    src/ui/mission/QGCMissionNavLoiterTurns.cc \
-    src/ui/mission/QGCMissionNavLoiterTime.cc \
-    src/ui/mission/QGCMissionNavReturnToLaunch.cc \
-    src/ui/mission/QGCMissionNavLand.cc \
-    src/ui/mission/QGCMissionNavTakeoff.cc \
-    src/ui/mission/QGCMissionNavSweep.cc \
-    src/ui/mission/QGCMissionDoStartSearch.cc \
-    src/ui/mission/QGCMissionDoFinishSearch.cc \
-    src/ui/QGCVehicleConfig.cc \
-    src/comm/QGCHilLink.cc \
-    src/ui/QGCHilConfiguration.cc \
-    src/ui/QGCHilFlightGearConfiguration.cc \
-    src/ui/QGCHilXPlaneConfiguration.cc
-
-# Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
-macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
-
-# Enable OSG only if it has been found
-contains(DEPENDENCIES_PRESENT, osg) { 
-    message("Including sources for OpenSceneGraph")
-    
-    # Enable only if OpenSceneGraph is available
-    SOURCES += src/ui/map3D/gpl.cc \
-        src/ui/map3D/CameraParams.cc \
-        src/ui/map3D/ViewParamWidget.cc \
-        src/ui/map3D/SystemContainer.cc \
-        src/ui/map3D/SystemViewParams.cc \
-        src/ui/map3D/GlobalViewParams.cc \
-        src/ui/map3D/SystemGroupNode.cc \
-        src/ui/map3D/Q3DWidget.cc \
-        src/ui/map3D/ImageWindowGeode.cc \
-        src/ui/map3D/GCManipulator.cc \
-        src/ui/map3D/PixhawkCheetahNode.cc \
-        src/ui/map3D/Pixhawk3DWidget.cc \
-        src/ui/map3D/Q3DWidgetFactory.cc \
-        src/ui/map3D/WebImageCache.cc \
-        src/ui/map3D/WebImage.cc \
-        src/ui/map3D/TextureCache.cc \
-        src/ui/map3D/Texture.cc \
-        src/ui/map3D/Imagery.cc \
-        src/ui/map3D/HUDScaleGeode.cc \
-        src/ui/map3D/WaypointGroupNode.cc \
-        src/ui/map3D/TerrainParamDialog.cc \
-        src/ui/map3D/ImageryParamDialog.cc
-
-    contains(DEPENDENCIES_PRESENT, osgearth) { 
-        message("Including sources for osgEarth")
-        
-        # Enable only if OpenSceneGraph is available
-        SOURCES +=
-    }
-}
-contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
-    message("Including sources for Protocol Buffers")
-
-    # Enable only if protobuf is available
-    SOURCES += libs/mavlink/share/mavlink/src/v1.0/pixhawk/pixhawk.pb.cc \
-        src/ui/map3D/ObstacleGroupNode.cc \
-        src/ui/map3D/GLOverlayGeode.cc
-}
-contains(DEPENDENCIES_PRESENT, libfreenect) { 
-    message("Including sources for libfreenect")
-    
-    # Enable only if libfreenect is available
-    SOURCES += src/input/Freenect.cc
-}
-
-# Add icons and other resources
-RESOURCES += qgroundcontrol.qrc
-
-# Include RT-LAB Library
-win32:exists(src/lib/opalrt/OpalApi.h):exists(C:/OPAL-RT/RT-LAB7.2.4/Common/bin) { 
-    message("Building support for Opal-RT")
-    LIBS += -LC:/OPAL-RT/RT-LAB7.2.4/Common/bin \
-        -lOpalApi
-    INCLUDEPATH += src/lib/opalrt
-    HEADERS += src/comm/OpalRT.h \
-        src/comm/OpalLink.h \
-        src/comm/Parameter.h \
-        src/comm/QGCParamID.h \
-        src/comm/ParameterList.h \
-        src/ui/OpalLinkConfigurationWindow.h
-    SOURCES += src/comm/OpalRT.cc \
-        src/comm/OpalLink.cc \
-        src/comm/Parameter.cc \
-        src/comm/QGCParamID.cc \
-        src/comm/ParameterList.cc \
-        src/ui/OpalLinkConfigurationWindow.cc
-    FORMS += src/ui/OpalLinkSettings.ui
-    DEFINES += OPAL_RT
-}
-TRANSLATIONS += es-MX.ts \
-    en-US.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 += libs/thirdParty/libxbee
-# TO DO: build library when it does not exist already
-    LIBS += -Llibs/thirdParty/libxbee/lib \
-        -llibxbee
-}
+# -------------------------------------------------
+# QGroundControl - Micro Air Vehicle Groundstation
+# Please see our website at <http://qgroundcontrol.org>
+# Maintainer:
+# Lorenz Meier <lm@inf.ethz.ch>
+# (c) 2009-2011 QGroundControl Developers
+# This file is part of the open groundstation project
+# QGroundControl is free software: you can redistribute it and/or modify
+# 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.
+# QGroundControl 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 QGroundControl. If not, see <http://www.gnu.org/licenses/>.
+# -------------------------------------------------
+
+
+# Qt configuration
+CONFIG += qt \
+    thread
+QT += network \
+    opengl \
+    svg \
+    xml \
+    phonon \
+    webkit \
+    sql
+
+TEMPLATE = app
+TARGET = qgroundcontrol
+BASEDIR = $${IN_PWD}
+linux-g++|linux-g++-64{
+    debug {
+        TARGETDIR = $${OUT_PWD}/debug
+        BUILDDIR = $${OUT_PWD}/build-debug
+    }
+    release {
+        TARGETDIR = $${OUT_PWD}/release
+        BUILDDIR = $${OUT_PWD}/build-release
+    }
+} else {
+    TARGETDIR = $${OUT_PWD}
+    BUILDDIR = $${OUT_PWD}/build
+}
+LANGUAGE = C++
+OBJECTS_DIR = $${BUILDDIR}/obj
+MOC_DIR = $${BUILDDIR}/moc
+UI_DIR = $${BUILDDIR}/ui
+RCC_DIR = $${BUILDDIR}/rcc
+MAVLINK_CONF = "pixhawk"
+MAVLINKPATH = $$BASEDIR/libs/mavlink/include/mavlink/v1.0
+DEFINES += MAVLINK_NO_DATA
+
+win32 {
+    QMAKE_INCDIR_QT = $$(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 = "$$(QTDIR)/bin/qmake.exe"
+	
+	# Build QAX for GoogleEarth API access
+	!exists( $(QTDIR)/src/activeqt/Makefile ) {
+		message( Making QAx (ONE TIME) )
+		system( cd $$(QTDIR)\\src\\activeqt && $$(QTDIR)\\bin\\qmake.exe )
+		system( cd $$(QTDIR)\\src\\activeqt\\container && $$(QTDIR)\\bin\\qmake.exe )
+		system( cd $$(QTDIR)\\src\\activeqt\\control && $$(QTDIR)\\bin\\qmake.exe )
+	}
+}
+
+
+
+#################################################################
+# EXTERNAL LIBRARY CONFIGURATION
+
+# EIGEN matrix library (header-only)
+INCLUDEPATH += libs/eigen
+
+# OPMapControl library (from OpenPilot)
+include(libs/utils/utils_external.pri)
+include(libs/opmapcontrol/opmapcontrol_external.pri)
+DEPENDPATH += \
+    libs/utils \
+    libs/utils/src \
+    libs/opmapcontrol \
+    libs/opmapcontrol/src \
+    libs/opmapcontrol/src/mapwidget
+
+INCLUDEPATH += \
+    libs/utils \
+    libs \
+    libs/opmapcontrol
+
+# If the user config file exists, it will be included.
+# if the variable MAVLINK_CONF contains the name of an
+# additional project, QGroundControl includes the support
+# of custom MAVLink messages of this project. It will also
+# create a QGC_USE_{AUTOPILOT_NAME}_MESSAGES macro for use
+# within the actual code.
+exists(user_config.pri) { 
+    include(user_config.pri)
+    message("----- USING CUSTOM USER QGROUNDCONTROL CONFIG FROM user_config.pri -----")
+    message("Adding support for additional MAVLink messages for: " $$MAVLINK_CONF)
+    message("------------------------------------------------------------------------")
+}
+INCLUDEPATH += $$MAVLINKPATH
+isEmpty(MAVLINK_CONF) { 
+    INCLUDEPATH += $$MAVLINKPATH/common
+} else {
+    INCLUDEPATH += $$MAVLINKPATH/$$MAVLINK_CONF
+    #DEFINES += 'MAVLINK_CONF="$${MAVLINK_CONF}.h"'
+    DEFINES += $$sprintf('QGC_USE_%1_MESSAGES', $$upper($$MAVLINK_CONF))
+}
+
+# Include general settings for QGroundControl
+# necessary as last include to override any non-acceptable settings
+# done by the plugins above
+include(qgroundcontrol.pri)
+
+# Include MAVLink generator
+# has been deprecated
+DEPENDPATH += \
+    src/apps/mavlinkgen
+
+INCLUDEPATH += \
+    src/apps/mavlinkgen \
+    src/apps/mavlinkgen/ui \
+    src/apps/mavlinkgen/generator
+
+include(src/apps/mavlinkgen/mavlinkgen.pri)
+
+
+
+# Include QWT plotting library
+include(libs/qwt/qwt.pri)
+DEPENDPATH += . \
+    plugins \
+    libs/thirdParty/qserialport/include \
+    libs/thirdParty/qserialport/include/QtSerialPort \
+    libs/thirdParty/qserialport \
+    libs/qextserialport
+
+INCLUDEPATH += . \
+    libs/thirdParty/qserialport/include \
+    libs/thirdParty/qserialport/include/QtSerialPort \
+    libs/thirdParty/qserialport/src \
+    libs/qextserialport
+
+# Include serial port library (QSerial)
+include(qserialport.pri)
+
+# Serial port detection (ripped-off from qextserialport library)
+macx|macx-g++|macx-g++42::SOURCES += libs/qextserialport/qextserialenumerator_osx.cpp
+linux-g++::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
+linux-g++-64::SOURCES += libs/qextserialport/qextserialenumerator_unix.cpp
+win32::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
+win32-msvc2008|win32-msvc2010::SOURCES += libs/qextserialport/qextserialenumerator_win.cpp
+
+# Input
+FORMS += src/ui/MainWindow.ui \
+    src/ui/CommSettings.ui \
+    src/ui/SerialSettings.ui \
+    src/ui/UASControl.ui \
+    src/ui/UASList.ui \
+    src/ui/UASInfo.ui \
+    src/ui/Linechart.ui \
+    src/ui/UASView.ui \
+    src/ui/ParameterInterface.ui \
+    src/ui/WaypointList.ui \    
+    src/ui/ObjectDetectionView.ui \
+    src/ui/JoystickWidget.ui \
+    src/ui/DebugConsole.ui \
+    src/ui/HDDisplay.ui \
+    src/ui/MAVLinkSettingsWidget.ui \
+    src/ui/AudioOutputWidget.ui \
+    src/ui/QGCSensorSettingsWidget.ui \
+    src/ui/watchdog/WatchdogControl.ui \
+    src/ui/watchdog/WatchdogProcessView.ui \
+    src/ui/watchdog/WatchdogView.ui \
+    src/ui/QGCFirmwareUpdate.ui \
+    src/ui/QGCPxImuFirmwareUpdate.ui \
+    src/ui/QGCDataPlot2D.ui \
+    src/ui/QGCRemoteControlView.ui \
+    src/ui/QMap3D.ui \
+    src/ui/QGCWebView.ui \
+    src/ui/map3D/QGCGoogleEarthView.ui \
+    src/ui/SlugsDataSensorView.ui \
+    src/ui/SlugsHilSim.ui \
+    src/ui/SlugsPadCameraControl.ui \
+    src/ui/uas/QGCUnconnectedInfoWidget.ui \
+    src/ui/designer/QGCToolWidget.ui \
+    src/ui/designer/QGCParamSlider.ui \
+    src/ui/designer/QGCActionButton.ui \
+    src/ui/designer/QGCCommandButton.ui \
+    src/ui/QGCMAVLinkLogPlayer.ui \
+    src/ui/QGCWaypointListMulti.ui \
+    src/ui/QGCUDPLinkConfiguration.ui \
+    src/ui/QGCSettingsWidget.ui \
+    src/ui/UASControlParameters.ui \
+    src/ui/map/QGCMapTool.ui \
+    src/ui/map/QGCMapToolBar.ui \
+    src/ui/QGCMAVLinkInspector.ui \
+    src/ui/WaypointViewOnlyView.ui \    
+    src/ui/WaypointEditableView.ui \    
+    src/ui/UnconnectedUASInfoWidget.ui \
+    src/ui/mavlink/QGCMAVLinkMessageSender.ui \
+    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.ui \
+    src/ui/QGCPluginHost.ui \
+    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui \
+    src/ui/mission/QGCMissionOther.ui \
+    src/ui/mission/QGCMissionNavWaypoint.ui \
+    src/ui/mission/QGCMissionDoJump.ui \
+    src/ui/mission/QGCMissionConditionDelay.ui \
+    src/ui/mission/QGCMissionNavLoiterUnlim.ui \
+    src/ui/mission/QGCMissionNavLoiterTurns.ui \
+    src/ui/mission/QGCMissionNavLoiterTime.ui \
+    src/ui/mission/QGCMissionNavReturnToLaunch.ui \
+    src/ui/mission/QGCMissionNavLand.ui \
+    src/ui/mission/QGCMissionNavTakeoff.ui \
+    src/ui/mission/QGCMissionNavSweep.ui \
+    src/ui/mission/QGCMissionDoStartSearch.ui \
+    src/ui/mission/QGCMissionDoFinishSearch.ui \
+    src/ui/QGCVehicleConfig.ui \
+    src/ui/QGCHilConfiguration.ui \
+    src/ui/QGCHilFlightGearConfiguration.ui \
+    src/ui/QGCHilXPlaneConfiguration.ui
+INCLUDEPATH += src \
+    src/ui \
+    src/ui/linechart \
+    src/ui/uas \
+    src/ui/map \
+    src/uas \
+    src/comm \
+    include/ui \
+    src/input \
+    src/lib/qmapcontrol \
+    src/ui/mavlink \
+    src/ui/param \
+    src/ui/watchdog \
+    src/ui/map3D \
+    src/ui/mission \
+    src/ui/designer
+HEADERS += src/MG.h \
+    src/QGCCore.h \
+    src/uas/UASInterface.h \
+    src/uas/UAS.h \
+    src/uas/UASManager.h \
+    src/comm/LinkManager.h \
+    src/comm/LinkInterface.h \
+    src/comm/SerialLinkInterface.h \
+    src/comm/SerialLink.h \
+    src/comm/ProtocolInterface.h \
+    src/comm/MAVLinkProtocol.h \
+    src/comm/QGCFlightGearLink.h \
+    src/comm/QGCXPlaneLink.h \
+    src/ui/CommConfigurationWindow.h \
+    src/ui/SerialConfigurationWindow.h \
+    src/ui/MainWindow.h \
+    src/ui/uas/UASControlWidget.h \
+    src/ui/uas/UASListWidget.h \
+    src/ui/uas/UASInfoWidget.h \
+    src/ui/HUD.h \
+    src/ui/linechart/LinechartWidget.h \
+    src/ui/linechart/LinechartPlot.h \
+    src/ui/linechart/Scrollbar.h \
+    src/ui/linechart/ScrollZoomer.h \
+    src/configuration.h \
+    src/ui/uas/UASView.h \
+    src/ui/CameraView.h \
+    src/comm/MAVLinkSimulationLink.h \
+    src/comm/UDPLink.h \
+    src/ui/ParameterInterface.h \
+    src/ui/WaypointList.h \
+    src/Waypoint.h \   
+    src/ui/ObjectDetectionView.h \
+    src/input/JoystickInput.h \
+    src/ui/JoystickWidget.h \
+    src/ui/DebugConsole.h \
+    src/ui/HDDisplay.h \
+    src/ui/MAVLinkSettingsWidget.h \
+    src/ui/AudioOutputWidget.h \
+    src/GAudioOutput.h \
+    src/LogCompressor.h \
+    src/ui/QGCParamWidget.h \
+    src/ui/QGCSensorSettingsWidget.h \
+    src/ui/linechart/Linecharts.h \
+    src/uas/SlugsMAV.h \
+    src/uas/PxQuadMAV.h \
+    src/uas/ArduPilotMegaMAV.h \
+    src/uas/senseSoarMAV.h \
+    src/ui/watchdog/WatchdogControl.h \
+    src/ui/watchdog/WatchdogProcessView.h \
+    src/ui/watchdog/WatchdogView.h \
+    src/uas/UASWaypointManager.h \
+    src/ui/HSIDisplay.h \
+    src/QGC.h \
+    src/ui/QGCFirmwareUpdate.h \
+    src/ui/QGCPxImuFirmwareUpdate.h \
+    src/ui/QGCDataPlot2D.h \
+    src/ui/linechart/IncrementalPlot.h \
+    src/ui/QGCRemoteControlView.h \
+    src/ui/RadioCalibration/RadioCalibrationData.h \
+    src/ui/RadioCalibration/RadioCalibrationWindow.h \
+    src/ui/RadioCalibration/AirfoilServoCalibrator.h \
+    src/ui/RadioCalibration/SwitchCalibrator.h \
+    src/ui/RadioCalibration/CurveCalibrator.h \
+    src/ui/RadioCalibration/AbstractCalibrator.h \
+    src/comm/QGCMAVLink.h \
+    src/ui/QGCWebView.h \
+    src/ui/map3D/QGCWebPage.h \
+    src/ui/SlugsDataSensorView.h \
+    src/ui/SlugsHilSim.h \
+    src/ui/SlugsPadCameraControl.h \
+    src/ui/QGCMainWindowAPConfigurator.h \
+    src/comm/MAVLinkSwarmSimulationLink.h \
+    src/ui/uas/QGCUnconnectedInfoWidget.h \
+    src/ui/designer/QGCToolWidget.h \
+    src/ui/designer/QGCParamSlider.h \
+    src/ui/designer/QGCCommandButton.h \
+    src/ui/designer/QGCToolWidgetItem.h \
+    src/ui/QGCMAVLinkLogPlayer.h \
+    src/comm/MAVLinkSimulationWaypointPlanner.h \
+    src/comm/MAVLinkSimulationMAV.h \
+    src/uas/QGCMAVLinkUASFactory.h \
+    src/ui/QGCWaypointListMulti.h \
+    src/ui/QGCUDPLinkConfiguration.h \
+    src/ui/QGCSettingsWidget.h \
+    src/ui/uas/UASControlParameters.h \
+    src/uas/QGCUASParamManager.h \
+    src/ui/map/QGCMapWidget.h \
+    src/ui/map/MAV2DIcon.h \
+    src/ui/map/Waypoint2DIcon.h \
+    src/ui/map/QGCMapTool.h \
+    src/ui/map/QGCMapToolBar.h \
+    libs/qextserialport/qextserialenumerator.h \
+    src/QGCGeo.h \
+    src/ui/QGCToolBar.h \
+    src/ui/QGCMAVLinkInspector.h \
+    src/ui/MAVLinkDecoder.h \
+    src/ui/WaypointViewOnlyView.h \
+    src/ui/WaypointViewOnlyView.h \
+    src/ui/WaypointEditableView.h \    
+    src/ui/UnconnectedUASInfoWidget.h \
+    src/ui/QGCRGBDView.h \
+    src/ui/mavlink/QGCMAVLinkMessageSender.h \
+    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \
+    src/ui/QGCPluginHost.h \
+    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h \
+    src/ui/mission/QGCMissionOther.h \
+    src/ui/mission/QGCMissionNavWaypoint.h \
+    src/ui/mission/QGCMissionDoJump.h \
+    src/ui/mission/QGCMissionConditionDelay.h \
+    src/ui/mission/QGCMissionNavLoiterUnlim.h \
+    src/ui/mission/QGCMissionNavLoiterTurns.h \
+    src/ui/mission/QGCMissionNavLoiterTime.h \
+    src/ui/mission/QGCMissionNavReturnToLaunch.h \
+    src/ui/mission/QGCMissionNavLand.h \
+    src/ui/mission/QGCMissionNavTakeoff.h \
+    src/ui/mission/QGCMissionNavSweep.h \
+    src/ui/mission/QGCMissionDoStartSearch.h \
+    src/ui/mission/QGCMissionDoFinishSearch.h \
+    src/ui/QGCVehicleConfig.h \
+    src/comm/QGCHilLink.h \
+    src/ui/QGCHilConfiguration.h \
+    src/ui/QGCHilFlightGearConfiguration.h \
+    src/ui/QGCHilXPlaneConfiguration.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::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
+contains(DEPENDENCIES_PRESENT, osg) { 
+    message("Including headers for OpenSceneGraph")
+    
+    # Enable only if OpenSceneGraph is available
+    HEADERS += src/ui/map3D/gpl.h \
+        src/ui/map3D/CameraParams.h \
+        src/ui/map3D/ViewParamWidget.h \
+        src/ui/map3D/SystemContainer.h \
+        src/ui/map3D/SystemViewParams.h \
+        src/ui/map3D/GlobalViewParams.h \
+        src/ui/map3D/SystemGroupNode.h \
+        src/ui/map3D/Q3DWidget.h \
+        src/ui/map3D/GCManipulator.h \
+        src/ui/map3D/ImageWindowGeode.h \
+        src/ui/map3D/PixhawkCheetahNode.h \
+        src/ui/map3D/Pixhawk3DWidget.h \
+        src/ui/map3D/Q3DWidgetFactory.h \
+        src/ui/map3D/WebImageCache.h \
+        src/ui/map3D/WebImage.h \
+        src/ui/map3D/TextureCache.h \
+        src/ui/map3D/Texture.h \
+        src/ui/map3D/Imagery.h \
+        src/ui/map3D/HUDScaleGeode.h \
+        src/ui/map3D/WaypointGroupNode.h \
+        src/ui/map3D/TerrainParamDialog.h \
+        src/ui/map3D/ImageryParamDialog.h
+}
+contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
+    message("Including headers for Protocol Buffers")
+
+    # Enable only if protobuf is available
+    HEADERS += libs/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.pb.h \
+        src/ui/map3D/ObstacleGroupNode.h \
+        src/ui/map3D/GLOverlayGeode.h
+}
+contains(DEPENDENCIES_PRESENT, libfreenect) { 
+    message("Including headers for libfreenect")
+    
+    # Enable only if libfreenect is available
+    HEADERS += src/input/Freenect.h
+}
+SOURCES += src/main.cc \
+    src/QGCCore.cc \
+    src/uas/UASManager.cc \
+    src/uas/UAS.cc \
+    src/comm/LinkManager.cc \
+    src/comm/LinkInterface.cpp \
+    src/comm/SerialLink.cc \
+    src/comm/MAVLinkProtocol.cc \
+    src/comm/QGCFlightGearLink.cc \
+    src/comm/QGCXPlaneLink.cc \
+    src/ui/CommConfigurationWindow.cc \
+    src/ui/SerialConfigurationWindow.cc \
+    src/ui/MainWindow.cc \
+    src/ui/uas/UASControlWidget.cc \
+    src/ui/uas/UASListWidget.cc \
+    src/ui/uas/UASInfoWidget.cc \
+    src/ui/HUD.cc \
+    src/ui/linechart/LinechartWidget.cc \
+    src/ui/linechart/LinechartPlot.cc \
+    src/ui/linechart/Scrollbar.cc \
+    src/ui/linechart/ScrollZoomer.cc \
+    src/ui/uas/UASView.cc \
+    src/ui/CameraView.cc \
+    src/comm/MAVLinkSimulationLink.cc \
+    src/comm/UDPLink.cc \
+    src/ui/ParameterInterface.cc \
+    src/ui/WaypointList.cc \
+    src/Waypoint.cc \
+    src/ui/ObjectDetectionView.cc \
+    src/input/JoystickInput.cc \
+    src/ui/JoystickWidget.cc \
+    src/ui/DebugConsole.cc \
+    src/ui/HDDisplay.cc \
+    src/ui/MAVLinkSettingsWidget.cc \
+    src/ui/AudioOutputWidget.cc \
+    src/GAudioOutput.cc \
+    src/LogCompressor.cc \
+    src/ui/QGCParamWidget.cc \
+    src/ui/QGCSensorSettingsWidget.cc \
+    src/ui/linechart/Linecharts.cc \
+    src/uas/SlugsMAV.cc \
+    src/uas/PxQuadMAV.cc \
+    src/uas/ArduPilotMegaMAV.cc \
+    src/uas/senseSoarMAV.cpp \
+    src/ui/watchdog/WatchdogControl.cc \
+    src/ui/watchdog/WatchdogProcessView.cc \
+    src/ui/watchdog/WatchdogView.cc \
+    src/uas/UASWaypointManager.cc \
+    src/ui/HSIDisplay.cc \
+    src/QGC.cc \
+    src/ui/QGCFirmwareUpdate.cc \
+    src/ui/QGCPxImuFirmwareUpdate.cc \
+    src/ui/QGCDataPlot2D.cc \
+    src/ui/linechart/IncrementalPlot.cc \
+    src/ui/QGCRemoteControlView.cc \
+    src/ui/RadioCalibration/RadioCalibrationWindow.cc \
+    src/ui/RadioCalibration/AirfoilServoCalibrator.cc \
+    src/ui/RadioCalibration/SwitchCalibrator.cc \
+    src/ui/RadioCalibration/CurveCalibrator.cc \
+    src/ui/RadioCalibration/AbstractCalibrator.cc \
+    src/ui/RadioCalibration/RadioCalibrationData.cc \
+    src/ui/QGCWebView.cc \
+    src/ui/map3D/QGCWebPage.cc \
+    src/ui/SlugsDataSensorView.cc \
+    src/ui/SlugsHilSim.cc \
+    src/ui/SlugsPadCameraControl.cpp \
+    src/ui/QGCMainWindowAPConfigurator.cc \
+    src/comm/MAVLinkSwarmSimulationLink.cc \
+    src/ui/uas/QGCUnconnectedInfoWidget.cc \
+    src/ui/designer/QGCToolWidget.cc \
+    src/ui/designer/QGCParamSlider.cc \
+    src/ui/designer/QGCCommandButton.cc \
+    src/ui/designer/QGCToolWidgetItem.cc \
+    src/ui/QGCMAVLinkLogPlayer.cc \
+    src/comm/MAVLinkSimulationWaypointPlanner.cc \
+    src/comm/MAVLinkSimulationMAV.cc \
+    src/uas/QGCMAVLinkUASFactory.cc \
+    src/ui/QGCWaypointListMulti.cc \
+    src/ui/QGCUDPLinkConfiguration.cc \
+    src/ui/QGCSettingsWidget.cc \
+    src/ui/uas/UASControlParameters.cpp \
+    src/uas/QGCUASParamManager.cc \
+    src/ui/map/QGCMapWidget.cc \
+    src/ui/map/MAV2DIcon.cc \
+    src/ui/map/Waypoint2DIcon.cc \
+    src/ui/map/QGCMapTool.cc \
+    src/ui/map/QGCMapToolBar.cc \
+    src/ui/QGCToolBar.cc \
+    src/ui/QGCMAVLinkInspector.cc \
+    src/ui/MAVLinkDecoder.cc \
+    src/ui/WaypointViewOnlyView.cc \
+    src/ui/WaypointEditableView.cc \
+    src/ui/UnconnectedUASInfoWidget.cc \
+    src/ui/QGCRGBDView.cc \
+    src/ui/mavlink/QGCMAVLinkMessageSender.cc \
+    src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \
+    src/ui/QGCPluginHost.cc \
+    src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc \
+    src/ui/mission/QGCMissionOther.cc \
+    src/ui/mission/QGCMissionNavWaypoint.cc \
+    src/ui/mission/QGCMissionDoJump.cc \
+    src/ui/mission/QGCMissionConditionDelay.cc \
+    src/ui/mission/QGCMissionNavLoiterUnlim.cc \
+    src/ui/mission/QGCMissionNavLoiterTurns.cc \
+    src/ui/mission/QGCMissionNavLoiterTime.cc \
+    src/ui/mission/QGCMissionNavReturnToLaunch.cc \
+    src/ui/mission/QGCMissionNavLand.cc \
+    src/ui/mission/QGCMissionNavTakeoff.cc \
+    src/ui/mission/QGCMissionNavSweep.cc \
+    src/ui/mission/QGCMissionDoStartSearch.cc \
+    src/ui/mission/QGCMissionDoFinishSearch.cc \
+    src/ui/QGCVehicleConfig.cc \
+    src/ui/QGCHilConfiguration.cc \
+    src/ui/QGCHilFlightGearConfiguration.cc \
+    src/ui/QGCHilXPlaneConfiguration.cc
+
+# Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
+macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
+
+# Enable OSG only if it has been found
+contains(DEPENDENCIES_PRESENT, osg) { 
+    message("Including sources for OpenSceneGraph")
+    
+    # Enable only if OpenSceneGraph is available
+    SOURCES += src/ui/map3D/gpl.cc \
+        src/ui/map3D/CameraParams.cc \
+        src/ui/map3D/ViewParamWidget.cc \
+        src/ui/map3D/SystemContainer.cc \
+        src/ui/map3D/SystemViewParams.cc \
+        src/ui/map3D/GlobalViewParams.cc \
+        src/ui/map3D/SystemGroupNode.cc \
+        src/ui/map3D/Q3DWidget.cc \
+        src/ui/map3D/ImageWindowGeode.cc \
+        src/ui/map3D/GCManipulator.cc \
+        src/ui/map3D/PixhawkCheetahNode.cc \
+        src/ui/map3D/Pixhawk3DWidget.cc \
+        src/ui/map3D/Q3DWidgetFactory.cc \
+        src/ui/map3D/WebImageCache.cc \
+        src/ui/map3D/WebImage.cc \
+        src/ui/map3D/TextureCache.cc \
+        src/ui/map3D/Texture.cc \
+        src/ui/map3D/Imagery.cc \
+        src/ui/map3D/HUDScaleGeode.cc \
+        src/ui/map3D/WaypointGroupNode.cc \
+        src/ui/map3D/TerrainParamDialog.cc \
+        src/ui/map3D/ImageryParamDialog.cc
+
+    contains(DEPENDENCIES_PRESENT, osgearth) { 
+        message("Including sources for osgEarth")
+        
+        # Enable only if OpenSceneGraph is available
+        SOURCES +=
+    }
+}
+contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
+    message("Including sources for Protocol Buffers")
+
+    # Enable only if protobuf is available
+    SOURCES += libs/mavlink/share/mavlink/src/v1.0/pixhawk/pixhawk.pb.cc \
+        src/ui/map3D/ObstacleGroupNode.cc \
+        src/ui/map3D/GLOverlayGeode.cc
+}
+contains(DEPENDENCIES_PRESENT, libfreenect) { 
+    message("Including sources for libfreenect")
+    
+    # Enable only if libfreenect is available
+    SOURCES += src/input/Freenect.cc
+}
+
+# Add icons and other resources
+RESOURCES += qgroundcontrol.qrc
+
+# Include RT-LAB Library
+win32:exists(src/lib/opalrt/OpalApi.h):exists(C:/OPAL-RT/RT-LAB7.2.4/Common/bin) { 
+    message("Building support for Opal-RT")
+    LIBS += -LC:/OPAL-RT/RT-LAB7.2.4/Common/bin \
+        -lOpalApi
+    INCLUDEPATH += src/lib/opalrt
+    HEADERS += src/comm/OpalRT.h \
+        src/comm/OpalLink.h \
+        src/comm/Parameter.h \
+        src/comm/QGCParamID.h \
+        src/comm/ParameterList.h \
+        src/ui/OpalLinkConfigurationWindow.h
+    SOURCES += src/comm/OpalRT.cc \
+        src/comm/OpalLink.cc \
+        src/comm/Parameter.cc \
+        src/comm/QGCParamID.cc \
+        src/comm/ParameterList.cc \
+        src/ui/OpalLinkConfigurationWindow.cc
+    FORMS += src/ui/OpalLinkSettings.ui
+    DEFINES += OPAL_RT
+}
+TRANSLATIONS += es-MX.ts \
+    en-US.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 += libs/thirdParty/libxbee
+# TO DO: build library when it does not exist already
+    LIBS += -Llibs/thirdParty/libxbee/lib \
+        -llibxbee
+}
+
+###################################################################
+#### --- 3DConnexion 3d Mice support (e.g. spacenavigator) --- ####
+###################################################################
+
+# xdrvlib only supported by linux (theoretical all X11) systems
+# You have to install the official 3DxWare driver for linux to use 3D mouse support on linux systems!
+linux-g++|linux-g++-64{
+    exists(/usr/local/lib/libxdrvlib.so){
+        message("Including support for Magellan 3DxWare for linux system.")
+        SOURCES  += src/input/Mouse6dofInput.cpp
+        HEADERS  += src/input/Mouse6dofInput.h
+        LIBS += -L/usr/local/lib/ -lxdrvlib
+        INCLUDEPATH *= /usr/local/include
+        DEFINES += MOUSE_ENABLED_LINUX \
+                    ParameterCheck                      # Hack: Has to be defined for magellan usage
+    }
+}
+
+# Support for Windows systems
+# You have to install the official 3DxWare driver for Windows to use the 3D mouse support on Windows systems!
+win32-msvc2008|win32-msvc2010 {
+    message("Including support for 3DxWare for Windows system.")
+    SOURCES  += libs/thirdParty/3DMouse/win/MouseParameters.cpp \
+                libs/thirdParty/3DMouse/win/Mouse3DInput.cpp \
+                src/input/Mouse6dofInput.cpp
+    HEADERS  += libs/thirdParty/3DMouse/win/I3dMouseParams.h \
+                libs/thirdParty/3DMouse/win/MouseParameters.h \
+                libs/thirdParty/3DMouse/win/Mouse3DInput.h \
+                src/input/Mouse6dofInput.h
+    INCLUDEPATH += libs/thirdParty/3DMouse/win
+    DEFINES += MOUSE_ENABLED_WIN
+}

src/PX4FirmwareUpgradeWorker.cc

+#include <QJsonDocument>
+#include <QFile>
+
 #include "PX4FirmwareUpgradeWorker.h"
 
 #include <SerialLink.h>
@@ -49,21 +52,28 @@ PX4FirmwareUpgradeWorker* PX4FirmwareUpgradeWorker::putWorkerInThread(QObject *p
 
     // Starts an event loop, and emits workerThread->started()
     workerThread->start();
+    return worker;
 }
 
 
-bool PX4FirmwareUpgradeWorker::startContinousScan()
+void PX4FirmwareUpgradeWorker::startContinousScan()
 {
-    while (true) {
-        if (detect()) {
-            break;
-        }
+    exitThread = false;
+    while (!exitThread) {
+//        if (detect()) {
+//            break;
+//        }
+        QGC::SLEEP::msleep(20);
     }
 
-    return true;
+    if (exitThread) {
+        link->disconnect();
+        delete link;
+        exit(0);
+    }
 }
 
-bool PX4FirmwareUpgradeWorker::detect()
+void PX4FirmwareUpgradeWorker::detect()
 {
     if (!link)
     {
@@ -80,7 +90,7 @@ bool PX4FirmwareUpgradeWorker::detect()
         // Ignore known wrong link names
 
         if (ports->at(i).contains("Bluetooth")) {
-            continue;
+            //continue;
         }
 
         link->setPortName(ports->at(i));
@@ -101,12 +111,6 @@ bool PX4FirmwareUpgradeWorker::detect()
             break;
     }
 
-    if (insync) {
-        return true;
-    } else {
-        return false;
-    }
-
     //ui.portName->setCurrentIndex(ui.baudRate->findText(QString("%1").arg(this->link->getPortName())));
 
     // Set port
@@ -119,11 +123,15 @@ void PX4FirmwareUpgradeWorker::receiveBytes(LinkInterface* link, QByteArray b)
 {
     for (int position = 0; position < b.size(); position++) {
         qDebug() << "BYTES";
-        qDebug() << std::hex << (char)(b[position]);
+        qDebug() << (char)(b[position]);
         if (((const char)b[position]) == INSYNC)
         {
             qDebug() << "SYNC";
             insync = true;
+        }
+
+        if (insync && ((const char)b[position]) == OK)
+        {
             emit detectionStatusChanged("Found PX4 board");
         }
     }
@@ -131,7 +139,31 @@ void PX4FirmwareUpgradeWorker::receiveBytes(LinkInterface* link, QByteArray b)
     printf("\n");
 }
 
-bool PX4FirmwareUpgradeWorker::upgrade(const QString &filename)
+void PX4FirmwareUpgradeWorker::loadFirmware(const QString &filename)
+{
+    qDebug() << __FILE__ << __LINE__ << "LOADING FW";
+    QFile f(filename);
+    if (f.open(QIODevice::ReadOnly))
+    {
+        QByteArray buf = f.readAll();
+        f.close();
+        firmware = QJsonDocument::fromBinaryData(buf);
+        if (firmware.isNull()) {
+            emit upgradeStatusChanged(tr("Failed decoding file %1").arg(filename));
+        } else {
+            emit upgradeStatusChanged(tr("Ready to flash %1").arg(filename));
+        }
+    } else {
+        emit upgradeStatusChanged(tr("Failed opening file %1").arg(filename));
+    }
+}
+
+void PX4FirmwareUpgradeWorker::upgrade()
 {
+    emit upgradeStatusChanged(tr("Starting firmware upgrade.."));
+}
 
+void PX4FirmwareUpgradeWorker::abort()
+{
+    exitThread = true;
 }

src/PX4FirmwareUpgradeWorker.h

@@ -2,6 +2,7 @@
 #define PX4FIRMWAREUPGRADEWORKER_H
 
 #include <QObject>
+#include <QJsonDocument>
 
 #include <SerialLink.h>
 
@@ -24,7 +25,7 @@ public slots:
      * @brief Continously scan for bootloaders
      * @return
      */
-    bool startContinousScan();
+    void startContinousScan();
 
     /**
      * @brief Detect connected PX4 bootloaders
@@ -34,14 +35,19 @@ public slots:
      *
      * @return true if found on one link, false else
      */
-    bool detect();
+    void detect();
 
     /**
      * @brief Upgrade the firmware using the currently connected link
      * @param filename file name / path of the firmware file
-     * @return true if upgrade succeeds, false else
      */
-    bool upgrade(const QString &filename);
+    void upgrade();
+
+    /**
+     * @brief Load firmware from disk into memory
+     * @param filename
+     */
+    void loadFirmware(const QString &filename);
 
     /**
      * @brief Receive bytes from a link
@@ -50,9 +56,18 @@ public slots:
      */
     void receiveBytes(LinkInterface* link, QByteArray b);
 
+    /**
+     * @brief Abort upgrade worker
+     */
+    void abort();
+
+protected:
+    bool exitThread;
+
 private:
     SerialLink *link;
     bool insync;
+    QJsonDocument firmware;
 };
 
 #endif // PX4FIRMWAREUPGRADEWORKER_H

src/apps/qupgrade/QUpgradeApp.cc

@@ -72,13 +72,21 @@ QUpgradeApp::QUpgradeApp(int &argc, char* argv[]) : QApplication(argc, argv)
 
     // Create main window
     QUpgradeMainWindow* window = new QUpgradeMainWindow();
+    PX4FirmwareUpgrader *upgrader = new PX4FirmwareUpgrader(window);
+    window->setCentralWidget(upgrader);
 
     // Get PX4 upgrade widget and instantiate worker thread
     PX4FirmwareUpgradeWorker* worker = PX4FirmwareUpgradeWorker::putWorkerInThread(this);
-    connect(worker, SIGNAL(detectionStatusChanged(QString)), window->firmwareUpgrader(), SLOT(setDetectionStatusText(QString)));
-    connect(worker, SIGNAL(upgradeStatusChanged(QString)), window->firmwareUpgrader(), SLOT(setFlashStatusText(QString)));
-    connect(worker, SIGNAL(upgradeProgressChanged(int)), window->firmwareUpgrader(), SLOT(setFlashProgress(int)));
-    connect(worker, SIGNAL(validPortFound(QString)), window->firmwareUpgrader(), SLOT(setPortName(QString)));
+
+    connect(worker, SIGNAL(detectionStatusChanged(QString)), upgrader, SLOT(setDetectionStatusText(QString)), Qt::QueuedConnection);
+    connect(worker, SIGNAL(upgradeStatusChanged(QString)), upgrader, SLOT(setFlashStatusText(QString)), Qt::QueuedConnection);
+    connect(worker, SIGNAL(upgradeProgressChanged(int)), upgrader, SLOT(setFlashProgress(int)), Qt::QueuedConnection);
+    connect(worker, SIGNAL(validPortFound(QString)), upgrader, SLOT(setPortName(QString)));
+    connect(upgrader, SIGNAL(firmwareFileNameSet(QString)), worker, SLOT(loadFirmware(QString)), Qt::QueuedConnection);
+    connect(upgrader, SIGNAL(upgrade()), worker, SLOT(upgrade()), Qt::QueuedConnection);
+    connect(this, SIGNAL(lastWindowClosed()), worker, SLOT(abort()), Qt::QueuedConnection);
+
+    worker->loadFirmware("abc");
 
     window->setWindowTitle(applicationName() + " " + applicationVersion());
     window->show();

src/apps/qupgrade/QUpgradeMainWindow.cc

@@ -42,10 +42,6 @@ QUpgradeMainWindow::QUpgradeMainWindow(QWidget *parent) :
     ui->setupUi(this);
 }
 
-PX4FirmwareUpgrader* QUpgradeMainWindow::firmwareUpgrader() {
-    return ui->centralwidget;
-}
-
 QUpgradeMainWindow::~QUpgradeMainWindow()
 {
     delete ui;

src/apps/qupgrade/QUpgradeMainWindow.h

@@ -48,8 +48,6 @@ public:
     explicit QUpgradeMainWindow(QWidget *parent = 0);
     ~QUpgradeMainWindow();
 
-    PX4FirmwareUpgrader* firmwareUpgrader();
-
 public slots:
 
 protected:

src/apps/qupgrade/QUpgradeMainWindow.ui

@@ -13,7 +13,7 @@
   <property name="windowTitle">
    <string>MainWindow</string>
   </property>
-  <widget class="PX4FirmwareUpgrader" name="centralwidget">
+  <widget class="QWidget" name="centralwidget">
    <layout class="QGridLayout" name="gridLayout" rowstretch="0"/>
   </widget>
   <widget class="QMenuBar" name="menubar">
@@ -28,14 +28,6 @@
   </widget>
   <widget class="QStatusBar" name="statusbar"/>
  </widget>
- <customwidgets>
-  <customwidget>
-   <class>PX4FirmwareUpgrader</class>
-   <extends>QWidget</extends>
-   <header location="global">PX4FirmwareUpgrader.h</header>
-   <container>1</container>
-  </customwidget>
- </customwidgets>
  <resources/>
  <connections/>
 </ui>

src/comm/QGCHilLink.cc

-#include "QGCHilLink.h"
-
-//QGCHilLink::QGCHilLink(QObject *parent) :
-//    QThread(parent)
-//{
-//}

src/comm/QGCXPlaneLink.cc

@@ -49,7 +49,10 @@ QGCXPlaneLink::QGCXPlaneLink(UASInterface* mav, QString remoteHost, QHostAddress
     terraSync(NULL),
     airframeID(QGCXPlaneLink::AIRFRAME_UNKNOWN),
     xPlaneConnected(false),
-    xPlaneVersion(0)
+    xPlaneVersion(0),
+    simUpdateLast(QGC::groundTimeMilliseconds()),
+    simUpdateLastText(QGC::groundTimeMilliseconds()),
+    simUpdateHz(0)
 {
     this->localHost = localHost;
     this->localPort = localPort/*+mav->getUASID()*/;
@@ -223,10 +226,12 @@ void QGCXPlaneLink::setRemoteHost(const QString& newHost)
 
 void QGCXPlaneLink::updateActuators(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8)
 {
+    // XXX Control this via the onboard system type exclusively
+    if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
     // Only update this for multirotors
-    if (airframeID == AIRFRAME_QUAD_X_MK_10INCH_I2C ||
-        airframeID == AIRFRAME_QUAD_X_ARDRONE ||
-        airframeID == AIRFRAME_QUAD_DJI_F450_PWM)
+//    if (airframeID == AIRFRAME_QUAD_X_MK_10INCH_I2C ||
+//        airframeID == AIRFRAME_QUAD_X_ARDRONE ||
+//        airframeID == AIRFRAME_QUAD_DJI_F450_PWM)
     {
 
         Q_UNUSED(time);
@@ -252,27 +257,34 @@ void QGCXPlaneLink::updateActuators(uint64_t time, float act1, float act2, float
         p.index = 25;
         memset(p.f, 0, sizeof(p.f));
 
-        if (airframeID == AIRFRAME_QUAD_X_MK_10INCH_I2C)
-        {
-            p.f[0] = act1 / 255.0f;
-            p.f[1] = act2 / 255.0f;
-            p.f[2] = act3 / 255.0f;
-            p.f[3] = act4 / 255.0f;
-        }
-        else if (airframeID == AIRFRAME_QUAD_X_ARDRONE)
-        {
-            p.f[0] = act1 / 500.0f;
-            p.f[1] = act2 / 500.0f;
-            p.f[2] = act3 / 500.0f;
-            p.f[3] = act4 / 500.0f;
-        }
-        else
-        {
-            p.f[0] = (act1 - 1000.0f) / 1000.0f;
-            p.f[1] = (act2 - 1000.0f) / 1000.0f;
-            p.f[2] = (act3 - 1000.0f) / 1000.0f;
-            p.f[3] = (act4 - 1000.0f) / 1000.0f;
-        }
+        p.f[0] = act1;
+        p.f[1] = act2;
+        p.f[2] = act3;
+        p.f[3] = act4;
+
+        // XXX the system corrects for the scale onboard, do not scale again
+
+//        if (airframeID == AIRFRAME_QUAD_X_MK_10INCH_I2C)
+//        {
+//            p.f[0] = act1 / 255.0f;
+//            p.f[1] = act2 / 255.0f;
+//            p.f[2] = act3 / 255.0f;
+//            p.f[3] = act4 / 255.0f;
+//        }
+//        else if (airframeID == AIRFRAME_QUAD_X_ARDRONE)
+//        {
+//            p.f[0] = act1 / 500.0f;
+//            p.f[1] = act2 / 500.0f;
+//            p.f[2] = act3 / 500.0f;
+//            p.f[3] = act4 / 500.0f;
+//        }
+//        else
+//        {
+//            p.f[0] = (act1 - 1000.0f) / 1000.0f;
+//            p.f[1] = (act2 - 1000.0f) / 1000.0f;
+//            p.f[2] = (act3 - 1000.0f) / 1000.0f;
+//            p.f[3] = (act4 - 1000.0f) / 1000.0f;
+//        }
         // Throttle
         writeBytes((const char*)&p, sizeof(p));
     }
@@ -282,7 +294,6 @@ void QGCXPlaneLink::updateControls(uint64_t time, float rollAilerons, float pitc
 {
     // Do not update this control type for
     // all multirotors
-
     if (airframeID == AIRFRAME_QUAD_X_MK_10INCH_I2C ||
         airframeID == AIRFRAME_QUAD_X_ARDRONE ||
         airframeID == AIRFRAME_QUAD_DJI_F450_PWM)
@@ -366,7 +377,7 @@ void QGCXPlaneLink::readBytes()
     // Only emit updates on attitude message
     bool emitUpdate = false;
 
-    const qint64 maxLength = 65536;
+    const qint64 maxLength = 1000;
     char data[maxLength];
     QHostAddress sender;
     quint16 senderPort;
@@ -501,8 +512,18 @@ void QGCXPlaneLink::readBytes()
     }
 
     // Send updated state
-    if (emitUpdate)
+    if (emitUpdate && (QGC::groundTimeMilliseconds() - simUpdateLast) > 3)
     {
+        simUpdateHz = simUpdateHz * 0.9f + 0.1f * (1000.0f / (QGC::groundTimeMilliseconds() - simUpdateLast));
+        if (QGC::groundTimeMilliseconds() - simUpdateLastText > 2000) {
+            emit statusMessage(tr("Receiving from XPlane at %1 Hz").arg(static_cast<int>(simUpdateHz)));
+            // Reset lowpass with current value
+            simUpdateHz = (1000.0f / (QGC::groundTimeMilliseconds() - simUpdateLast));
+            // Set state
+            simUpdateLastText = QGC::groundTimeMilliseconds();
+        }
+        simUpdateLast = QGC::groundTimeMilliseconds();
+
         emit hilStateChanged(QGC::groundTimeUsecs(), roll, pitch, yaw, rollspeed,
                          pitchspeed, yawspeed, lat*1E7, lon*1E7, alt*1E3,
                          vx, vy, vz, xacc*1000, yacc*1000, zacc*1000);
@@ -510,7 +531,7 @@ void QGCXPlaneLink::readBytes()
 
     if (!oldConnectionState && xPlaneConnected)
     {
-        emit statusMessage("Receiving from XPlane.");
+        emit statusMessage(tr("Receiving from XPlane."));
     }
 
     //    // Echo data for debugging purposes

src/comm/QGCXPlaneLink.h

@@ -190,6 +190,9 @@ protected:
     enum AIRFRAME airframeID;
     bool xPlaneConnected;
     unsigned int xPlaneVersion;
+    quint64 simUpdateLast;
+    quint64 simUpdateLastText;
+    float simUpdateHz;
 
     void setName(QString name);
 

src/input/Mouse6dofInput.cpp

+/**
+ * @file
+ *   @brief 3dConnexion 3dMouse interface for QGroundControl
+ *
+ *   @author Matthias Krebs <makrebs@student.ethz.ch>
+ *
+ */
+
+#include "Mouse6dofInput.h"
+#include "UAS.h"
+#include "UASManager.h"
+#include "QMessageBox"
+
+#ifdef MOUSE_ENABLED_LINUX
+#include <QX11Info>
+#include <X11/Xlib.h>
+#ifdef Success
+#undef Success              // Eigen library doesn't work if Success is defined
+#endif //Success
+extern "C"
+{
+#include "xdrvlib.h"
+}
+#endif // MOUSE_ENABLED_LINUX
+
+#ifdef MOUSE_ENABLED_WIN
+Mouse6dofInput::Mouse6dofInput(Mouse3DInput* mouseInput) :
+    mouse3DMax(0.075),   // TODO: check maximum value fot plugged device
+    uas(NULL),
+    done(false),
+    mouseActive(false),
+    translationActive(true),
+    rotationActive(true),
+    xValue(0.0),
+    yValue(0.0),
+    zValue(0.0),
+    aValue(0.0),
+    bValue(0.0),
+    cValue(0.0)
+{
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+    // Connect 3DxWare SDK MotionEvent
+    connect(mouseInput, SIGNAL(Move3d(std::vector<float>&)), this, SLOT(motion3DMouse(std::vector<float>&)));
+    connect(mouseInput, SIGNAL(On3dmouseKeyDown(int)), this, SLOT(button3DMouseDown(int)));
+    //connect(mouseInput, SIGNAL(On3dmouseKeyUp(int)), this, SLOT(FUNCTION(int)));
+
+}
+#endif //MOUSE_ENABLED_WIN
+
+#ifdef MOUSE_ENABLED_LINUX
+Mouse6dofInput::Mouse6dofInput(QWidget* parent) :
+    mouse3DMax(350.0),   // TODO: check maximum value fot plugged device
+    uas(NULL),
+    done(false),
+    mouseActive(false),
+    translationActive(true),
+    rotationActive(true),
+    xValue(0.0),
+    yValue(0.0),
+    zValue(0.0),
+    aValue(0.0),
+    bValue(0.0),
+    cValue(0.0)
+{
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+
+    if (!mouseActive)
+    {
+//        // man visudo --> then you can omit giving password (success not guarantied..)
+//        qDebug() << "Starting 3DxWare Daemon for 3dConnexion 3dMouse";
+//        QString processProgramm = "gksudo";
+//        QStringList processArguments;
+//        processArguments << "/etc/3DxWare/daemon/3dxsrv -d usb";
+//        process3dxDaemon = new QProcess();
+//        process3dxDaemon->start(processProgramm, processArguments);
+//    //    process3dxDaemon->waitForFinished();
+//    //    {
+//    //        qDebug() << "... continuing without 3DxWare. May not be initialized properly!";
+//    //        qDebug() << "Try in terminal as user root:" << processArguments.last();
+//    //    }
+
+        Display *display = QX11Info::display();
+        if(!display)
+        {
+            qDebug() << "Cannot open display!" << endl;
+        }
+        if ( !MagellanInit( display, parent->winId() ) )
+        {
+            QMessageBox msgBox;
+            msgBox.setIcon(QMessageBox::Information);
+            msgBox.setText(tr("No 3DxWare driver is running."));
+            msgBox.setInformativeText(tr("Enter in Terminal 'sudo /etc/3DxWare/daemon/3dxsrv -d usb' and then restart QGroundControl."));
+            msgBox.setStandardButtons(QMessageBox::Ok);
+            msgBox.setDefaultButton(QMessageBox::Ok);
+            msgBox.exec();
+
+            qDebug() << "No 3DxWare driver is running!";
+            return;
+        }
+        else
+        {
+            qDebug() << "Initialized 3dMouse";
+            mouseActive = true;
+        }
+    }
+    else
+    {
+        qDebug() << "3dMouse already initialized..";
+    }
+
+}
+#endif //MOUSE_ENABLED_LINUX
+
+
+Mouse6dofInput::~Mouse6dofInput()
+{
+    done = true;
+}
+
+void Mouse6dofInput::setActiveUAS(UASInterface* uas)
+{
+    // Only connect / disconnect is the UAS is of a controllable UAS class
+    UAS* tmp = 0;
+    if (this->uas)
+    {
+        tmp = dynamic_cast<UAS*>(this->uas);
+        if(tmp)
+        {
+            disconnect(this, SIGNAL(mouse6dofChanged(double,double,double,double,double,double)), tmp, SLOT(setManual6DOFControlCommands(double,double,double,double,double,double)));
+            // Todo: disconnect button mapping
+        }
+    }
+
+    this->uas = uas;
+
+    tmp = dynamic_cast<UAS*>(this->uas);
+    if(tmp) {
+                connect(this, SIGNAL(mouse6dofChanged(double,double,double,double,double,double)), tmp, SLOT(setManual6DOFControlCommands(double,double,double,double,double,double)));
+                // Todo: connect button mapping
+    }
+    if (!isRunning())
+    {
+        start();
+    }
+}
+
+void Mouse6dofInput::init()
+{
+    // Make sure active UAS is set
+    setActiveUAS(UASManager::instance()->getActiveUAS());
+}
+
+void Mouse6dofInput::run()
+{
+    init();
+
+    forever
+    {
+        if (done)
+        {
+           done = false;
+           exit();
+        }
+
+        if (mouseActive)
+        {
+            // Bound x value
+            if (xValue > 1.0) xValue = 1.0;
+            if (xValue < -1.0) xValue = -1.0;
+            // Bound x value
+            if (yValue > 1.0) yValue = 1.0;
+            if (yValue < -1.0) yValue = -1.0;
+            // Bound x value
+            if (zValue > 1.0) zValue = 1.0;
+            if (zValue < -1.0) zValue = -1.0;
+            // Bound x value
+            if (aValue > 1.0) aValue = 1.0;
+            if (aValue < -1.0) aValue = -1.0;
+            // Bound x value
+            if (bValue > 1.0) bValue = 1.0;
+            if (bValue < -1.0) bValue = -1.0;
+            // Bound x value
+            if (cValue > 1.0) cValue = 1.0;
+            if (cValue < -1.0) cValue = -1.0;
+
+            emit mouse6dofChanged(xValue, yValue, zValue, aValue, bValue, cValue);
+        }
+
+        // Sleep, update rate of 3d mouse is approx. 50 Hz (1000 ms / 50 = 20 ms)
+        QGC::SLEEP::msleep(20);
+    }
+}
+
+#ifdef MOUSE_ENABLED_WIN
+void Mouse6dofInput::motion3DMouse(std::vector<float> &motionData)
+{
+    if (motionData.size() < 6) return;
+    mouseActive = true;
+
+    if (translationActive)
+    {
+        xValue = (double)1.0e2f*motionData[ 1 ] / mouse3DMax;
+        yValue = (double)1.0e2f*motionData[ 0 ] / mouse3DMax;
+        zValue = (double)1.0e2f*motionData[ 2 ] / mouse3DMax;
+    }else{
+        xValue = 0;
+        yValue = 0;
+        zValue = 0;
+    }
+    if (rotationActive)
+    {
+        aValue = (double)1.0e2f*motionData[ 4 ] / mouse3DMax;
+        bValue = (double)1.0e2f*motionData[ 3 ] / mouse3DMax;
+        cValue = (double)1.0e2f*motionData[ 5 ] / mouse3DMax;
+    }else{
+        aValue = 0;
+        bValue = 0;
+        cValue = 0;
+    }
+
+    //qDebug() << "NEW 3D MOUSE VALUES -- X" << xValue << " -- Y" << yValue << " -- Z" << zValue << " -- A" << aValue << " -- B" << bValue << " -- C" << cValue;
+}
+#endif //MOUSE_ENABLED_WIN
+
+#ifdef MOUSE_ENABLED_WIN
+void Mouse6dofInput::button3DMouseDown(int button)
+{
+    switch(button)
+    {
+    case 1:
+    {
+            rotationActive = !rotationActive;
+            emit mouseRotationActiveChanged(rotationActive);
+            qDebug() << "Changed 3DMouse Rotation to " << (bool)rotationActive;
+        break;
+    }
+    case 2:
+    {
+            translationActive = !translationActive;
+            emit mouseTranslationActiveChanged(translationActive);
+            qDebug() << "Changed 3DMouse Translation to" << (bool)translationActive;
+        break;
+    }
+    default:
+        break;
+    }
+}
+#endif //MOUSE_ENABLED_WIN
+
+#ifdef MOUSE_ENABLED_LINUX
+void Mouse6dofInput::handleX11Event(XEvent *event)
+{
+    //qDebug("XEvent occured...");
+    if (!mouseActive)
+    {
+        qDebug() << "3dMouse not initialized. Cancelled handling X11event for 3dMouse";
+        return;
+    }
+
+    MagellanFloatEvent MagellanEvent;
+
+    Display *display = QX11Info::display();
+    if(!display)
+    {
+        qDebug() << "Cannot open display!" << endl;
+    }
+
+    switch (event->type)
+    {
+    case ClientMessage:
+      switch( MagellanTranslateEvent( display, event, &MagellanEvent, 1.0, 1.0 ) )
+      {
+        case MagellanInputMotionEvent :
+             MagellanRemoveMotionEvents( display );
+             for (int i = 0; i < 6; i++) {  // Saturation
+                 MagellanEvent.MagellanData[i] = (abs(MagellanEvent.MagellanData[i]) < mouse3DMax) ? MagellanEvent.MagellanData[i] : (mouse3DMax*MagellanEvent.MagellanData[i]/abs(MagellanEvent.MagellanData[i]));
+             }
+
+             // Check whether translational motions are enabled
+             if (translationActive)
+             {
+                 xValue = MagellanEvent.MagellanData[ MagellanZ ] / mouse3DMax;
+                 yValue = MagellanEvent.MagellanData[ MagellanX ] / mouse3DMax;
+                 zValue = - MagellanEvent.MagellanData[ MagellanY ] / mouse3DMax;
+             }else{
+                 xValue = 0;
+                 yValue = 0;
+                 zValue = 0;
+             }
+             // Check whether rotational motions are enabled
+             if (rotationActive)
+             {
+                 aValue = MagellanEvent.MagellanData[ MagellanC ] / mouse3DMax;
+                 bValue = MagellanEvent.MagellanData[ MagellanA ] / mouse3DMax;
+                 cValue = - MagellanEvent.MagellanData[ MagellanB ] / mouse3DMax;
+             }else{
+                 aValue = 0;
+                 bValue = 0;
+                 cValue = 0;
+             }
+             //qDebug() << "NEW 3D MOUSE VALUES -- X" << xValue << " -- Y" << yValue << " -- Z" << zValue << " -- A" << aValue << " -- B" << bValue << " -- C" << cValue;
+        break;
+
+        case MagellanInputButtonPressEvent :
+            qDebug() << "MagellanInputButtonPressEvent called with button " << MagellanEvent.MagellanButton;
+            switch (MagellanEvent.MagellanButton)
+            {
+            case 1:
+            {
+                    rotationActive = !rotationActive;
+                    emit mouseRotationActiveChanged(rotationActive);
+                    qDebug() << "Changed 3DMouse Rotation to " << (bool)rotationActive;
+                break;
+            }
+            case 2:
+            {
+                    translationActive = !translationActive;
+                    emit mouseTranslationActiveChanged(translationActive);
+                    qDebug() << "Changed 3DMouse Translation to" << (bool)translationActive;
+                break;
+            }
+            default:
+                break;
+            }
+        default:
+            break;
+        }
+    }
+}
+#endif //MOUSE_ENABLED_LINUX

src/input/Mouse6dofInput.h

+/**
+ * @file
+ *   @brief Definition of 3dConnexion 3dMouse interface for QGroundControl
+ *
+ *   @author Matthias Krebs <makrebs@student.ethz.ch>
+ *
+ */
+
+#ifndef MOUSE6DOFINPUT_H
+#define MOUSE6DOFINPUT_H
+
+#include <QThread>
+
+#ifdef MOUSE_ENABLED_WIN
+#include "Mouse3DInput.h"
+#endif //MOUSE_ENABLED_WIN
+
+#include "UASInterface.h"
+
+class Mouse6dofInput : public QThread
+{
+    Q_OBJECT
+
+public:
+#ifdef MOUSE_ENABLED_WIN
+    Mouse6dofInput(Mouse3DInput* mouseInput);
+#endif //MOUSE_ENABLED_WIN
+#ifdef MOUSE_ENABLED_LINUX
+    Mouse6dofInput(QWidget* parent);
+#endif //MOUSE_ENABLED_LINUX
+
+    ~Mouse6dofInput();
+    void run();
+
+    const double mouse3DMax;
+
+protected:
+    void init();
+
+    UASInterface* uas;
+    bool done;
+    bool mouseActive;
+    bool translationActive;
+    bool rotationActive;
+
+    double xValue;
+    double yValue;
+    double zValue;
+    double aValue;
+    double bValue;
+    double cValue;
+
+
+signals:
+    /**
+     * @brief Input of the 3d mouse has changed
+     *
+     * @param x Input x direction, range [-1, 1]
+     * @param y Input y direction, range [-1, 1]
+     * @param z Input z direction, range [-1, 1]
+     * @param a Input x rotation,  range [-1, 1]
+     * @param b Input y rotation,  range [-1, 1]
+     * @param c Input z rotation,  range [-1, 1]
+     */
+    void mouse6dofChanged(double x, double y, double z, double a, double b, double c);
+
+   /**
+     * @brief Activity of translational 3DMouse inputs changed
+     * @param translationEnable, true: translational inputs active; false: translational inputs ingored
+     */
+    void mouseTranslationActiveChanged(bool translationEnable);
+
+   /**
+     * @brief Activity of rotational 3DMouse inputs changed
+     * @param rotationEnable, true: rotational inputs active; false: rotational inputs ingored
+     */
+    void mouseRotationActiveChanged(bool rotationEnable);
+
+public slots:
+    void setActiveUAS(UASInterface* uas);
+#ifdef MOUSE_ENABLED_WIN
+    /** @brief Get a motion input from 3DMouse */
+    void motion3DMouse(std::vector<float> &motionData);
+    /** @brief Get a button input from 3DMouse */
+    void button3DMouseDown(int button);
+#endif //MOUSE_ENABLED_WIN
+#ifdef MOUSE_ENABLED_LINUX
+    /** @brief Get an XEvent to check it for an 3DMouse event (motion or button) */
+    void handleX11Event(XEvent* event);
+#endif //MOUSE_ENABLED_LINUX
+
+};
+
+#endif // MOUSE6DOFINPUT_H

src/uas/ArduPilotMegaMAV.cc

@@ -32,6 +32,8 @@ ArduPilotMegaMAV::ArduPilotMegaMAV(MAVLinkProtocol* mavlink, int id) :
     UAS(mavlink, id)//,
     // place other initializers here
 {
+    // Ask for all streams at 4 Hz
+    enableAllDataTransmission(4);
 }
 
 /**

src/uas/UAS.h

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-    QGROUNDCONTROL is free software: you can redistribute it and/or modify
-    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.
-
-    QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Definition of Unmanned Aerial Vehicle object
- *
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#ifndef _UAS_H_
-#define _UAS_H_
-
-#include "UASInterface.h"
-#include <MAVLinkProtocol.h>
-#include <QVector3D>
-#include "QGCMAVLink.h"
-#include "QGCHilLink.h"
-#include "QGCFlightGearLink.h"
-#include "QGCXPlaneLink.h"
-
-/**
- * @brief A generic MAVLINK-connected MAV/UAV
- *
- * This class represents one vehicle. It can be used like the real vehicle, e.g. a call to halt()
- * will automatically send the appropriate messages to the vehicle. The vehicle state will also be
- * automatically updated by the comm architecture, so when writing code to e.g. control the vehicle
- * no knowledge of the communication infrastructure is needed.
- */
-class UAS : public UASInterface
-{
-    Q_OBJECT
-public:
-    UAS(MAVLinkProtocol* protocol, int id = 0);
-    ~UAS();
-
-    enum BatteryType
-    {
-        NICD = 0,
-        NIMH = 1,
-        LIION = 2,
-        LIPOLY = 3,
-        LIFE = 4,
-        AGZN = 5
-    }; ///< The type of battery used
-
-    static const int lipoFull = 4.2f;  ///< 100% charged voltage
-    static const int lipoEmpty = 3.5f; ///< Discharged voltage
-
-    /* MANAGEMENT */
-
-    /** @brief The name of the robot */
-    QString getUASName(void) const;
-    /** @brief Get short state */
-    const QString& getShortState() const;
-    /** @brief Get short mode */
-    const QString& getShortMode() const;
-    /** @brief Translate from mode id to text */
-    static QString getShortModeTextFor(int id);
-    /** @brief Translate from mode id to audio text */
-    static QString getAudioModeTextFor(int id);
-    /** @brief Get the unique system id */
-    int getUASID() const;
-    /** @brief Get the airframe */
-    int getAirframe() const
-    {
-        return airframe;
-    }
-    /** @brief Get the components */
-    QMap<int, QString> getComponents();
-
-    /** @brief The time interval the robot is switched on */
-    quint64 getUptime() const;
-    /** @brief Get the status flag for the communication */
-    int getCommunicationStatus() const;
-    /** @brief Add one measurement and get low-passed voltage */
-    float filterVoltage(float value) const;
-    /** @brief Get the links associated with this robot */
-    QList<LinkInterface*>* getLinks();
-
-    double getLocalX() const
-    {
-        return localX;
-    }
-    double getLocalY() const
-    {
-        return localY;
-    }
-    double getLocalZ() const
-    {
-        return localZ;
-    }
-    double getLatitude() const
-    {
-        return latitude;
-    }
-    double getLongitude() const
-    {
-        return longitude;
-    }
-    double getAltitude() const
-    {
-        return altitude;
-    }
-    virtual bool localPositionKnown() const
-    {
-        return isLocalPositionKnown;
-    }
-    virtual bool globalPositionKnown() const
-    {
-        return isGlobalPositionKnown;
-    }
-
-    double getRoll() const
-    {
-        return roll;
-    }
-    double getPitch() const
-    {
-        return pitch;
-    }
-    double getYaw() const
-    {
-        return yaw;
-    }
-    bool getSelected() const;
-    QVector3D getNedPosGlobalOffset() const
-    {
-        return nedPosGlobalOffset;
-    }
-
-    QVector3D getNedAttGlobalOffset() const
-    {
-        return nedAttGlobalOffset;
-    }
-
-#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-    px::GLOverlay getOverlay()
-    {
-        QMutexLocker locker(&overlayMutex);
-        return overlay;
-    }
-
-    px::GLOverlay getOverlay(qreal& receivedTimestamp)
-    {
-        receivedTimestamp = receivedOverlayTimestamp;
-        QMutexLocker locker(&overlayMutex);
-        return overlay;
-    }
-
-    px::ObstacleList getObstacleList() {
-        QMutexLocker locker(&obstacleListMutex);
-        return obstacleList;
-    }
-
-    px::ObstacleList getObstacleList(qreal& receivedTimestamp) {
-        receivedTimestamp = receivedObstacleListTimestamp;
-        QMutexLocker locker(&obstacleListMutex);
-        return obstacleList;
-    }
-
-    px::Path getPath() {
-        QMutexLocker locker(&pathMutex);
-        return path;
-    }
-
-    px::Path getPath(qreal& receivedTimestamp) {
-        receivedTimestamp = receivedPathTimestamp;
-        QMutexLocker locker(&pathMutex);
-        return path;
-    }
-
-    px::PointCloudXYZRGB getPointCloud() {
-        QMutexLocker locker(&pointCloudMutex);
-        return pointCloud;
-    }
-
-    px::PointCloudXYZRGB getPointCloud(qreal& receivedTimestamp) {
-        receivedTimestamp = receivedPointCloudTimestamp;
-        QMutexLocker locker(&pointCloudMutex);
-        return pointCloud;
-    }
-
-    px::RGBDImage getRGBDImage() {
-        QMutexLocker locker(&rgbdImageMutex);
-        return rgbdImage;
-    }
-
-    px::RGBDImage getRGBDImage(qreal& receivedTimestamp) {
-        receivedTimestamp = receivedRGBDImageTimestamp;
-        QMutexLocker locker(&rgbdImageMutex);
-        return rgbdImage;
-    }
-#endif
-
-    friend class UASWaypointManager;
-
-protected: //COMMENTS FOR TEST UNIT
-    int uasId;                    ///< Unique system ID
-    unsigned char type;           ///< UAS type (from type enum)
-    quint64 startTime;            ///< The time the UAS was switched on
-    CommStatus commStatus;        ///< Communication status
-    QString name;                 ///< Human-friendly name of the vehicle, e.g. bravo
-    int autopilot;                ///< Type of the Autopilot: -1: None, 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
-    QList<LinkInterface*>* links; ///< List of links this UAS can be reached by
-    QList<int> unknownPackets;    ///< Packet IDs which are unknown and have been received
-    MAVLinkProtocol* mavlink;     ///< Reference to the MAVLink instance
-    BatteryType batteryType;      ///< The battery type
-    int cells;                    ///< Number of cells
-
-    UASWaypointManager waypointManager;
-
-    QList<double> actuatorValues;
-    QList<QString> actuatorNames;
-
-    QList<double> motorValues;
-    QList<QString> motorNames;
-    QMap<int, QString> components;  ///< IDs and names of all detected onboard components
-
-    double thrustSum;           ///< Sum of forward/up thrust of all thrust actuators, in Newtons
-    double thrustMax;           ///< Maximum forward/up thrust of this vehicle, in Newtons
-
-    // Battery stats
-    float fullVoltage;          ///< Voltage of the fully charged battery (100%)
-    float emptyVoltage;         ///< Voltage of the empty battery (0%)
-    float startVoltage;         ///< Voltage at system start
-    float tickVoltage;          ///< Voltage where 0.1 V ticks are told
-    float lastTickVoltageValue; ///< The last voltage where a tick was announced
-    float tickLowpassVoltage;   ///< Lowpass-filtered voltage for the tick announcement
-    float warnVoltage;          ///< Voltage where QGC will start to warn about low battery
-    float warnLevelPercent;     ///< Warning level, in percent
-    double currentVoltage;      ///< Voltage currently measured
-    float lpVoltage;            ///< Low-pass filtered voltage
-    bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
-    float chargeLevel;          ///< Charge level of battery, in percent
-    int timeRemaining;          ///< Remaining time calculated based on previous and current
-    uint8_t mode;              ///< The current mode of the MAV
-    uint32_t custom_mode;       ///< The current mode of the MAV
-    int status;                 ///< The current status of the MAV
-    uint32_t navMode;                ///< The current navigation mode of the MAV
-    quint64 onboardTimeOffset;
-
-    bool controlRollManual;     ///< status flag, true if roll is controlled manually
-    bool controlPitchManual;    ///< status flag, true if pitch is controlled manually
-    bool controlYawManual;      ///< status flag, true if yaw is controlled manually
-    bool controlThrustManual;   ///< status flag, true if thrust is controlled manually
-
-    double manualRollAngle;     ///< Roll angle set by human pilot (radians)
-    double manualPitchAngle;    ///< Pitch angle set by human pilot (radians)
-    double manualYawAngle;      ///< Yaw angle set by human pilot (radians)
-    double manualThrust;        ///< Thrust set by human pilot (radians)
-    float receiveDropRate;      ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
-    float sendDropRate;         ///< Percentage of packets that were not received from the MAV by the GCS
-    bool lowBattAlarm;          ///< Switch if battery is low
-    bool positionLock;          ///< Status if position information is available or not
-    double localX;
-    double localY;
-    double localZ;
-    double latitude;
-    double longitude;
-    double altitude;
-    double speedX;              ///< True speed in X axis
-    double speedY;              ///< True speed in Y axis
-    double speedZ;              ///< True speed in Z axis
-    double roll;
-    double pitch;
-    double yaw;
-    quint64 lastHeartbeat;      ///< Time of the last heartbeat message
-    QTimer* statusTimeout;      ///< Timer for various status timeouts
-
-    int imageSize;              ///< Image size being transmitted (bytes)
-    int imagePackets;           ///< Number of data packets being sent for this image
-    int imagePacketsArrived;    ///< Number of data packets recieved
-    int imagePayload;           ///< Payload size per transmitted packet (bytes). Standard is 254, and decreases when image resolution increases.
-    int imageQuality;           ///< Quality of the transmitted image (percentage)
-    int imageType;              ///< Type of the transmitted image (BMP, PNG, JPEG, RAW 8 bit, RAW 32 bit)
-    int imageWidth;             ///< Width of the image stream
-    int imageHeight;            ///< Width of the image stream
-    QByteArray imageRecBuffer;  ///< Buffer for the incoming bytestream
-    QImage image;               ///< Image data of last completely transmitted image
-    quint64 imageStart;
-
-#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
-    px::GLOverlay overlay;
-    QMutex overlayMutex;
-    qreal receivedOverlayTimestamp;
-
-    px::ObstacleList obstacleList;
-    QMutex obstacleListMutex;
-    qreal receivedObstacleListTimestamp;
-
-    px::Path path;
-    QMutex pathMutex;
-    qreal receivedPathTimestamp;
-
-    px::PointCloudXYZRGB pointCloud;
-    QMutex pointCloudMutex;
-    qreal receivedPointCloudTimestamp;
-
-    px::RGBDImage rgbdImage;
-    QMutex rgbdImageMutex;
-    qreal receivedRGBDImageTimestamp;
-#endif
-
-    QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
-    bool paramsOnceRequested;       ///< If the parameter list has been read at least once
-    int airframe;                   ///< The airframe type
-    bool attitudeKnown;             ///< True if attitude was received, false else
-    QGCUASParamManager* paramManager; ///< Parameter manager class
-    QString shortStateText;         ///< Short textual state description
-    QString shortModeText;          ///< Short textual mode description
-    bool attitudeStamped;           ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
-    quint64 lastAttitude;           ///< Timestamp of last attitude measurement
-    QGCHilLink* simulation;         ///< Hardware in the loop simulation link
-    bool isLocalPositionKnown;      ///< If the local position has been received for this MAV
-    bool isGlobalPositionKnown;     ///< If the global position has been received for this MAV
-    bool systemIsArmed;             ///< If the system is armed
-    QVector3D nedPosGlobalOffset;   ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
-    QVector3D nedAttGlobalOffset;   ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
-
-public:
-    /** @brief Set the current battery type */
-    void setBattery(BatteryType type, int cells);
-    /** @brief Estimate how much flight time is remaining */
-    int calculateTimeRemaining();
-    /** @brief Get the current charge level */
-    float getChargeLevel();
-    /** @brief Get the human-readable status message for this code */
-    void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
-    /** @brief Get the human-readable navigation mode translation for this mode */
-    QString getNavModeText(int mode);
-    /** @brief Check if vehicle is in autonomous mode */
-    bool isAuto();
-    /** @brief Check if vehicle is armed */
-    bool isArmed() const { return systemIsArmed; }
-
-    UASWaypointManager* getWaypointManager() {
-        return &waypointManager;
-    }
-    /** @brief Get reference to the param manager **/
-    QGCUASParamManager* getParamManager() const {
-        return paramManager;
-    }
-    /** @brief Get the HIL simulation */
-    QGCHilLink* getHILSimulation() const {
-        return simulation;
-    }
-    // TODO Will be removed
-    /** @brief Set reference to the param manager **/
-    void setParamManager(QGCUASParamManager* manager) {
-        paramManager = manager;
-    }
-    int getSystemType();
-    QString getSystemTypeName()
-    {
-        switch(type)
-        {
-        case MAV_TYPE_GENERIC:
-            return "GENERIC";
-            break;
-        case MAV_TYPE_FIXED_WING:
-            return "FIXED_WING";
-            break;
-        case MAV_TYPE_QUADROTOR:
-            return "QUADROTOR";
-            break;
-        case MAV_TYPE_COAXIAL:
-            return "COAXIAL";
-            break;
-        case MAV_TYPE_HELICOPTER:
-            return "HELICOPTER";
-            break;
-        case MAV_TYPE_ANTENNA_TRACKER:
-            return "ANTENNA_TRACKER";
-            break;
-        case MAV_TYPE_GCS:
-            return "GCS";
-            break;
-        case MAV_TYPE_AIRSHIP:
-            return "AIRSHIP";
-            break;
-        case MAV_TYPE_FREE_BALLOON:
-            return "FREE_BALLOON";
-            break;
-        case MAV_TYPE_ROCKET:
-            return "ROCKET";
-            break;
-        case MAV_TYPE_GROUND_ROVER:
-            return "GROUND_ROVER";
-            break;
-        case MAV_TYPE_SURFACE_BOAT:
-            return "BOAT";
-            break;
-        case MAV_TYPE_SUBMARINE:
-            return "SUBMARINE";
-            break;
-        case MAV_TYPE_HEXAROTOR:
-            return "HEXAROTOR";
-            break;
-        case MAV_TYPE_OCTOROTOR:
-            return "OCTOROTOR";
-            break;
-        case MAV_TYPE_TRICOPTER:
-            return "TRICOPTER";
-            break;
-        case MAV_TYPE_FLAPPING_WING:
-            return "FLAPPING_WING";
-            break;
-        default:
-            return "";
-            break;
-        }
-    }
-
-    QImage getImage();
-    void requestImage();
-    int getAutopilotType(){
-        return autopilot;
-    }
-    QString getAutopilotTypeName()
-    {
-        switch (autopilot)
-        {
-        case MAV_AUTOPILOT_GENERIC:
-            return "GENERIC";
-            break;
-        case MAV_AUTOPILOT_PIXHAWK:
-            return "PIXHAWK";
-            break;
-        case MAV_AUTOPILOT_SLUGS:
-            return "SLUGS";
-            break;
-        case MAV_AUTOPILOT_ARDUPILOTMEGA:
-            return "ARDUPILOTMEGA";
-            break;
-        case MAV_AUTOPILOT_OPENPILOT:
-            return "OPENPILOT";
-            break;
-        case MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY:
-            return "GENERIC_WAYPOINTS_ONLY";
-            break;
-        case MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY:
-            return "GENERIC_MISSION_NAVIGATION_ONLY";
-            break;
-        case MAV_AUTOPILOT_GENERIC_MISSION_FULL:
-            return "GENERIC_MISSION_FULL";
-            break;
-        case MAV_AUTOPILOT_INVALID:
-            return "NO AP";
-            break;
-        case MAV_AUTOPILOT_PPZ:
-            return "PPZ";
-            break;
-        case MAV_AUTOPILOT_UDB:
-            return "UDB";
-            break;
-        case MAV_AUTOPILOT_FP:
-            return "FP";
-            break;
-        case MAV_AUTOPILOT_PX4:
-            return "PX4";
-            break;
-        default:
-            return "";
-            break;
-        }
-    }
-
-public slots:
-    /** @brief Set the autopilot type */
-    void setAutopilotType(int apType)
-    {
-        autopilot = apType;
-        emit systemSpecsChanged(uasId);
-    }
-    /** @brief Set the type of airframe */
-    void setSystemType(int systemType);
-    /** @brief Set the specific airframe type */
-    void setAirframe(int airframe)
-    {
-        if((airframe >= QGC_AIRFRAME_GENERIC) && (airframe < QGC_AIRFRAME_END_OF_ENUM))
-        {
-          this->airframe = airframe;
-          emit systemSpecsChanged(uasId);
-        }
-        
-    }
-    /** @brief Set a new name **/
-    void setUASName(const QString& name);
-    /** @brief Executes a command **/
-    void executeCommand(MAV_CMD command);
-    /** @brief Executes a command with 7 params */
-    void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component);
-    /** @brief Set the current battery type and voltages */
-    void setBatterySpecs(const QString& specs);
-    /** @brief Get the current battery type and specs */
-    QString getBatterySpecs();
-
-    /** @brief Launches the system **/
-    void launch();
-    /** @brief Write this waypoint to the list of waypoints */
-    //void setWaypoint(Waypoint* wp); FIXME tbd
-    /** @brief Set currently active waypoint */
-    //void setWaypointActive(int id); FIXME tbd
-    /** @brief Order the robot to return home **/
-    void home();
-    /** @brief Order the robot to land **/
-    void land();
-    void halt();
-    void go();
-
-    /** @brief Enable / disable HIL */
-    void enableHilFlightGear(bool enable, QString options);
-    void enableHilXPlane(bool enable);
-
-
-    /** @brief Send the full HIL state to the MAV */
-
-    void sendHilState(	uint64_t time_us, float roll, float pitch, float yaw, float rollspeed,
-                        float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt,
-                        int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc);
-
-    /** @brief Places the UAV in Hardware-in-the-Loop simulation status **/
-    void startHil();
-
-    /** @brief Stops the UAV's Hardware-in-the-Loop simulation status **/
-    void stopHil();
-
-
-    /** @brief Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/
-    void emergencySTOP();
-
-    /** @brief Kills the robot. All systems are immediately shut down (e.g. the main power line is cut). This might lead to a crash **/
-    bool emergencyKILL();
-
-    /** @brief Shut the system cleanly down. Will shut down any onboard computers **/
-    void shutdown();
-
-    /** @brief Set the target position for the robot to navigate to. */
-    void setTargetPosition(float x, float y, float z, float yaw);
-
-    void startLowBattAlarm();
-    void stopLowBattAlarm();
-
-    /** @brief Arm system */
-    void armSystem();
-    /** @brief Disable the motors */
-    void disarmSystem();
-
-    /** @brief Set the values for the manual control of the vehicle */
-    void setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons);
-    /** @brief Receive a button pressed event from an input device, e.g. joystick */
-    void receiveButton(int buttonIndex);
-
-    /** @brief Add a link associated with this robot */
-    void addLink(LinkInterface* link);
-    /** @brief Remove a link associated with this robot */
-    void removeLink(QObject* object);
-
-    /** @brief Receive a message from one of the communication links. */
-    virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
-
-#ifdef QGC_PROTOBUF_ENABLED
-    /** @brief Receive a message from one of the communication links. */
-    virtual void receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message);
-#endif
-
-    /** @brief Send a message over this link (to this or to all UAS on this link) */
-    void sendMessage(LinkInterface* link, mavlink_message_t message);
-    /** @brief Send a message over all links this UAS can be reached with (!= all links) */
-    void sendMessage(mavlink_message_t message);
-
-    /** @brief Temporary Hack for sending packets to patch Antenna. Send a message over all serial links except for this UAS's */
-    void forwardMessage(mavlink_message_t message);
-
-    /** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */
-    void setSelected();
-
-    /** @brief Set current mode of operation, e.g. auto or manual */
-    void setMode(int mode);
-
-    /** @brief Request all parameters */
-    void requestParameters();
-
-    /** @brief Request a single parameter by name */
-    void requestParameter(int component, const QString& parameter);
-    /** @brief Request a single parameter by index */
-    void requestParameter(int component, int id);
-
-    /** @brief Set a system parameter */
-    void setParameter(const int component, const QString& id, const QVariant& value);
-
-    /** @brief Write parameters to permanent storage */
-    void writeParametersToStorage();
-    /** @brief Read parameters from permanent storage */
-    void readParametersFromStorage();
-
-    /** @brief Get the names of all parameters */
-    QList<QString> getParameterNames(int component);
-
-    /** @brief Get the ids of all components */
-    QList<int> getComponentIds();
-
-    void enableAllDataTransmission(int rate);
-    void enableRawSensorDataTransmission(int rate);
-    void enableExtendedSystemStatusTransmission(int rate);
-    void enableRCChannelDataTransmission(int rate);
-    void enableRawControllerDataTransmission(int rate);
-    //void enableRawSensorFusionTransmission(int rate);
-    void enablePositionTransmission(int rate);
-    void enableExtra1Transmission(int rate);
-    void enableExtra2Transmission(int rate);
-    void enableExtra3Transmission(int rate);
-
-    /** @brief Update the system state */
-    void updateState();
-
-    /** @brief Set world frame origin at current GPS position */
-    void setLocalOriginAtCurrentGPSPosition();
-    /** @brief Set world frame origin / home position at this GPS position */
-    void setHomePosition(double lat, double lon, double alt);
-    /** @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 */
-    void setLocalPositionOffset(float x, float y, float z, float yaw);
-
-    void startRadioControlCalibration();
-    void startMagnetometerCalibration();
-    void startGyroscopeCalibration();
-    void startPressureCalibration();
-
-    void startDataRecording();
-    void stopDataRecording();
-    void deleteSettings();
-signals:
-    /** @brief The main/battery voltage has changed/was updated */
-    //void voltageChanged(int uasId, double voltage); // Defined in UASInterface already
-    /** @brief An actuator value has changed */
-    //void actuatorChanged(UASInterface*, int actId, double value); // Defined in UASInterface already
-    /** @brief An actuator value has changed */
-    void actuatorChanged(UASInterface* uas, QString actuatorName, double min, double max, double value);
-    void motorChanged(UASInterface* uas, QString motorName, double min, double max, double value);
-    /** @brief The system load (MCU/CPU usage) changed */
-    void loadChanged(UASInterface* uas, double load);
-    /** @brief Propagate a heartbeat received from the system */
-    //void heartbeat(UASInterface* uas); // Defined in UASInterface already
-    void imageStarted(quint64 timestamp);
-    /** @brief A new camera image has arrived */
-    void imageReady(UASInterface* uas);
-    /** @brief HIL controls have changed */
-    void hilControlsChanged(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
-    /** @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);
-
-protected:
-    /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
-    quint64 getUnixTime(quint64 time=0);
-    /** @brief Get the UNIX timestamp in milliseconds, enter milliseconds */
-    quint64 getUnixTimeFromMs(quint64 time);
-    /** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
-    quint64 getUnixReferenceTime(quint64 time);
-    int componentID[256];
-    bool componentMulti[256];
-    bool connectionLost; ///< Flag indicates a timed out connection
-    quint64 connectionLossTime; ///< Time the connection was interrupted
-    quint64 lastVoltageWarning; ///< Time at which the last voltage warning occured
-    quint64 lastNonNullTime;    ///< The last timestamp from the MAV that was not null
-    unsigned int onboardTimeOffsetInvalidCount;     ///< Count when the offboard time offset estimation seemed wrong
-    bool hilEnabled;            ///< Set to true if HIL mode is enabled from GCS (UAS might be in HIL even if this flag is not set, this defines the GCS HIL setting)
-
-protected slots:
-    /** @brief Write settings to disk */
-    void writeSettings();
-    /** @brief Read settings from disk */
-    void readSettings();
-
-//    // MESSAGE RECEPTION
-//    /** @brief Receive a named value message */
-//    void receiveMessageNamedValue(const mavlink_message_t& message);
-
-private:
-//    unsigned int mode;          ///< The current mode of the MAV
-};
-
-
-#endif // _UAS_H_
+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    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.
+
+    QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of Unmanned Aerial Vehicle object
+ *
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#ifndef _UAS_H_
+#define _UAS_H_
+
+#include "UASInterface.h"
+#include <MAVLinkProtocol.h>
+#include <QVector3D>
+#include "QGCMAVLink.h"
+#include "QGCHilLink.h"
+#include "QGCFlightGearLink.h"
+#include "QGCXPlaneLink.h"
+
+/**
+ * @brief A generic MAVLINK-connected MAV/UAV
+ *
+ * This class represents one vehicle. It can be used like the real vehicle, e.g. a call to halt()
+ * will automatically send the appropriate messages to the vehicle. The vehicle state will also be
+ * automatically updated by the comm architecture, so when writing code to e.g. control the vehicle
+ * no knowledge of the communication infrastructure is needed.
+ */
+class UAS : public UASInterface
+{
+    Q_OBJECT
+public:
+    UAS(MAVLinkProtocol* protocol, int id = 0);
+    ~UAS();
+
+    enum BatteryType
+    {
+        NICD = 0,
+        NIMH = 1,
+        LIION = 2,
+        LIPOLY = 3,
+        LIFE = 4,
+        AGZN = 5
+    }; ///< The type of battery used
+
+    static const int lipoFull = 4.2f;  ///< 100% charged voltage
+    static const int lipoEmpty = 3.5f; ///< Discharged voltage
+
+    /* MANAGEMENT */
+
+    /** @brief The name of the robot */
+    QString getUASName(void) const;
+    /** @brief Get short state */
+    const QString& getShortState() const;
+    /** @brief Get short mode */
+    const QString& getShortMode() const;
+    /** @brief Translate from mode id to text */
+    static QString getShortModeTextFor(int id);
+    /** @brief Translate from mode id to audio text */
+    static QString getAudioModeTextFor(int id);
+    /** @brief Get the unique system id */
+    int getUASID() const;
+    /** @brief Get the airframe */
+    int getAirframe() const
+    {
+        return airframe;
+    }
+    /** @brief Get the components */
+    QMap<int, QString> getComponents();
+
+    /** @brief The time interval the robot is switched on */
+    quint64 getUptime() const;
+    /** @brief Get the status flag for the communication */
+    int getCommunicationStatus() const;
+    /** @brief Add one measurement and get low-passed voltage */
+    float filterVoltage(float value) const;
+    /** @brief Get the links associated with this robot */
+    QList<LinkInterface*>* getLinks();
+
+    double getLocalX() const
+    {
+        return localX;
+    }
+    double getLocalY() const
+    {
+        return localY;
+    }
+    double getLocalZ() const
+    {
+        return localZ;
+    }
+    double getLatitude() const
+    {
+        return latitude;
+    }
+    double getLongitude() const
+    {
+        return longitude;
+    }
+    double getAltitude() const
+    {
+        return altitude;
+    }
+    virtual bool localPositionKnown() const
+    {
+        return isLocalPositionKnown;
+    }
+    virtual bool globalPositionKnown() const
+    {
+        return isGlobalPositionKnown;
+    }
+
+    double getRoll() const
+    {
+        return roll;
+    }
+    double getPitch() const
+    {
+        return pitch;
+    }
+    double getYaw() const
+    {
+        return yaw;
+    }
+    bool getSelected() const;
+    QVector3D getNedPosGlobalOffset() const
+    {
+        return nedPosGlobalOffset;
+    }
+
+    QVector3D getNedAttGlobalOffset() const
+    {
+        return nedAttGlobalOffset;
+    }
+
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
+    px::GLOverlay getOverlay()
+    {
+        QMutexLocker locker(&overlayMutex);
+        return overlay;
+    }
+
+    px::GLOverlay getOverlay(qreal& receivedTimestamp)
+    {
+        receivedTimestamp = receivedOverlayTimestamp;
+        QMutexLocker locker(&overlayMutex);
+        return overlay;
+    }
+
+    px::ObstacleList getObstacleList() {
+        QMutexLocker locker(&obstacleListMutex);
+        return obstacleList;
+    }
+
+    px::ObstacleList getObstacleList(qreal& receivedTimestamp) {
+        receivedTimestamp = receivedObstacleListTimestamp;
+        QMutexLocker locker(&obstacleListMutex);
+        return obstacleList;
+    }
+
+    px::Path getPath() {
+        QMutexLocker locker(&pathMutex);
+        return path;
+    }
+
+    px::Path getPath(qreal& receivedTimestamp) {
+        receivedTimestamp = receivedPathTimestamp;
+        QMutexLocker locker(&pathMutex);
+        return path;
+    }
+
+    px::PointCloudXYZRGB getPointCloud() {
+        QMutexLocker locker(&pointCloudMutex);
+        return pointCloud;
+    }
+
+    px::PointCloudXYZRGB getPointCloud(qreal& receivedTimestamp) {
+        receivedTimestamp = receivedPointCloudTimestamp;
+        QMutexLocker locker(&pointCloudMutex);
+        return pointCloud;
+    }
+
+    px::RGBDImage getRGBDImage() {
+        QMutexLocker locker(&rgbdImageMutex);
+        return rgbdImage;
+    }
+
+    px::RGBDImage getRGBDImage(qreal& receivedTimestamp) {
+        receivedTimestamp = receivedRGBDImageTimestamp;
+        QMutexLocker locker(&rgbdImageMutex);
+        return rgbdImage;
+    }
+#endif
+
+    friend class UASWaypointManager;
+
+protected: //COMMENTS FOR TEST UNIT
+    int uasId;                    ///< Unique system ID
+    unsigned char type;           ///< UAS type (from type enum)
+    quint64 startTime;            ///< The time the UAS was switched on
+    CommStatus commStatus;        ///< Communication status
+    QString name;                 ///< Human-friendly name of the vehicle, e.g. bravo
+    int autopilot;                ///< Type of the Autopilot: -1: None, 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+    QList<LinkInterface*>* links; ///< List of links this UAS can be reached by
+    QList<int> unknownPackets;    ///< Packet IDs which are unknown and have been received
+    MAVLinkProtocol* mavlink;     ///< Reference to the MAVLink instance
+    BatteryType batteryType;      ///< The battery type
+    int cells;                    ///< Number of cells
+
+    UASWaypointManager waypointManager;
+
+    QList<double> actuatorValues;
+    QList<QString> actuatorNames;
+
+    QList<double> motorValues;
+    QList<QString> motorNames;
+    QMap<int, QString> components;  ///< IDs and names of all detected onboard components
+
+    double thrustSum;           ///< Sum of forward/up thrust of all thrust actuators, in Newtons
+    double thrustMax;           ///< Maximum forward/up thrust of this vehicle, in Newtons
+
+    // Battery stats
+    float fullVoltage;          ///< Voltage of the fully charged battery (100%)
+    float emptyVoltage;         ///< Voltage of the empty battery (0%)
+    float startVoltage;         ///< Voltage at system start
+    float tickVoltage;          ///< Voltage where 0.1 V ticks are told
+    float lastTickVoltageValue; ///< The last voltage where a tick was announced
+    float tickLowpassVoltage;   ///< Lowpass-filtered voltage for the tick announcement
+    float warnVoltage;          ///< Voltage where QGC will start to warn about low battery
+    float warnLevelPercent;     ///< Warning level, in percent
+    double currentVoltage;      ///< Voltage currently measured
+    float lpVoltage;            ///< Low-pass filtered voltage
+    bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
+    float chargeLevel;          ///< Charge level of battery, in percent
+    int timeRemaining;          ///< Remaining time calculated based on previous and current
+    uint8_t mode;              ///< The current mode of the MAV
+    uint32_t custom_mode;       ///< The current mode of the MAV
+    int status;                 ///< The current status of the MAV
+    uint32_t navMode;                ///< The current navigation mode of the MAV
+    quint64 onboardTimeOffset;
+
+    bool controlRollManual;     ///< status flag, true if roll is controlled manually
+    bool controlPitchManual;    ///< status flag, true if pitch is controlled manually
+    bool controlYawManual;      ///< status flag, true if yaw is controlled manually
+    bool controlThrustManual;   ///< status flag, true if thrust is controlled manually
+
+    double manualRollAngle;     ///< Roll angle set by human pilot (radians)
+    double manualPitchAngle;    ///< Pitch angle set by human pilot (radians)
+    double manualYawAngle;      ///< Yaw angle set by human pilot (radians)
+    double manualThrust;        ///< Thrust set by human pilot (radians)
+    float receiveDropRate;      ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
+    float sendDropRate;         ///< Percentage of packets that were not received from the MAV by the GCS
+    bool lowBattAlarm;          ///< Switch if battery is low
+    bool positionLock;          ///< Status if position information is available or not
+    double localX;
+    double localY;
+    double localZ;
+    double latitude;
+    double longitude;
+    double altitude;
+    double speedX;              ///< True speed in X axis
+    double speedY;              ///< True speed in Y axis
+    double speedZ;              ///< True speed in Z axis
+    double roll;
+    double pitch;
+    double yaw;
+    quint64 lastHeartbeat;      ///< Time of the last heartbeat message
+    QTimer* statusTimeout;      ///< Timer for various status timeouts
+
+    int imageSize;              ///< Image size being transmitted (bytes)
+    int imagePackets;           ///< Number of data packets being sent for this image
+    int imagePacketsArrived;    ///< Number of data packets recieved
+    int imagePayload;           ///< Payload size per transmitted packet (bytes). Standard is 254, and decreases when image resolution increases.
+    int imageQuality;           ///< Quality of the transmitted image (percentage)
+    int imageType;              ///< Type of the transmitted image (BMP, PNG, JPEG, RAW 8 bit, RAW 32 bit)
+    int imageWidth;             ///< Width of the image stream
+    int imageHeight;            ///< Width of the image stream
+    QByteArray imageRecBuffer;  ///< Buffer for the incoming bytestream
+    QImage image;               ///< Image data of last completely transmitted image
+    quint64 imageStart;
+
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
+    px::GLOverlay overlay;
+    QMutex overlayMutex;
+    qreal receivedOverlayTimestamp;
+
+    px::ObstacleList obstacleList;
+    QMutex obstacleListMutex;
+    qreal receivedObstacleListTimestamp;
+
+    px::Path path;
+    QMutex pathMutex;
+    qreal receivedPathTimestamp;
+
+    px::PointCloudXYZRGB pointCloud;
+    QMutex pointCloudMutex;
+    qreal receivedPointCloudTimestamp;
+
+    px::RGBDImage rgbdImage;
+    QMutex rgbdImageMutex;
+    qreal receivedRGBDImageTimestamp;
+#endif
+
+    QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
+    bool paramsOnceRequested;       ///< If the parameter list has been read at least once
+    int airframe;                   ///< The airframe type
+    bool attitudeKnown;             ///< True if attitude was received, false else
+    QGCUASParamManager* paramManager; ///< Parameter manager class
+    QString shortStateText;         ///< Short textual state description
+    QString shortModeText;          ///< Short textual mode description
+    bool attitudeStamped;           ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
+    quint64 lastAttitude;           ///< Timestamp of last attitude measurement
+    QGCHilLink* simulation;         ///< Hardware in the loop simulation link
+    bool isLocalPositionKnown;      ///< If the local position has been received for this MAV
+    bool isGlobalPositionKnown;     ///< If the global position has been received for this MAV
+    bool systemIsArmed;             ///< If the system is armed
+    QVector3D nedPosGlobalOffset;   ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
+    QVector3D nedAttGlobalOffset;   ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
+
+public:
+    /** @brief Set the current battery type */
+    void setBattery(BatteryType type, int cells);
+    /** @brief Estimate how much flight time is remaining */
+    int calculateTimeRemaining();
+    /** @brief Get the current charge level */
+    float getChargeLevel();
+    /** @brief Get the human-readable status message for this code */
+    void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
+    /** @brief Get the human-readable navigation mode translation for this mode */
+    QString getNavModeText(int mode);
+    /** @brief Check if vehicle is in autonomous mode */
+    bool isAuto();
+    /** @brief Check if vehicle is armed */
+    bool isArmed() const { return systemIsArmed; }
+
+    UASWaypointManager* getWaypointManager() {
+        return &waypointManager;
+    }
+    /** @brief Get reference to the param manager **/
+    QGCUASParamManager* getParamManager() const {
+        return paramManager;
+    }
+    /** @brief Get the HIL simulation */
+    QGCHilLink* getHILSimulation() const {
+        return simulation;
+    }
+    // TODO Will be removed
+    /** @brief Set reference to the param manager **/
+    void setParamManager(QGCUASParamManager* manager) {
+        paramManager = manager;
+    }
+    int getSystemType();
+    QString getSystemTypeName()
+    {
+        switch(type)
+        {
+        case MAV_TYPE_GENERIC:
+            return "GENERIC";
+            break;
+        case MAV_TYPE_FIXED_WING:
+            return "FIXED_WING";
+            break;
+        case MAV_TYPE_QUADROTOR:
+            return "QUADROTOR";
+            break;
+        case MAV_TYPE_COAXIAL:
+            return "COAXIAL";
+            break;
+        case MAV_TYPE_HELICOPTER:
+            return "HELICOPTER";
+            break;
+        case MAV_TYPE_ANTENNA_TRACKER:
+            return "ANTENNA_TRACKER";
+            break;
+        case MAV_TYPE_GCS:
+            return "GCS";
+            break;
+        case MAV_TYPE_AIRSHIP:
+            return "AIRSHIP";
+            break;
+        case MAV_TYPE_FREE_BALLOON:
+            return "FREE_BALLOON";
+            break;
+        case MAV_TYPE_ROCKET:
+            return "ROCKET";
+            break;
+        case MAV_TYPE_GROUND_ROVER:
+            return "GROUND_ROVER";
+            break;
+        case MAV_TYPE_SURFACE_BOAT:
+            return "BOAT";
+            break;
+        case MAV_TYPE_SUBMARINE:
+            return "SUBMARINE";
+            break;
+        case MAV_TYPE_HEXAROTOR:
+            return "HEXAROTOR";
+            break;
+        case MAV_TYPE_OCTOROTOR:
+            return "OCTOROTOR";
+            break;
+        case MAV_TYPE_TRICOPTER:
+            return "TRICOPTER";
+            break;
+        case MAV_TYPE_FLAPPING_WING:
+            return "FLAPPING_WING";
+            break;
+        default:
+            return "";
+            break;
+        }
+    }
+
+    QImage getImage();
+    void requestImage();
+    int getAutopilotType(){
+        return autopilot;
+    }
+    QString getAutopilotTypeName()
+    {
+        switch (autopilot)
+        {
+        case MAV_AUTOPILOT_GENERIC:
+            return "GENERIC";
+            break;
+        case MAV_AUTOPILOT_PIXHAWK:
+            return "PIXHAWK";
+            break;
+        case MAV_AUTOPILOT_SLUGS:
+            return "SLUGS";
+            break;
+        case MAV_AUTOPILOT_ARDUPILOTMEGA:
+            return "ARDUPILOTMEGA";
+            break;
+        case MAV_AUTOPILOT_OPENPILOT:
+            return "OPENPILOT";
+            break;
+        case MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY:
+            return "GENERIC_WAYPOINTS_ONLY";
+            break;
+        case MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY:
+            return "GENERIC_MISSION_NAVIGATION_ONLY";
+            break;
+        case MAV_AUTOPILOT_GENERIC_MISSION_FULL:
+            return "GENERIC_MISSION_FULL";
+            break;
+        case MAV_AUTOPILOT_INVALID:
+            return "NO AP";
+            break;
+        case MAV_AUTOPILOT_PPZ:
+            return "PPZ";
+            break;
+        case MAV_AUTOPILOT_UDB:
+            return "UDB";
+            break;
+        case MAV_AUTOPILOT_FP:
+            return "FP";
+            break;
+        case MAV_AUTOPILOT_PX4:
+            return "PX4";
+            break;
+        default:
+            return "";
+            break;
+        }
+    }
+
+public slots:
+    /** @brief Set the autopilot type */
+    void setAutopilotType(int apType)
+    {
+        autopilot = apType;
+        emit systemSpecsChanged(uasId);
+    }
+    /** @brief Set the type of airframe */
+    void setSystemType(int systemType);
+    /** @brief Set the specific airframe type */
+    void setAirframe(int airframe)
+    {
+        if((airframe >= QGC_AIRFRAME_GENERIC) && (airframe < QGC_AIRFRAME_END_OF_ENUM))
+        {
+          this->airframe = airframe;
+          emit systemSpecsChanged(uasId);
+        }
+        
+    }
+    /** @brief Set a new name **/
+    void setUASName(const QString& name);
+    /** @brief Executes a command **/
+    void executeCommand(MAV_CMD command);
+    /** @brief Executes a command with 7 params */
+    void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component);
+    /** @brief Set the current battery type and voltages */
+    void setBatterySpecs(const QString& specs);
+    /** @brief Get the current battery type and specs */
+    QString getBatterySpecs();
+
+    /** @brief Launches the system **/
+    void launch();
+    /** @brief Write this waypoint to the list of waypoints */
+    //void setWaypoint(Waypoint* wp); FIXME tbd
+    /** @brief Set currently active waypoint */
+    //void setWaypointActive(int id); FIXME tbd
+    /** @brief Order the robot to return home **/
+    void home();
+    /** @brief Order the robot to land **/
+    void land();
+    void halt();
+    void go();
+
+    /** @brief Enable / disable HIL */
+    void enableHilFlightGear(bool enable, QString options);
+    void enableHilXPlane(bool enable);
+
+
+    /** @brief Send the full HIL state to the MAV */
+
+    void sendHilState(	uint64_t time_us, float roll, float pitch, float yaw, float rollspeed,
+                        float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt,
+                        int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc);
+
+    /** @brief Places the UAV in Hardware-in-the-Loop simulation status **/
+    void startHil();
+
+    /** @brief Stops the UAV's Hardware-in-the-Loop simulation status **/
+    void stopHil();
+
+
+    /** @brief Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/
+    void emergencySTOP();
+
+    /** @brief Kills the robot. All systems are immediately shut down (e.g. the main power line is cut). This might lead to a crash **/
+    bool emergencyKILL();
+
+    /** @brief Shut the system cleanly down. Will shut down any onboard computers **/
+    void shutdown();
+
+    /** @brief Set the target position for the robot to navigate to. */
+    void setTargetPosition(float x, float y, float z, float yaw);
+
+    void startLowBattAlarm();
+    void stopLowBattAlarm();
+
+    /** @brief Arm system */
+    void armSystem();
+    /** @brief Disable the motors */
+    void disarmSystem();
+
+    /** @brief Set the values for the manual control of the vehicle */
+    void setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons);
+    /** @brief Receive a button pressed event from an input device, e.g. joystick */
+    void receiveButton(int buttonIndex);
+
+    /** @brief Set the values for the 6dof manual control of the vehicle */
+    void setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw);
+
+    /** @brief Add a link associated with this robot */
+    void addLink(LinkInterface* link);
+    /** @brief Remove a link associated with this robot */
+    void removeLink(QObject* object);
+
+    /** @brief Receive a message from one of the communication links. */
+    virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
+
+#ifdef QGC_PROTOBUF_ENABLED
+    /** @brief Receive a message from one of the communication links. */
+    virtual void receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message);
+#endif
+
+    /** @brief Send a message over this link (to this or to all UAS on this link) */
+    void sendMessage(LinkInterface* link, mavlink_message_t message);
+    /** @brief Send a message over all links this UAS can be reached with (!= all links) */
+    void sendMessage(mavlink_message_t message);
+
+    /** @brief Temporary Hack for sending packets to patch Antenna. Send a message over all serial links except for this UAS's */
+    void forwardMessage(mavlink_message_t message);
+
+    /** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */
+    void setSelected();
+
+    /** @brief Set current mode of operation, e.g. auto or manual */
+    void setMode(int mode);
+
+    /** @brief Request all parameters */
+    void requestParameters();
+
+    /** @brief Request a single parameter by name */
+    void requestParameter(int component, const QString& parameter);
+    /** @brief Request a single parameter by index */
+    void requestParameter(int component, int id);
+
+    /** @brief Set a system parameter */
+    void setParameter(const int component, const QString& id, const QVariant& value);
+
+    /** @brief Write parameters to permanent storage */
+    void writeParametersToStorage();
+    /** @brief Read parameters from permanent storage */
+    void readParametersFromStorage();
+
+    /** @brief Get the names of all parameters */
+    QList<QString> getParameterNames(int component);
+
+    /** @brief Get the ids of all components */
+    QList<int> getComponentIds();
+
+    void enableAllDataTransmission(int rate);
+    void enableRawSensorDataTransmission(int rate);
+    void enableExtendedSystemStatusTransmission(int rate);
+    void enableRCChannelDataTransmission(int rate);
+    void enableRawControllerDataTransmission(int rate);
+    //void enableRawSensorFusionTransmission(int rate);
+    void enablePositionTransmission(int rate);
+    void enableExtra1Transmission(int rate);
+    void enableExtra2Transmission(int rate);
+    void enableExtra3Transmission(int rate);
+
+    /** @brief Update the system state */
+    void updateState();
+
+    /** @brief Set world frame origin at current GPS position */
+    void setLocalOriginAtCurrentGPSPosition();
+    /** @brief Set world frame origin / home position at this GPS position */
+    void setHomePosition(double lat, double lon, double alt);
+    /** @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 */
+    void setLocalPositionOffset(float x, float y, float z, float yaw);
+
+    void startRadioControlCalibration();
+    void startMagnetometerCalibration();
+    void startGyroscopeCalibration();
+    void startPressureCalibration();
+
+    void startDataRecording();
+    void stopDataRecording();
+    void deleteSettings();
+signals:
+    /** @brief The main/battery voltage has changed/was updated */
+    //void voltageChanged(int uasId, double voltage); // Defined in UASInterface already
+    /** @brief An actuator value has changed */
+    //void actuatorChanged(UASInterface*, int actId, double value); // Defined in UASInterface already
+    /** @brief An actuator value has changed */
+    void actuatorChanged(UASInterface* uas, QString actuatorName, double min, double max, double value);
+    void motorChanged(UASInterface* uas, QString motorName, double min, double max, double value);
+    /** @brief The system load (MCU/CPU usage) changed */
+    void loadChanged(UASInterface* uas, double load);
+    /** @brief Propagate a heartbeat received from the system */
+    //void heartbeat(UASInterface* uas); // Defined in UASInterface already
+    void imageStarted(quint64 timestamp);
+    /** @brief A new camera image has arrived */
+    void imageReady(UASInterface* uas);
+    /** @brief HIL controls have changed */
+    void hilControlsChanged(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
+    /** @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);
+
+protected:
+    /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
+    quint64 getUnixTime(quint64 time=0);
+    /** @brief Get the UNIX timestamp in milliseconds, enter milliseconds */
+    quint64 getUnixTimeFromMs(quint64 time);
+    /** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
+    quint64 getUnixReferenceTime(quint64 time);
+    int componentID[256];
+    bool componentMulti[256];
+    bool connectionLost; ///< Flag indicates a timed out connection
+    quint64 connectionLossTime; ///< Time the connection was interrupted
+    quint64 lastVoltageWarning; ///< Time at which the last voltage warning occured
+    quint64 lastNonNullTime;    ///< The last timestamp from the MAV that was not null
+    unsigned int onboardTimeOffsetInvalidCount;     ///< Count when the offboard time offset estimation seemed wrong
+    bool hilEnabled;            ///< Set to true if HIL mode is enabled from GCS (UAS might be in HIL even if this flag is not set, this defines the GCS HIL setting)
+
+protected slots:
+    /** @brief Write settings to disk */
+    void writeSettings();
+    /** @brief Read settings from disk */
+    void readSettings();
+
+//    // MESSAGE RECEPTION
+//    /** @brief Receive a named value message */
+//    void receiveMessageNamedValue(const mavlink_message_t& message);
+
+private:
+//    unsigned int mode;          ///< The current mode of the MAV
+};
+
+
+#endif // _UAS_H_

src/uas/UASInterface.h

@@ -475,6 +475,7 @@ signals:
     void imageDataReceived(int imgid, const unsigned char* imageData, int length, int startIndex);
     /** @brief Emit the new system type */
     void systemTypeSet(UASInterface* uas, unsigned int type);
+
     /** @brief Attitude control enabled/disabled */
     void attitudeControlEnabled(bool enabled);
     /** @brief Position 2D control enabled/disabled */
@@ -483,6 +484,30 @@ signals:
     void positionZControlEnabled(bool enabled);
     /** @brief Heading control enabled/disabled */
     void positionYawControlEnabled(bool enabled);
+    /** @brief Optical flow status changed */
+    void opticalFlowStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Vision based localization status changed */
+    void visionLocalizationStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Infrared / Ultrasound status changed */
+    void distanceSensorStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Gyroscope status changed */
+    void gyroStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Accelerometer status changed */
+    void accelStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Magnetometer status changed */
+    void magSensorStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Barometer status changed */
+    void baroStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Differential pressure / airspeed status changed */
+    void airspeedStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Actuator status changed */
+    void actuatorStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Laser scanner status changed */
+    void laserStatusChanged(bool supported, bool enabled, bool ok);
+    /** @brief Vicon / Leica Geotracker status changed */
+    void groundTruthSensorStatusChanged(bool supported, bool enabled, bool ok);
+
+
     /** @brief Value of a remote control channel (raw) */
     void remoteControlChannelRawChanged(int channelId, float raw);
     /** @brief Value of a remote control channel (scaled)*/

src/ui/HSIDisplay.cc

@@ -123,7 +123,34 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
     userSetPointSet(false),
     userXYSetPointSet(false),
     userZSetPointSet(false),
-    userYawSetPointSet(false)
+    userYawSetPointSet(false),
+    gyroKnown(false),
+    gyroON(false),
+    gyroOK(false),
+    accelKnown(false),
+    accelON(false),
+    accelOK(false),
+    magKnown(false),
+    magON(false),
+    magOK(false),
+    pressureKnown(false),
+    pressureON(false),
+    pressureOK(false),
+    diffPressureKnown(false),
+    diffPressureON(false),
+    diffPressureOK(false),
+    flowKnown(false),
+    flowON(false),
+    flowOK(false),
+    laserKnown(false),
+    laserON(false),
+    laserOK(false),
+    viconKnown(false),
+    viconON(false),
+    viconOK(false),
+    actuatorsKnown(false),
+    actuatorsON(false),
+    actuatorsOK(false)
 {
     refreshTimer->setInterval(updateInterval);
 
@@ -845,6 +872,16 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
         disconnect(this->uas, SIGNAL(gpsLocalizationChanged(UASInterface*,int)), this, SLOT(updateGpsLocalization(UASInterface*,int)));
         disconnect(this->uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
         disconnect(this->uas, SIGNAL(objectDetected(uint,int,int,QString,int,float,float)), this, SLOT(updateObjectPosition(uint,int,int,QString,int,float,float)));
+
+        disconnect(this->uas, SIGNAL(gyroStatusChanged(bool,bool,bool)), this, SLOT(updateGyroStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(accelStatusChanged(bool,bool,bool)), this, SLOT(updateAccelStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(magSensorStatusChanged(bool,bool,bool)), this, SLOT(updateMagSensorStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(baroStatusChanged(bool,bool,bool)), this, SLOT(updateBaroStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(airspeedStatusChanged(bool,bool,bool)), this, SLOT(updateAirspeedStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(opticalFlowStatusChanged(bool,bool,bool)), this, SLOT(updateOpticalFlowStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(laserStatusChanged(bool,bool,bool)), this, SLOT(updateLaserStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(groundTruthSensorStatusChanged(bool,bool,bool)), this, SLOT(updateGroundTruthSensorStatus(bool,bool,bool)));
+        disconnect(this->uas, SIGNAL(actuatorStatusChanged(bool,bool,bool)), this, SLOT(updateActuatorStatus(bool,bool,bool)));
     }
 
     connect(uas, SIGNAL(gpsSatelliteStatusChanged(int,int,float,float,float,bool)), this, SLOT(updateSatellite(int,int,float,float,float,bool)));
@@ -867,6 +904,16 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
     connect(uas, SIGNAL(irUltraSoundLocalizationChanged(UASInterface*,int)), this, SLOT(updateInfraredUltrasoundLocalization(UASInterface*,int)));
     connect(uas, SIGNAL(objectDetected(uint,int,int,QString,int,float,float)), this, SLOT(updateObjectPosition(uint,int,int,QString,int,float,float)));
 
+    connect(uas, SIGNAL(gyroStatusChanged(bool,bool,bool)), this, SLOT(updateGyroStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(accelStatusChanged(bool,bool,bool)), this, SLOT(updateAccelStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(magSensorStatusChanged(bool,bool,bool)), this, SLOT(updateMagSensorStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(baroStatusChanged(bool,bool,bool)), this, SLOT(updateBaroStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(airspeedStatusChanged(bool,bool,bool)), this, SLOT(updateAirspeedStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(opticalFlowStatusChanged(bool,bool,bool)), this, SLOT(updateOpticalFlowStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(laserStatusChanged(bool,bool,bool)), this, SLOT(updateLaserStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(groundTruthSensorStatusChanged(bool,bool,bool)), this, SLOT(updateGroundTruthSensorStatus(bool,bool,bool)));
+    connect(uas, SIGNAL(actuatorStatusChanged(bool,bool,bool)), this, SLOT(updateActuatorStatus(bool,bool,bool)));
+
     this->uas = uas;
 
     resetMAVState();

src/ui/HSIDisplay.h

@@ -66,6 +66,83 @@ public slots:
     void updateAttitudeControllerEnabled(bool enabled);
     void updatePositionXYControllerEnabled(bool enabled);
     void updatePositionZControllerEnabled(bool enabled);
+
+    /** @brief Optical flow status changed */
+    void updateOpticalFlowStatus(bool supported, bool enabled, bool ok) {
+        if (supported && enabled && ok) {
+            visionFix = true;
+        } else {
+            visionFix = false;
+        }
+    }
+
+    /** @brief Vision based localization status changed */
+    void updateVisionLocalizationStatus(bool supported, bool enabled, bool ok) {
+        if (enabled && ok) {
+            visionFix = true;
+        } else {
+            visionFix = false;
+        }
+        visionFixKnown = supported;
+    }
+    /** @brief Infrared / Ultrasound status changed */
+    void updateDistanceSensorStatus(bool supported, bool enabled, bool ok) {
+        if (enabled && ok) {
+            iruFix = true;
+        } else {
+            iruFix = false;
+        }
+        iruFixKnown = supported;
+    }
+    /** @brief Gyroscope status changed */
+    void updateGyroStatus(bool supported, bool enabled, bool ok) {
+        gyroKnown = supported;
+        gyroON = enabled;
+        gyroOK = ok;
+    }
+    /** @brief Accelerometer status changed */
+    void updateAccelStatus(bool supported, bool enabled, bool ok) {
+        accelKnown = supported;
+        accelON = enabled;
+        accelOK = ok;
+    }
+    /** @brief Magnetometer status changed */
+    void updateMagSensorStatus(bool supported, bool enabled, bool ok) {
+        magKnown = supported;
+        magON = enabled;
+        magOK = ok;
+    }
+    /** @brief Barometer status changed */
+    void updateBaroStatus(bool supported, bool enabled, bool ok) {
+        pressureKnown = supported;
+        pressureON = enabled;
+        pressureOK = ok;
+    }
+    /** @brief Differential pressure / airspeed status changed */
+    void updateAirspeedStatus(bool supported, bool enabled, bool ok) {
+        diffPressureKnown = supported;
+        diffPressureON = enabled;
+        diffPressureOK = ok;
+    }
+    /** @brief Actuator status changed */
+    void updateActuatorStatus(bool supported, bool enabled, bool ok) {
+        actuatorsKnown = supported;
+        actuatorsON = enabled;
+        actuatorsOK = ok;
+    }
+    /** @brief Laser scanner status changed */
+    void updateLaserStatus(bool supported, bool enabled, bool ok) {
+        laserKnown = supported;
+        laserON = enabled;
+        laserOK = ok;
+    }
+    /** @brief Vicon / Leica Geotracker status changed */
+    void updateGroundTruthSensorStatus(bool supported, bool enabled, bool ok) {
+        viconKnown = supported;
+        viconON = enabled;
+        viconOK = ok;
+    }
+
     void updateObjectPosition(unsigned int time, int id, int type, const QString& name, int quality, float bearing, float distance);
     /** @brief Heading control enabled/disabled */
     void updatePositionYawControllerEnabled(bool enabled);

src/ui/MainWindow.h

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-    QGROUNDCONTROL is free software: you can redistribute it and/or modify
-    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.
-
-    QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Definition of class MainWindow
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-
-#ifndef _MAINWINDOW_H_
-#define _MAINWINDOW_H_
-
-#include <QtGui/QMainWindow>
-#include <QStatusBar>
-#include <QStackedWidget>
-#include <QSettings>
-#include <qlist.h>
-
-#include "ui_MainWindow.h"
-#include "LinkManager.h"
-#include "LinkInterface.h"
-#include "UASInterface.h"
-#include "UASManager.h"
-#include "UASControlWidget.h"
-#include "Linecharts.h"
-#include "UASInfoWidget.h"
-#include "WaypointList.h"
-#include "CameraView.h"
-#include "UASListWidget.h"
-#include "MAVLinkProtocol.h"
-#include "MAVLinkSimulationLink.h"
-#include "ObjectDetectionView.h"
-#include "HUD.h"
-#include "JoystickWidget.h"
-#include "input/JoystickInput.h"
-#include "DebugConsole.h"
-#include "ParameterInterface.h"
-#include "XMLCommProtocolWidget.h"
-#include "HDDisplay.h"
-#include "WatchdogControl.h"
-#include "HSIDisplay.h"
-#include "QGCDataPlot2D.h"
-#include "QGCRemoteControlView.h"
-#include "opmapcontrol.h"
-#if (defined Q_OS_MAC) | (defined _MSC_VER)
-#include "QGCGoogleEarthView.h"
-#endif
-#include "QGCToolBar.h"
-#include "SlugsDataSensorView.h"
-#include "LogCompressor.h"
-
-#include "SlugsHilSim.h"
-
-#include "SlugsPadCameraControl.h"
-#include "UASControlParameters.h"
-#include "QGCMAVLinkInspector.h"
-#include "QGCMAVLinkLogPlayer.h"
-#include "QGCVehicleConfig.h"
-#include "MAVLinkDecoder.h"
-
-class QGCMapTool;
-class QGCMAVLinkMessageSender;
-class QGCFirmwareUpdate;
-class QSplashScreen;
-
-/**
- * @brief Main Application Window
- *
- **/
-class MainWindow : public QMainWindow
-{
-    Q_OBJECT
-
-public:
-    static MainWindow* instance(QSplashScreen* screen = 0);
-    ~MainWindow();
-
-    enum QGC_MAINWINDOW_STYLE
-    {
-        QGC_MAINWINDOW_STYLE_NATIVE,
-        QGC_MAINWINDOW_STYLE_INDOOR,
-        QGC_MAINWINDOW_STYLE_OUTDOOR
-    };
-
-    /** @brief Get current visual style */
-    int getStyle()
-    {
-        return currentStyle;
-    }
-    /** @brief Get auto link reconnect setting */
-    bool autoReconnectEnabled()
-    {
-        return autoReconnect;
-    }
-
-    /** @brief Get low power mode setting */
-    bool lowPowerModeEnabled()
-    {
-        return lowPowerMode;
-    }
-
-    QList<QAction*> listLinkMenuActions(void);
-
-public slots:
-
-    /** @brief Shows a status message on the bottom status bar */
-    void showStatusMessage(const QString& status, int timeout);
-    /** @brief Shows a status message on the bottom status bar */
-    void showStatusMessage(const QString& status);
-    /** @brief Shows a critical message as popup or as widget */
-    void showCriticalMessage(const QString& title, const QString& message);
-    /** @brief Shows an info message as popup or as widget */
-    void showInfoMessage(const QString& title, const QString& message);
-
-    /** @brief Show the application settings */
-    void showSettings();
-    /** @brief Add a communication link */
-    void addLink();
-    void addLink(LinkInterface* link);
-    void configure();
-    /** @brief Set the currently controlled UAS */
-    void setActiveUAS(UASInterface* uas);
-
-    /** @brief Add a new UAS */
-    void UASCreated(UASInterface* uas);
-    /** Delete an UAS */
-    void UASDeleted(UASInterface* uas);
-    /** @brief Update system specs of a UAS */
-    void UASSpecsChanged(int uas);
-    void startVideoCapture();
-    void stopVideoCapture();
-    void saveScreen();
-
-    /** @brief Load default view when no MAV is connected */
-    void loadUnconnectedView();
-    /** @brief Load view for pilot */
-    void loadPilotView();
-    /** @brief Load view for engineer */
-    void loadEngineerView();
-    /** @brief Load view for operator */
-    void loadOperatorView();
-    /** @brief Load MAVLink XML generator view */
-    void loadMAVLinkView();
-    /** @brief Load firmware update view */
-    void loadFirmwareUpdateView();
-
-    /** @brief Show the online help for users */
-    void showHelp();
-    /** @brief Show the authors / credits */
-    void showCredits();
-    /** @brief Show the project roadmap */
-    void showRoadMap();
-
-    /** @brief Reload the CSS style sheet */
-    void reloadStylesheet();
-    /** @brief Let the user select the CSS style sheet */
-    void selectStylesheet();
-    /** @brief Automatically reconnect last link */
-    void enableAutoReconnect(bool enabled);
-    /** @brief Save power by reducing update rates */
-    void enableLowPowerMode(bool enabled) { lowPowerMode = enabled; }
-    /** @brief Switch to native application style */
-    void loadNativeStyle();
-    /** @brief Switch to indoor mission style */
-    void loadIndoorStyle();
-    /** @brief Switch to outdoor mission style */
-    void loadOutdoorStyle();
-    /** @brief Load a specific style */
-    void loadStyle(QGC_MAINWINDOW_STYLE style);
-
-    /** @brief Add a custom tool widget */
-    void createCustomWidget();
-
-    /** @brief Load a custom tool widget from a file chosen by user (QFileDialog) */
-    void loadCustomWidget();
-
-    /** @brief Load a custom tool widget from a file */
-    void loadCustomWidget(const QString& fileName, bool singleinstance=false);
-
-    /** @brief Load custom widgets from default file */
-    void loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType);
-
-    /** @brief Loads and shows the HIL Configuration Widget for the given UAS*/
-    void showHILConfigurationWidget(UASInterface *uas);
-
-    void closeEvent(QCloseEvent* event);
-
-    /** @brief Load data view, allowing to plot flight data */
-    void loadDataView(QString fileName);
-
-    /**
-     * @brief Shows a Docked Widget based on the action sender
-     *
-     * This slot is written to be used in conjunction with the addTool() function
-     * It shows the QDockedWidget based on the action sender
-     *
-     */
-    void showTool(bool visible);
-
-    /**
-     * @brief Shows a Widget from the center stack based on the action sender
-     *
-     * This slot is written to be used in conjunction with the addCentralWidget() function
-     * It shows the Widget based on the action sender
-     *
-     */
-    void showCentralWidget();
-
-    /** @brief Update the window name */
-    void configureWindowName();
-
-signals:
-    void initStatusChanged(const QString& message);
-
-public:
-    QGCMAVLinkLogPlayer* getLogPlayer()
-    {
-        return logPlayer;
-    }
-
-    MAVLinkProtocol* getMAVLink()
-    {
-        return mavlink;
-    }
-
-protected:
-
-    MainWindow(QWidget *parent = 0);
-
-    typedef enum _VIEW_SECTIONS
-    {
-        VIEW_ENGINEER,
-        VIEW_OPERATOR,
-        VIEW_PILOT,
-        VIEW_MAVLINK,
-        VIEW_FIRMWAREUPDATE,
-        VIEW_UNCONNECTED,    ///< View in unconnected mode, when no UAS is available
-        VIEW_FULL            ///< All widgets shown at once
-    } VIEW_SECTIONS;
-
-    /**
-     * @brief Adds an already instantiated QDockedWidget to the Tools Menu
-     *
-     * This function does all the hosekeeping to have a QDockedWidget added to the
-     * tools menu and connects the QMenuAction to a slot that shows the widget and
-     * checks/unchecks the tools menu item
-     *
-     * @param widget    The QDockWidget being added
-     * @param title     The entry that will appear in the Menu and in the QDockedWidget title bar
-     * @param location  The default location for the QDockedWidget in case there is no previous key in the settings
-     */
-    void addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea location=Qt::RightDockWidgetArea);
-
-    /**
-     * @brief Adds an already instantiated QWidget to the center stack
-     *
-     * This function does all the hosekeeping to have a QWidget added to the tools menu
-     * tools menu and connects the QMenuAction to a slot that shows the widget and
-     * checks/unchecks the tools menu item. This is used for all the central widgets (those in
-     * the center stack.
-     *
-     * @param widget        The QWidget being added
-     * @param title         The entry that will appear in the Menu
-     */
-    void addCentralWidget(QWidget* widget, const QString& title);
-
-    /** @brief Catch window resize events */
-    void resizeEvent(QResizeEvent * event);
-
-    /** @brief Keeps track of the current view */
-    VIEW_SECTIONS currentView;
-    QGC_MAINWINDOW_STYLE currentStyle;
-    bool aboutToCloseFlag;
-    bool changingViewsFlag;
-
-    void storeViewState();
-    void loadViewState();
-
-    void buildCustomWidget();
-    void buildCommonWidgets();
-    void connectCommonWidgets();
-    void connectCommonActions();
-	void connectSenseSoarActions();
-
-    void loadSettings();
-    void storeSettings();
-
-    // TODO Should be moved elsewhere, as the protocol does not belong to the UI
-    MAVLinkProtocol* mavlink;
-
-    MAVLinkSimulationLink* simulationLink;
-    LinkInterface* udpLink;
-
-    QSettings settings;
-    QStackedWidget *centerStack;
-    QActionGroup* centerStackActionGroup;
-
-    // Center widgets
-    QPointer<Linecharts> linechartWidget;
-    QPointer<HUD> hudWidget;
-    QPointer<QGCVehicleConfig> configWidget;
-    QPointer<QGCMapTool> mapWidget;
-    QPointer<XMLCommProtocolWidget> protocolWidget;
-    QPointer<QGCDataPlot2D> dataplotWidget;
-#ifdef QGC_OSG_ENABLED
-    QPointer<QWidget> _3DWidget;
-#endif
-#if (defined _MSC_VER) || (defined Q_OS_MAC)
-    QPointer<QGCGoogleEarthView> gEarthWidget;
-#endif
-    QPointer<QGCFirmwareUpdate> firmwareUpdateWidget;
-
-    // Dock widgets
-    QPointer<QDockWidget> controlDockWidget;
-    QPointer<QDockWidget> controlParameterWidget;
-    QPointer<QDockWidget> infoDockWidget;
-    QPointer<QDockWidget> cameraDockWidget;
-    QPointer<QDockWidget> listDockWidget;
-    QPointer<QDockWidget> waypointsDockWidget;
-    QPointer<QDockWidget> detectionDockWidget;
-    QPointer<QDockWidget> debugConsoleDockWidget;
-    QPointer<QDockWidget> parametersDockWidget;
-    QPointer<QDockWidget> headDown1DockWidget;
-    QPointer<QDockWidget> headDown2DockWidget;
-    QPointer<QDockWidget> watchdogControlDockWidget;
-
-    QPointer<QDockWidget> headUpDockWidget;
-    QPointer<QDockWidget> video1DockWidget;
-    QPointer<QDockWidget> video2DockWidget;
-    QPointer<QDockWidget> rgbd1DockWidget;
-    QPointer<QDockWidget> rgbd2DockWidget;
-    QPointer<QDockWidget> logPlayerDockWidget;
-
-    QPointer<QDockWidget> hsiDockWidget;
-    QPointer<QDockWidget> rcViewDockWidget;
-    QPointer<QDockWidget> hudDockWidget;
-    QPointer<QDockWidget> slugsDataWidget;
-    QPointer<QDockWidget> slugsHilSimWidget;
-    QPointer<QDockWidget> slugsCamControlWidget;
-
-    QPointer<QGCToolBar> toolBar;
-
-    QPointer<QDockWidget> mavlinkInspectorWidget;
-    QPointer<MAVLinkDecoder> mavlinkDecoder;
-    QPointer<QDockWidget> mavlinkSenderWidget;
-    QGCMAVLinkLogPlayer* logPlayer;
-
-    // Popup widgets
-    JoystickWidget* joystickWidget;
-
-    JoystickInput* joystick;
-
-    /** User interface actions **/
-    QAction* connectUASAct;
-    QAction* disconnectUASAct;
-    QAction* startUASAct;
-    QAction* returnUASAct;
-    QAction* stopUASAct;
-    QAction* killUASAct;
-    QAction* simulateUASAct;
-
-
-    LogCompressor* comp;
-    QString screenFileName;
-    QTimer* videoTimer;
-    QString styleFileName;
-    bool autoReconnect;
-    Qt::WindowStates windowStateVal;
-    bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
-    QGCFlightGearLink* fgLink;
-    QTimer windowNameUpdateTimer;
-
-private:
-    Ui::MainWindow ui;
-
-    QString getWindowStateKey();
-    QString getWindowGeometryKey();
-
-};
-
-#endif /* _MAINWINDOW_H_ */
+/*=====================================================================
+
+QGroundControl Open Source Ground Control Station
+
+(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
+This file is part of the QGROUNDCONTROL project
+
+    QGROUNDCONTROL is free software: you can redistribute it and/or modify
+    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.
+
+    QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+
+======================================================================*/
+
+/**
+ * @file
+ *   @brief Definition of class MainWindow
+ *   @author Lorenz Meier <mavteam@student.ethz.ch>
+ *
+ */
+
+#ifndef _MAINWINDOW_H_
+#define _MAINWINDOW_H_
+
+#include <QtGui/QMainWindow>
+#include <QStatusBar>
+#include <QStackedWidget>
+#include <QSettings>
+#include <qlist.h>
+
+#include "ui_MainWindow.h"
+#include "LinkManager.h"
+#include "LinkInterface.h"
+#include "UASInterface.h"
+#include "UASManager.h"
+#include "UASControlWidget.h"
+#include "Linecharts.h"
+#include "UASInfoWidget.h"
+#include "WaypointList.h"
+#include "CameraView.h"
+#include "UASListWidget.h"
+#include "MAVLinkProtocol.h"
+#include "MAVLinkSimulationLink.h"
+#include "ObjectDetectionView.h"
+#include "HUD.h"
+#include "JoystickWidget.h"
+#include "input/JoystickInput.h"
+#if (defined MOUSE_ENABLED_WIN) | (defined MOUSE_ENABLED_LINUX)
+#include "Mouse6dofInput.h"
+#endif // MOUSE_ENABLED_WIN
+#include "DebugConsole.h"
+#include "ParameterInterface.h"
+#include "XMLCommProtocolWidget.h"
+#include "HDDisplay.h"
+#include "WatchdogControl.h"
+#include "HSIDisplay.h"
+#include "QGCDataPlot2D.h"
+#include "QGCRemoteControlView.h"
+#include "opmapcontrol.h"
+#if (defined Q_OS_MAC) | (defined _MSC_VER)
+#include "QGCGoogleEarthView.h"
+#endif
+#include "QGCToolBar.h"
+#include "SlugsDataSensorView.h"
+#include "LogCompressor.h"
+
+#include "SlugsHilSim.h"
+
+#include "SlugsPadCameraControl.h"
+#include "UASControlParameters.h"
+#include "QGCMAVLinkInspector.h"
+#include "QGCMAVLinkLogPlayer.h"
+#include "QGCVehicleConfig.h"
+#include "MAVLinkDecoder.h"
+
+class QGCMapTool;
+class QGCMAVLinkMessageSender;
+class QGCFirmwareUpdate;
+class QSplashScreen;
+
+/**
+ * @brief Main Application Window
+ *
+ **/
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    static MainWindow* instance(QSplashScreen* screen = 0);
+    ~MainWindow();
+
+    enum QGC_MAINWINDOW_STYLE
+    {
+        QGC_MAINWINDOW_STYLE_NATIVE,
+        QGC_MAINWINDOW_STYLE_INDOOR,
+        QGC_MAINWINDOW_STYLE_OUTDOOR
+    };
+
+    /** @brief Get current visual style */
+    int getStyle()
+    {
+        return currentStyle;
+    }
+    /** @brief Get auto link reconnect setting */
+    bool autoReconnectEnabled()
+    {
+        return autoReconnect;
+    }
+
+    /** @brief Get low power mode setting */
+    bool lowPowerModeEnabled()
+    {
+        return lowPowerMode;
+    }
+
+    QList<QAction*> listLinkMenuActions(void);
+
+public slots:
+
+    /** @brief Shows a status message on the bottom status bar */
+    void showStatusMessage(const QString& status, int timeout);
+    /** @brief Shows a status message on the bottom status bar */
+    void showStatusMessage(const QString& status);
+    /** @brief Shows a critical message as popup or as widget */
+    void showCriticalMessage(const QString& title, const QString& message);
+    /** @brief Shows an info message as popup or as widget */
+    void showInfoMessage(const QString& title, const QString& message);
+
+    /** @brief Show the application settings */
+    void showSettings();
+    /** @brief Add a communication link */
+    void addLink();
+    void addLink(LinkInterface* link);
+    void configure();
+    /** @brief Set the currently controlled UAS */
+    void setActiveUAS(UASInterface* uas);
+
+    /** @brief Add a new UAS */
+    void UASCreated(UASInterface* uas);
+    /** Delete an UAS */
+    void UASDeleted(UASInterface* uas);
+    /** @brief Update system specs of a UAS */
+    void UASSpecsChanged(int uas);
+    void startVideoCapture();
+    void stopVideoCapture();
+    void saveScreen();
+
+    /** @brief Load default view when no MAV is connected */
+    void loadUnconnectedView();
+    /** @brief Load view for pilot */
+    void loadPilotView();
+    /** @brief Load view for engineer */
+    void loadEngineerView();
+    /** @brief Load view for operator */
+    void loadOperatorView();
+    /** @brief Load MAVLink XML generator view */
+    void loadMAVLinkView();
+    /** @brief Load firmware update view */
+    void loadFirmwareUpdateView();
+
+    /** @brief Show the online help for users */
+    void showHelp();
+    /** @brief Show the authors / credits */
+    void showCredits();
+    /** @brief Show the project roadmap */
+    void showRoadMap();
+
+    /** @brief Reload the CSS style sheet */
+    void reloadStylesheet();
+    /** @brief Let the user select the CSS style sheet */
+    void selectStylesheet();
+    /** @brief Automatically reconnect last link */
+    void enableAutoReconnect(bool enabled);
+    /** @brief Save power by reducing update rates */
+    void enableLowPowerMode(bool enabled) { lowPowerMode = enabled; }
+    /** @brief Switch to native application style */
+    void loadNativeStyle();
+    /** @brief Switch to indoor mission style */
+    void loadIndoorStyle();
+    /** @brief Switch to outdoor mission style */
+    void loadOutdoorStyle();
+    /** @brief Load a specific style */
+    void loadStyle(QGC_MAINWINDOW_STYLE style);
+
+    /** @brief Add a custom tool widget */
+    void createCustomWidget();
+
+    /** @brief Load a custom tool widget from a file chosen by user (QFileDialog) */
+    void loadCustomWidget();
+
+    /** @brief Load a custom tool widget from a file */
+    void loadCustomWidget(const QString& fileName, bool singleinstance=false);
+
+    /** @brief Load custom widgets from default file */
+    void loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType);
+
+    /** @brief Loads and shows the HIL Configuration Widget for the given UAS*/
+    void showHILConfigurationWidget(UASInterface *uas);
+
+    void closeEvent(QCloseEvent* event);
+
+    /** @brief Load data view, allowing to plot flight data */
+    void loadDataView(QString fileName);
+
+    /**
+     * @brief Shows a Docked Widget based on the action sender
+     *
+     * This slot is written to be used in conjunction with the addTool() function
+     * It shows the QDockedWidget based on the action sender
+     *
+     */
+    void showTool(bool visible);
+
+    /**
+     * @brief Shows a Widget from the center stack based on the action sender
+     *
+     * This slot is written to be used in conjunction with the addCentralWidget() function
+     * It shows the Widget based on the action sender
+     *
+     */
+    void showCentralWidget();
+
+    /** @brief Update the window name */
+    void configureWindowName();
+
+signals:
+    void initStatusChanged(const QString& message);
+#ifdef MOUSE_ENABLED_LINUX
+    /** @brief Forward X11Event to catch 3DMouse inputs */
+    void x11EventOccured(XEvent *event);
+#endif //MOUSE_ENABLED_LINUX
+
+public:
+    QGCMAVLinkLogPlayer* getLogPlayer()
+    {
+        return logPlayer;
+    }
+
+    MAVLinkProtocol* getMAVLink()
+    {
+        return mavlink;
+    }
+
+protected:
+
+    MainWindow(QWidget *parent = 0);
+
+    typedef enum _VIEW_SECTIONS
+    {
+        VIEW_ENGINEER,
+        VIEW_OPERATOR,
+        VIEW_PILOT,
+        VIEW_MAVLINK,
+        VIEW_FIRMWAREUPDATE,
+        VIEW_UNCONNECTED,    ///< View in unconnected mode, when no UAS is available
+        VIEW_FULL            ///< All widgets shown at once
+    } VIEW_SECTIONS;
+
+    /**
+     * @brief Adds an already instantiated QDockedWidget to the Tools Menu
+     *
+     * This function does all the hosekeeping to have a QDockedWidget added to the
+     * tools menu and connects the QMenuAction to a slot that shows the widget and
+     * checks/unchecks the tools menu item
+     *
+     * @param widget    The QDockWidget being added
+     * @param title     The entry that will appear in the Menu and in the QDockedWidget title bar
+     * @param location  The default location for the QDockedWidget in case there is no previous key in the settings
+     */
+    void addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea location=Qt::RightDockWidgetArea);
+
+    /**
+     * @brief Adds an already instantiated QWidget to the center stack
+     *
+     * This function does all the hosekeeping to have a QWidget added to the tools menu
+     * tools menu and connects the QMenuAction to a slot that shows the widget and
+     * checks/unchecks the tools menu item. This is used for all the central widgets (those in
+     * the center stack.
+     *
+     * @param widget        The QWidget being added
+     * @param title         The entry that will appear in the Menu
+     */
+    void addCentralWidget(QWidget* widget, const QString& title);
+
+    /** @brief Catch window resize events */
+    void resizeEvent(QResizeEvent * event);
+
+    /** @brief Keeps track of the current view */
+    VIEW_SECTIONS currentView;
+    QGC_MAINWINDOW_STYLE currentStyle;
+    bool aboutToCloseFlag;
+    bool changingViewsFlag;
+
+    void storeViewState();
+    void loadViewState();
+
+    void buildCustomWidget();
+    void buildCommonWidgets();
+    void connectCommonWidgets();
+    void connectCommonActions();
+	void connectSenseSoarActions();
+
+    void loadSettings();
+    void storeSettings();
+
+    // TODO Should be moved elsewhere, as the protocol does not belong to the UI
+    MAVLinkProtocol* mavlink;
+
+    MAVLinkSimulationLink* simulationLink;
+    LinkInterface* udpLink;
+
+    QSettings settings;
+    QStackedWidget *centerStack;
+    QActionGroup* centerStackActionGroup;
+
+    // Center widgets
+    QPointer<Linecharts> linechartWidget;
+    QPointer<HUD> hudWidget;
+    QPointer<QGCVehicleConfig> configWidget;
+    QPointer<QGCMapTool> mapWidget;
+    QPointer<XMLCommProtocolWidget> protocolWidget;
+    QPointer<QGCDataPlot2D> dataplotWidget;
+#ifdef QGC_OSG_ENABLED
+    QPointer<QWidget> _3DWidget;
+#endif
+#if (defined _MSC_VER) || (defined Q_OS_MAC)
+    QPointer<QGCGoogleEarthView> gEarthWidget;
+#endif
+    QPointer<QGCFirmwareUpdate> firmwareUpdateWidget;
+
+    // Dock widgets
+    QPointer<QDockWidget> controlDockWidget;
+    QPointer<QDockWidget> controlParameterWidget;
+    QPointer<QDockWidget> infoDockWidget;
+    QPointer<QDockWidget> cameraDockWidget;
+    QPointer<QDockWidget> listDockWidget;
+    QPointer<QDockWidget> waypointsDockWidget;
+    QPointer<QDockWidget> detectionDockWidget;
+    QPointer<QDockWidget> debugConsoleDockWidget;
+    QPointer<QDockWidget> parametersDockWidget;
+    QPointer<QDockWidget> headDown1DockWidget;
+    QPointer<QDockWidget> headDown2DockWidget;
+    QPointer<QDockWidget> watchdogControlDockWidget;
+
+    QPointer<QDockWidget> headUpDockWidget;
+    QPointer<QDockWidget> video1DockWidget;
+    QPointer<QDockWidget> video2DockWidget;
+    QPointer<QDockWidget> rgbd1DockWidget;
+    QPointer<QDockWidget> rgbd2DockWidget;
+    QPointer<QDockWidget> logPlayerDockWidget;
+
+    QPointer<QDockWidget> hsiDockWidget;
+    QPointer<QDockWidget> rcViewDockWidget;
+    QPointer<QDockWidget> hudDockWidget;
+    QPointer<QDockWidget> slugsDataWidget;
+    QPointer<QDockWidget> slugsHilSimWidget;
+    QPointer<QDockWidget> slugsCamControlWidget;
+
+    QPointer<QGCToolBar> toolBar;
+
+    QPointer<QDockWidget> mavlinkInspectorWidget;
+    QPointer<MAVLinkDecoder> mavlinkDecoder;
+    QPointer<QDockWidget> mavlinkSenderWidget;
+    QGCMAVLinkLogPlayer* logPlayer;
+
+    // Popup widgets
+    JoystickWidget* joystickWidget;
+
+    JoystickInput* joystick;
+
+#ifdef MOUSE_ENABLED_WIN
+    /** @brief 3d Mouse support (WIN only) */
+    Mouse3DInput* mouseInput;               ///< 3dConnexion 3dMouse SDK
+    Mouse6dofInput* mouse;                  ///< Implementation for 3dMouse input
+#endif // MOUSE_ENABLED_WIN
+
+#ifdef MOUSE_ENABLED_LINUX
+    /** @brief Reimplementation of X11Event to handle 3dMouse Events (magellan) */
+    bool x11Event(XEvent *event);
+    Mouse6dofInput* mouse;                  ///< Implementation for 3dMouse input
+#endif // MOUSE_ENABLED_LINUX
+
+    /** User interface actions **/
+    QAction* connectUASAct;
+    QAction* disconnectUASAct;
+    QAction* startUASAct;
+    QAction* returnUASAct;
+    QAction* stopUASAct;
+    QAction* killUASAct;
+    QAction* simulateUASAct;
+
+
+    LogCompressor* comp;
+    QString screenFileName;
+    QTimer* videoTimer;
+    QString styleFileName;
+    bool autoReconnect;
+    Qt::WindowStates windowStateVal;
+    bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
+    QGCFlightGearLink* fgLink;
+    QTimer windowNameUpdateTimer;
+
+private:
+    Ui::MainWindow ui;
+
+    QString getWindowStateKey();
+    QString getWindowGeometryKey();
+
+};
+
+#endif /* _MAINWINDOW_H_ */

src/ui/PX4FirmwareUpgrader.cc

+#include <QFileDialog>
+#include <QDesktopServices>
+#include <QSettings>
+
 #include "PX4FirmwareUpgrader.h"
 #include "ui_PX4FirmwareUpgrader.h"
 
 #include <QGC.h>
 #include <QDebug>
 
+
 PX4FirmwareUpgrader::PX4FirmwareUpgrader(QWidget *parent) :
     QWidget(parent),
     ui(new Ui::PX4FirmwareUpgrader)
@@ -21,7 +26,16 @@ PX4FirmwareUpgrader::~PX4FirmwareUpgrader()
 
 void PX4FirmwareUpgrader::selectFirmwareFile()
 {
-
+    QSettings settings;
+    QString path = settings.value("PX4_FIRMWARE_PATH",
+                                     QDesktopServices::storageLocation(QDesktopServices::DesktopLocation)).toString();
+    const QString widgetFileExtension(".px4");
+    QString fileName = QFileDialog::getOpenFileName(this, tr("Specify File Name"),
+                       path,
+                       tr("PX4 Firmware (*%1);;").arg(widgetFileExtension));
+    settings.setValue("PX4_FIRMWARE_PATH", fileName);
+    qDebug() << "EMITTING SIGNAL";
+    emit firmwareFileNameSet(fileName);
 }
 
 void PX4FirmwareUpgrader::setDetectionStatusText(const QString &text)
@@ -32,6 +46,7 @@ void PX4FirmwareUpgrader::setDetectionStatusText(const QString &text)
 void PX4FirmwareUpgrader::setFlashStatusText(const QString &text)
 {
     ui->flashProgressLabel->setText(text);
+    qDebug() << __FILE__ << __LINE__ << "LABEL" << text;
 }
 
 void PX4FirmwareUpgrader::setFlashProgress(int percent)

src/ui/QGCHilConfiguration.cc

@@ -30,7 +30,12 @@ void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
         mav->enableHilFlightGear(false, "");
         QGCHilFlightGearConfiguration* hfgconf = new QGCHilFlightGearConfiguration(mav, this);
         hfgconf->show();
-        ui->simulatorConfigurationDockWidget->setWidget(hfgconf);
+        ui->simulatorConfigurationLayout->addWidget(hfgconf);
+        QGCFlightGearLink* fg = dynamic_cast<QGCFlightGearLink*>(mav->getHILSimulation());
+        if (fg)
+        {
+            connect(fg, SIGNAL(statusMessage(QString)), ui->statusLabel, SLOT(setText(QString)));
+        }
 
     }
     else if(2 == index || 3 == index)
@@ -39,13 +44,14 @@ void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
         mav->enableHilXPlane(false);
         QGCHilXPlaneConfiguration* hxpconf = new QGCHilXPlaneConfiguration(mav->getHILSimulation(), this);
         hxpconf->show();
-        ui->simulatorConfigurationDockWidget->setWidget(hxpconf);
+        ui->simulatorConfigurationLayout->addWidget(hxpconf);
 
         // Select correct version of XPlane
         QGCXPlaneLink* xplane = dynamic_cast<QGCXPlaneLink*>(mav->getHILSimulation());
         if (xplane)
         {
             xplane->setVersion((index == 2) ? 10 : 9);
+            connect(xplane, SIGNAL(statusMessage(QString)), ui->statusLabel, SLOT(setText(QString)));
         }
     }
 }

src/ui/QGCHilConfiguration.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>305</width>
-    <height>355</height>
+    <width>366</width>
+    <height>301</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -19,22 +19,22 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" columnstretch="40,0,0">
-   <item row="0" column="0">
-    <widget class="QLabel" name="simLabel">
+  <layout class="QGridLayout" name="gridLayout" rowstretch="1,100,1" columnstretch="40,0">
+   <item row="2" column="0">
+    <widget class="QLabel" name="statusLabel">
      <property name="text">
-      <string>Simulator</string>
+      <string>Status</string>
      </property>
     </widget>
    </item>
-   <item row="3" column="0">
-    <widget class="QLabel" name="statusLabel">
+   <item row="0" column="0">
+    <widget class="QLabel" name="simLabel">
      <property name="text">
-      <string>Status</string>
+      <string>Simulator</string>
      </property>
     </widget>
    </item>
-   <item row="0" column="2">
+   <item row="0" column="1">
     <widget class="QComboBox" name="simComboBox">
      <property name="editable">
       <bool>true</bool>
@@ -61,35 +61,12 @@
      </item>
     </widget>
    </item>
-   <item row="2" column="0" colspan="3">
-    <widget class="QDockWidget" name="simulatorConfigurationDockWidget">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>20</width>
-       <height>150</height>
-      </size>
-     </property>
-     <property name="features">
-      <set>QDockWidget::NoDockWidgetFeatures</set>
+   <item row="1" column="0" colspan="2">
+    <layout class="QVBoxLayout" name="simulatorConfigurationLayout">
+     <property name="spacing">
+      <number>0</number>
      </property>
-     <property name="windowTitle">
-      <string>Simulator Options</string>
-     </property>
-     <widget class="QWidget" name="dockWidgetContents">
-      <property name="sizePolicy">
-       <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
-        <horstretch>0</horstretch>
-        <verstretch>0</verstretch>
-       </sizepolicy>
-      </property>
-     </widget>
-    </widget>
+    </layout>
    </item>
   </layout>
  </widget>

src/ui/QGCVehicleConfig.cc

@@ -11,6 +11,7 @@
 QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
     QWidget(parent),
     mav(NULL),
+    chanCount(0),
     changed(true),
     rc_mode(RC_MODE_2),
     rcRoll(0.0f),
@@ -21,6 +22,7 @@ QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
     rcAux1(0.0f),
     rcAux2(0.0f),
     rcAux3(0.0f),
+    calibrationEnabled(false),
     ui(new Ui::QGCVehicleConfig)
 {
     setObjectName("QGC_VEHICLECONFIG");
@@ -31,9 +33,31 @@ QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
 
     ui->rcModeComboBox->setCurrentIndex((int)rc_mode - 1);
 
+    ui->rcCalibrationButton->setCheckable(true);
     connect(ui->rcCalibrationButton, SIGNAL(clicked(bool)), this, SLOT(toggleCalibrationRC(bool)));
     connect(ui->storeButton, SIGNAL(clicked()), this, SLOT(writeParameters()));
     connect(ui->rcModeComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(setRCModeIndex(int)));
+    connect(ui->setTrimButton, SIGNAL(clicked()), this, SLOT(setTrimPositions()));
+
+    /* Connect RC mapping assignments */
+    connect(ui->rollSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setRollChan(int)));
+    connect(ui->pitchSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setPitchChan(int)));
+    connect(ui->yawSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setYawChan(int)));
+    connect(ui->throttleSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setThrottleChan(int)));
+    connect(ui->modeSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setModeChan(int)));
+    connect(ui->aux1SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux1Chan(int)));
+    connect(ui->aux2SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux2Chan(int)));
+    connect(ui->aux3SpinBox, SIGNAL(valueChanged(int)), this, SLOT(setAux3Chan(int)));
+
+    // Connect RC reverse assignments
+    connect(ui->invertCheckBox, SIGNAL(clicked(bool)), this, SLOT(setRollInverted(bool)));
+    connect(ui->invertCheckBox_2, SIGNAL(clicked(bool)), this, SLOT(setPitchInverted(bool)));
+    connect(ui->invertCheckBox_3, SIGNAL(clicked(bool)), this, SLOT(setYawInverted(bool)));
+    connect(ui->invertCheckBox_4, SIGNAL(clicked(bool)), this, SLOT(setThrottleInverted(bool)));
+    connect(ui->invertCheckBox_5, SIGNAL(clicked(bool)), this, SLOT(setModeInverted(bool)));
+    connect(ui->invertCheckBox_6, SIGNAL(clicked(bool)), this, SLOT(setAux1Inverted(bool)));
+    connect(ui->invertCheckBox_7, SIGNAL(clicked(bool)), this, SLOT(setAux2Inverted(bool)));
+    connect(ui->invertCheckBox_8, SIGNAL(clicked(bool)), this, SLOT(setAux3Inverted(bool)));
 
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
 
@@ -41,7 +65,8 @@ QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
 
     for (unsigned int i = 0; i < chanMax; i++)
     {
-        rcValue[i] = 1500;
+        rcValue[i] = UINT16_MAX;
+        rcMapping[i] = i;
     }
 
     updateTimer.setInterval(150);
@@ -75,15 +100,35 @@ void QGCVehicleConfig::toggleCalibrationRC(bool enabled)
     }
 }
 
+void QGCVehicleConfig::setTrimPositions()
+{
+    // Set trim for roll, pitch, yaw, throttle
+    rcTrim[rcMapping[0]] = rcValue[rcMapping[0]]; // roll
+    rcTrim[rcMapping[1]] = rcValue[rcMapping[1]]; // pitch
+    rcTrim[rcMapping[2]] = rcValue[rcMapping[2]]; // yaw
+    rcTrim[rcMapping[3]] = rcMin[rcMapping[3]];   // throttle
+    rcTrim[rcMapping[4]] = ((rcMax[rcMapping[4]] - rcMin[rcMapping[4]]) / 2.0f) + rcMin[rcMapping[4]];   // mode sw
+    rcTrim[rcMapping[5]] = ((rcMax[rcMapping[5]] - rcMin[rcMapping[5]]) / 2.0f) + rcMin[rcMapping[5]];   // aux 1
+    rcTrim[rcMapping[6]] = ((rcMax[rcMapping[6]] - rcMin[rcMapping[6]]) / 2.0f) + rcMin[rcMapping[6]];   // aux 2
+    rcTrim[rcMapping[7]] = ((rcMax[rcMapping[7]] - rcMin[rcMapping[7]]) / 2.0f) + rcMin[rcMapping[7]];   // aux 3
+}
+
+void QGCVehicleConfig::detectChannelInversion()
+{
+
+}
+
 void QGCVehicleConfig::startCalibrationRC()
 {
     ui->rcTypeComboBox->setEnabled(false);
     ui->rcCalibrationButton->setText(tr("Stop RC Calibration"));
     resetCalibrationRC();
+    calibrationEnabled = true;
 }
 
 void QGCVehicleConfig::stopCalibrationRC()
 {
+    calibrationEnabled = false;
     ui->rcTypeComboBox->setEnabled(true);
     ui->rcCalibrationButton->setText(tr("Start RC Calibration"));
 }
@@ -111,6 +156,8 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
     // Reset current state
     resetCalibrationRC();
 
+    chanCount = 0;
+
     // Connect new system
     mav = active;
     connect(active, SIGNAL(remoteControlChannelRawChanged(int,float)), this,
@@ -130,13 +177,18 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
     {
         toolWidgets.append(tool);
         ui->sensorLayout->addWidget(tool);
+    } else {
+        delete tool;
     }
+
     // Load multirotor attitude pid
     tool = new QGCToolWidget("", this);
     if (tool->loadSettings(defaultsDir + "px4_mc_attitude_pid_params.qgw", false))
     {
         toolWidgets.append(tool);
         ui->multiRotorAttitudeLayout->addWidget(tool);
+    } else {
+        delete tool;
     }
 
     // Load multirotor position pid
@@ -145,6 +197,8 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
     {
         toolWidgets.append(tool);
         ui->multiRotorPositionLayout->addWidget(tool);
+    } else {
+        delete tool;
     }
 
     // Load fixed wing attitude pid
@@ -153,6 +207,8 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
     {
         toolWidgets.append(tool);
         ui->fixedWingAttitudeLayout->addWidget(tool);
+    } else {
+        delete tool;
     }
 
     // Load fixed wing position pid
@@ -161,6 +217,8 @@ void QGCVehicleConfig::setActiveUAS(UASInterface* active)
     {
         toolWidgets.append(tool);
         ui->fixedWingPositionLayout->addWidget(tool);
+    } else {
+        delete tool;
     }
 
     updateStatus(QString("Reading from system %1").arg(mav->getUASName()));
@@ -190,23 +248,36 @@ void QGCVehicleConfig::writeCalibrationRC()
     // Do not write the RC type, as these values depend on this
     // active onboard parameter
 
-    for (unsigned int i = 0; i < chanMax; ++i)
+    for (unsigned int i = 0; i < chanCount; ++i)
     {
+        //qDebug() << "SENDING" << minTpl.arg(i+1) << rcMin[i];
         mav->setParameter(0, minTpl.arg(i+1), rcMin[i]);
+        QGC::SLEEP::usleep(50000);
         mav->setParameter(0, trimTpl.arg(i+1), rcTrim[i]);
+        QGC::SLEEP::usleep(50000);
         mav->setParameter(0, maxTpl.arg(i+1), rcMax[i]);
-        mav->setParameter(0, revTpl.arg(i+1), (rcRev[i]) ? -1 : 1);
+        QGC::SLEEP::usleep(50000);
+        mav->setParameter(0, revTpl.arg(i+1), (rcRev[i]) ? -1.0f : 1.0f);
+        QGC::SLEEP::usleep(50000);
     }
 
     // Write mappings
-    mav->setParameter(0, "RC_MAP_ROLL", rcMapping[0]);
-    mav->setParameter(0, "RC_MAP_PITCH", rcMapping[1]);
-    mav->setParameter(0, "RC_MAP_THROTTLE", rcMapping[2]);
-    mav->setParameter(0, "RC_MAP_YAW", rcMapping[3]);
-    mav->setParameter(0, "RC_MAP_MODE_SW", rcMapping[4]);
-    mav->setParameter(0, "RC_MAP_AUX1", rcMapping[5]);
-    mav->setParameter(0, "RC_MAP_AUX2", rcMapping[6]);
-    mav->setParameter(0, "RC_MAP_AUX3", rcMapping[7]);
+    mav->setParameter(0, "RC_MAP_ROLL", (int32_t)(rcMapping[0]+1));
+    QGC::SLEEP::usleep(50000);
+    mav->setParameter(0, "RC_MAP_PITCH", (int32_t)(rcMapping[1]+1));
+    QGC::SLEEP::usleep(50000);
+    mav->setParameter(0, "RC_MAP_YAW", (int32_t)(rcMapping[2]+1));
+    QGC::SLEEP::usleep(50000);
+    mav->setParameter(0, "RC_MAP_THROTTLE", (int32_t)(rcMapping[3]+1));
+    QGC::SLEEP::usleep(50000);
+    mav->setParameter(0, "RC_MAP_MODE_SW", (int32_t)(rcMapping[4]+1));
+    QGC::SLEEP::usleep(50000);
+    mav->setParameter(0, "RC_MAP_AUX1", (int32_t)(rcMapping[5]+1));
+    QGC::SLEEP::usleep(50000);
+    mav->setParameter(0, "RC_MAP_AUX2", (int32_t)(rcMapping[6]+1));
+    QGC::SLEEP::usleep(50000);
+    mav->setParameter(0, "RC_MAP_AUX3", (int32_t)(rcMapping[7]+1));
+    QGC::SLEEP::usleep(50000);
 }
 
 void QGCVehicleConfig::requestCalibrationRC()
@@ -238,126 +309,134 @@ void QGCVehicleConfig::writeParameters()
 {
     updateStatus(tr("Writing all onboard parameters."));
     writeCalibrationRC();
+    mav->writeParametersToStorage();
 }
 
 void QGCVehicleConfig::remoteControlChannelRawChanged(int chan, float val)
 {
-//    /* scale around the mid point differently for lower and upper range */
-//            if (ppm_buffer[i] > _rc.chan[i].mid + _parameters.dz[i]) {
-//                _rc.chan[i].scaled = ((ppm_buffer[i] - _parameters.trim[i]) / (_parameters.max[i] - _parameters.trim[i]));
-//            } else if ((ppm_buffer[i] < _rc_chan[i].mid - _parameters.dz[i])) {
-//                _rc.chan[i].scaled = -1.0 + ((ppm_buffer[i] - _parameters.min[i]) / (_parameters.trim[i] - _parameters.min[i]));
-//            } else {
-//                /* in the configured dead zone, output zero */
-//                _rc.chan[i].scaled = 0.0f;
-//            }
-
-    if (chan < 0 || static_cast<unsigned int>(chan) >= chanMax)
+    // Check if index and values are sane
+    if (chan < 0 || static_cast<unsigned int>(chan) >= chanMax || val < 500 || val > 2500)
         return;
 
-    if (val < rcMin[chan])
-    {
-        rcMin[chan] = val;
+    if (chan + 1 > chanCount) {
+        chanCount = chan+1;
+    }
+
+    // Update calibration data
+    if (calibrationEnabled) {
+        if (val < rcMin[chan])
+        {
+            rcMin[chan] = val;
+        }
+
+        if (val > rcMax[chan])
+        {
+            rcMax[chan] = val;
+        }
     }
 
-    if (val > rcMax[chan])
+    // Raw value
+    rcValue[chan] = val;
+
+    // Normalized value
+    float normalized;
+
+    if (val >= rcTrim[chan])
+    {
+        normalized = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
+    }
+    else
     {
-        rcMax[chan] = val;
+        normalized = -(rcTrim[chan] - val)/(rcTrim[chan] - rcMin[chan]);
     }
 
+    // Bound
+    normalized = qBound(-1.0f, normalized, 1.0f);
+    // Invert
+    normalized = (rcRev[chan]) ? -1.0f*normalized : normalized;
+
     if (chan == rcMapping[0])
     {
         // ROLL
-        if (rcRoll >= rcTrim[chan])
-        {
-            rcRoll = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
-        }
-        else
-        {
-            rcRoll = (val - rcMin[chan])/(rcTrim[chan] - rcMin[chan]);
-        }
-
-        rcValue[0] = val;
-        rcRoll = qBound(-1.0f, rcRoll, 1.0f);
+        rcRoll = normalized;
     }
-    else if (chan == rcMapping[1])
+    if (chan == rcMapping[1])
     {
         // PITCH
-        if (rcPitch >= rcTrim[chan])
-        {
-            rcPitch = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
-        }
-        else
-        {
-            rcPitch = (val - rcMin[chan])/(rcTrim[chan] - rcMin[chan]);
-        }
-        rcValue[1] = val;
-        rcPitch = qBound(-1.0f, rcPitch, 1.0f);
+        rcPitch = normalized;
     }
-    else if (chan == rcMapping[2])
+    if (chan == rcMapping[2])
     {
-        // YAW
-        if (rcYaw >= rcTrim[chan])
-        {
-            rcYaw = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
-        }
-        else
-        {
-            rcYaw = (val - rcMin[chan])/(rcTrim[chan] - rcMin[chan]);
-        }
-        rcValue[2] = val;
-        rcYaw = qBound(-1.0f, rcYaw, 1.0f);
+        rcYaw = normalized;
     }
-    else if (chan == rcMapping[3])
+    if (chan == rcMapping[3])
     {
         // THROTTLE
-        if (rcThrottle >= rcTrim[chan])
-        {
-            rcThrottle = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
+        if (rcRev[chan]) {
+            rcThrottle = 1.0f + normalized;
+        } else {
+            rcThrottle = normalized;
         }
-        else
-        {
-            rcThrottle = (val - rcMin[chan])/(rcTrim[chan] - rcMin[chan]);
-        }
-        rcValue[3] = val;
-        rcThrottle = qBound(-1.0f, rcThrottle, 1.0f);
+
+        rcThrottle = qBound(0.0f, rcThrottle, 1.0f);
     }
-    else if (chan == rcMapping[4])
+    if (chan == rcMapping[4])
     {
         // MODE SWITCH
-        if (rcMode >= rcTrim[chan])
-        {
-            rcMode = (val - rcTrim[chan])/(rcMax[chan] - rcTrim[chan]);
-        }
-        else
-        {
-            rcMode = (val - rcMin[chan])/(rcTrim[chan] - rcMin[chan]);
-        }
-        rcValue[4] = val;
-        rcMode = qBound(-1.0f, rcMode, 1.0f);
+        rcMode = normalized;
     }
-    else if (chan == rcMapping[5])
+    if (chan == rcMapping[5])
     {
         // AUX1
-        rcAux1 = val;
-        rcValue[5] = val;
+        rcAux1 = normalized;
     }
-    else if (chan == rcMapping[6])
+    if (chan == rcMapping[6])
     {
         // AUX2
-        rcAux2 = val;
-        rcValue[6] = val;
+        rcAux2 = normalized;
     }
-    else if (chan == rcMapping[7])
+    if (chan == rcMapping[7])
     {
         // AUX3
-        rcAux3 = val;
-        rcValue[7] = val;
+        rcAux3 = normalized;
     }
 
     changed = true;
 
-    //qDebug() << "RC CHAN:" << chan << "PPM:" << val;
+    //qDebug() << "RC CHAN:" << chan << "PPM:" << val << "NORMALIZED:" << normalized;
+}
+
+void QGCVehicleConfig::updateInvertedCheckboxes(int index)
+{
+    unsigned int mapindex = rcMapping[index];
+
+    switch (mapindex)
+    {
+    case 0:
+        ui->invertCheckBox->setChecked(rcRev[index]);
+        break;
+    case 1:
+        ui->invertCheckBox_2->setChecked(rcRev[index]);
+        break;
+    case 2:
+        ui->invertCheckBox_3->setChecked(rcRev[index]);
+        break;
+    case 3:
+        ui->invertCheckBox_4->setChecked(rcRev[index]);
+        break;
+    case 4:
+        ui->invertCheckBox_5->setChecked(rcRev[index]);
+        break;
+    case 5:
+        ui->invertCheckBox_6->setChecked(rcRev[index]);
+        break;
+    case 6:
+        ui->invertCheckBox_7->setChecked(rcRev[index]);
+        break;
+    case 7:
+        ui->invertCheckBox_8->setChecked(rcRev[index]);
+        break;
+    }
 }
 
 void QGCVehicleConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
@@ -381,7 +460,8 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
     if (minTpl.exactMatch(parameterName)) {
         bool ok;
         unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
-        if (ok && (index > 0) && (index < chanMax))
+        //qDebug() << "PARAM:" << parameterName << "index:" << index;
+        if (ok && (index >= 0) && (index < chanMax))
         {
             rcMin[index] = value.toInt();
         }
@@ -390,7 +470,7 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
     if (maxTpl.exactMatch(parameterName)) {
         bool ok;
         unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
-        if (ok && (index > 0) && (index < chanMax))
+        if (ok && (index >= 0) && (index < chanMax))
         {
             rcMax[index] = value.toInt();
         }
@@ -399,7 +479,7 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
     if (trimTpl.exactMatch(parameterName)) {
         bool ok;
         unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
-        if (ok && (index > 0) && (index < chanMax))
+        if (ok && (index >= 0) && (index < chanMax))
         {
             rcTrim[index] = value.toInt();
         }
@@ -408,39 +488,10 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
     if (revTpl.exactMatch(parameterName)) {
         bool ok;
         unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
-        if (ok && (index > 0) && (index < chanMax))
+        if (ok && (index >= 0) && (index < chanMax))
         {
             rcRev[index] = (value.toInt() == -1) ? true : false;
-
-            unsigned int mapindex = rcMapping[index];
-
-            switch (mapindex)
-            {
-            case 0:
-                ui->invertCheckBox->setChecked(rcRev[index]);
-                break;
-            case 1:
-                ui->invertCheckBox_2->setChecked(rcRev[index]);
-                break;
-            case 2:
-                ui->invertCheckBox_3->setChecked(rcRev[index]);
-                break;
-            case 3:
-                ui->invertCheckBox_4->setChecked(rcRev[index]);
-                break;
-            case 4:
-                ui->invertCheckBox_5->setChecked(rcRev[index]);
-                break;
-            case 5:
-                ui->invertCheckBox_6->setChecked(rcRev[index]);
-                break;
-            case 6:
-                ui->invertCheckBox_7->setChecked(rcRev[index]);
-                break;
-            case 7:
-                ui->invertCheckBox_8->setChecked(rcRev[index]);
-                break;
-            }
+            updateInvertedCheckboxes(index);
         }
     }
 
@@ -461,77 +512,77 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
     // Order is: roll, pitch, yaw, throttle, mode sw, aux 1-3
 
     if (parameterName.contains("RC_MAP_ROLL")) {
-        rcMapping[0] = value.toInt();
-        ui->rollSpinBox->setValue(rcMapping[0]);
+        rcMapping[0] = value.toInt() - 1;
+        ui->rollSpinBox->setValue(rcMapping[0]+1);
     }
 
     if (parameterName.contains("RC_MAP_PITCH")) {
-        rcMapping[1] = value.toInt();
-        ui->pitchSpinBox->setValue(rcMapping[1]);
+        rcMapping[1] = value.toInt() - 1;
+        ui->pitchSpinBox->setValue(rcMapping[1]+1);
     }
 
     if (parameterName.contains("RC_MAP_YAW")) {
-        rcMapping[2] = value.toInt();
-        ui->yawSpinBox->setValue(rcMapping[2]);
+        rcMapping[2] = value.toInt() - 1;
+        ui->yawSpinBox->setValue(rcMapping[2]+1);
     }
 
     if (parameterName.contains("RC_MAP_THROTTLE")) {
-        rcMapping[3] = value.toInt();
-        ui->throttleSpinBox->setValue(rcMapping[3]);
+        rcMapping[3] = value.toInt() - 1;
+        ui->throttleSpinBox->setValue(rcMapping[3]+1);
     }
 
     if (parameterName.contains("RC_MAP_MODE_SW")) {
-        rcMapping[4] = value.toInt();
-        ui->modeSpinBox->setValue(rcMapping[4]);
+        rcMapping[4] = value.toInt() - 1;
+        ui->modeSpinBox->setValue(rcMapping[4]+1);
     }
 
     if (parameterName.contains("RC_MAP_AUX1")) {
-        rcMapping[5] = value.toInt();
-        ui->aux1SpinBox->setValue(rcMapping[5]);
+        rcMapping[5] = value.toInt() - 1;
+        ui->aux1SpinBox->setValue(rcMapping[5]+1);
     }
 
     if (parameterName.contains("RC_MAP_AUX2")) {
-        rcMapping[6] = value.toInt();
-        ui->aux1SpinBox->setValue(rcMapping[6]);
+        rcMapping[6] = value.toInt() - 1;
+        ui->aux1SpinBox->setValue(rcMapping[6]+1);
     }
 
     if (parameterName.contains("RC_MAP_AUX3")) {
-        rcMapping[7] = value.toInt();
-        ui->aux1SpinBox->setValue(rcMapping[7]);
+        rcMapping[7] = value.toInt() - 1;
+        ui->aux1SpinBox->setValue(rcMapping[7]+1);
     }
 
     // Scaling
 
     if (parameterName.contains("RC_SCALE_ROLL")) {
-        rcScaling[0] = value.toInt();
+        rcScaling[0] = value.toFloat();
     }
 
     if (parameterName.contains("RC_SCALE_PITCH")) {
-        rcScaling[1] = value.toInt();
+        rcScaling[1] = value.toFloat();
     }
 
     if (parameterName.contains("RC_SCALE_YAW")) {
-        rcScaling[2] = value.toInt();
+        rcScaling[2] = value.toFloat();
     }
 
     if (parameterName.contains("RC_SCALE_THROTTLE")) {
-        rcScaling[3] = value.toInt();
+        rcScaling[3] = value.toFloat();
     }
 
     if (parameterName.contains("RC_SCALE_MODE_SW")) {
-        rcScaling[4] = value.toInt();
+        rcScaling[4] = value.toFloat();
     }
 
     if (parameterName.contains("RC_SCALE_AUX1")) {
-        rcScaling[5] = value.toInt();
+        rcScaling[5] = value.toFloat();
     }
 
     if (parameterName.contains("RC_SCALE_AUX2")) {
-        rcScaling[6] = value.toInt();
+        rcScaling[6] = value.toFloat();
     }
 
     if (parameterName.contains("RC_SCALE_AUX3")) {
-        rcScaling[7] = value.toInt();
+        rcScaling[7] = value.toFloat();
     }
 }
 
@@ -575,45 +626,62 @@ void QGCVehicleConfig::updateView()
     {
         if (rc_mode == RC_MODE_1)
         {
-            ui->rollSlider->setValue(rcRoll);
-            ui->pitchSlider->setValue(rcThrottle);
-            ui->yawSlider->setValue(rcYaw);
-            ui->throttleSlider->setValue(rcPitch);
+            ui->rollSlider->setValue(rcRoll * 50 + 50);
+            ui->pitchSlider->setValue(rcThrottle * 100);
+            ui->yawSlider->setValue(rcYaw * 50 + 50);
+            ui->throttleSlider->setValue(rcPitch * 50 + 50);
         }
         else if (rc_mode == RC_MODE_2)
         {
-            ui->rollSlider->setValue(rcRoll);
-            ui->pitchSlider->setValue(rcPitch);
-            ui->yawSlider->setValue(rcYaw);
-            ui->throttleSlider->setValue(rcThrottle);
+            ui->rollSlider->setValue(rcRoll * 50 + 50);
+            ui->pitchSlider->setValue(rcPitch * 50 + 50);
+            ui->yawSlider->setValue(rcYaw * 50 + 50);
+            ui->throttleSlider->setValue(rcThrottle * 100);
         }
         else if (rc_mode == RC_MODE_3)
         {
-            ui->rollSlider->setValue(rcYaw);
-            ui->pitchSlider->setValue(rcThrottle);
-            ui->yawSlider->setValue(rcRoll);
-            ui->throttleSlider->setValue(rcPitch);
+            ui->rollSlider->setValue(rcYaw * 50 + 50);
+            ui->pitchSlider->setValue(rcThrottle * 100);
+            ui->yawSlider->setValue(rcRoll * 50 + 50);
+            ui->throttleSlider->setValue(rcPitch * 50 + 50);
         }
         else if (rc_mode == RC_MODE_4)
         {
-            ui->rollSlider->setValue(rcYaw);
-            ui->pitchSlider->setValue(rcPitch);
-            ui->yawSlider->setValue(rcRoll);
-            ui->throttleSlider->setValue(rcThrottle);
+            ui->rollSlider->setValue(rcYaw * 50 + 50);
+            ui->pitchSlider->setValue(rcPitch * 50 + 50);
+            ui->yawSlider->setValue(rcRoll * 50 + 50);
+            ui->throttleSlider->setValue(rcThrottle * 100);
+        }
+
+        ui->chanLabel->setText(QString("%1/%2").arg(rcValue[rcMapping[0]]).arg(rcRoll, 5, 'f', 2, QChar(' ')));
+        ui->chanLabel_2->setText(QString("%1/%2").arg(rcValue[rcMapping[1]]).arg(rcPitch, 5, 'f', 2, QChar(' ')));
+        ui->chanLabel_3->setText(QString("%1/%2").arg(rcValue[rcMapping[2]]).arg(rcYaw, 5, 'f', 2, QChar(' ')));
+        ui->chanLabel_4->setText(QString("%1/%2").arg(rcValue[rcMapping[3]]).arg(rcThrottle, 5, 'f', 2, QChar(' ')));
+
+        ui->modeSwitchSlider->setValue(rcMode * 50 + 50);
+        ui->chanLabel_5->setText(QString("%1/%2").arg(rcValue[rcMapping[4]]).arg(rcMode, 5, 'f', 2, QChar(' ')));
+
+        if (rcValue[rcMapping[5]] != UINT16_MAX) {
+            ui->aux1Slider->setValue(rcAux1 * 50 + 50);
+            ui->chanLabel_6->setText(QString("%1/%2").arg(rcValue[rcMapping[5]]).arg(rcAux1, 5, 'f', 2, QChar(' ')));
+        } else {
+            ui->chanLabel_6->setText(tr("---"));
+        }
+
+        if (rcValue[rcMapping[6]] != UINT16_MAX) {
+            ui->aux2Slider->setValue(rcAux2 * 50 + 50);
+            ui->chanLabel_7->setText(QString("%1/%2").arg(rcValue[rcMapping[6]]).arg(rcAux2, 5, 'f', 2, QChar(' ')));
+        } else {
+            ui->chanLabel_7->setText(tr("---"));
+        }
+
+        if (rcValue[rcMapping[7]] != UINT16_MAX) {
+            ui->aux3Slider->setValue(rcAux3 * 50 + 50);
+            ui->chanLabel_8->setText(QString("%1/%2").arg(rcValue[rcMapping[7]]).arg(rcAux3, 5, 'f', 2, QChar(' ')));
+        } else {
+            ui->chanLabel_8->setText(tr("---"));
         }
 
-        ui->chanLabel->setText(QString("%1/%2").arg(rcValue[0]).arg(rcRoll));
-        ui->chanLabel_2->setText(QString("%1/%2").arg(rcValue[1]).arg(rcPitch));
-        ui->chanLabel_3->setText(QString("%1/%2").arg(rcValue[2]).arg(rcYaw));
-        ui->chanLabel_4->setText(QString("%1/%2").arg(rcValue[3]).arg(rcThrottle));
-        ui->modeSwitchSlider->setValue(rcMode);
-        ui->chanLabel_5->setText(QString("%1/%2").arg(rcValue[4]).arg(rcMode));
-        ui->aux1Slider->setValue(rcAux1);
-        ui->chanLabel_6->setText(QString("%1/%2").arg(rcValue[5]).arg(rcAux1));
-        ui->aux2Slider->setValue(rcAux2);
-        ui->chanLabel_7->setText(QString("%1/%2").arg(rcValue[6]).arg(rcAux2));
-        ui->aux3Slider->setValue(rcAux3);
-        ui->chanLabel_8->setText(QString("%1/%2").arg(rcValue[7]).arg(rcAux3));
         changed = false;
     }
 }

src/ui/QGCVehicleConfig.h

@@ -37,11 +37,89 @@ public slots:
     void stopCalibrationRC();
     /** Start/stop the RC calibration routine */
     void toggleCalibrationRC(bool enabled);
+    /** Set trim positions */
+    void setTrimPositions();
+    /** Detect which channels need to be inverted */
+    void detectChannelInversion();
     /** Change the mode setting of the control inputs */
     void setRCModeIndex(int newRcMode);
     /** Render the data updated */
     void updateView();
 
+    /** Set the RC channel */
+    void setRollChan(int channel) {
+        rcMapping[0] = channel - 1;
+        updateInvertedCheckboxes(channel - 1);
+    }
+    /** Set the RC channel */
+    void setPitchChan(int channel) {
+        rcMapping[1] = channel - 1;
+        updateInvertedCheckboxes(channel - 1);
+    }
+    /** Set the RC channel */
+    void setYawChan(int channel) {
+        rcMapping[2] = channel - 1;
+        updateInvertedCheckboxes(channel - 1);
+    }
+    /** Set the RC channel */
+    void setThrottleChan(int channel) {
+        rcMapping[3] = channel - 1;
+        updateInvertedCheckboxes(channel - 1);
+    }
+    /** Set the RC channel */
+    void setModeChan(int channel) {
+        rcMapping[4] = channel - 1;
+        updateInvertedCheckboxes(channel - 1);
+    }
+    /** Set the RC channel */
+    void setAux1Chan(int channel) {
+        rcMapping[5] = channel - 1;
+        updateInvertedCheckboxes(channel - 1);
+    }
+    /** Set the RC channel */
+    void setAux2Chan(int channel) {
+        rcMapping[6] = channel - 1;
+        updateInvertedCheckboxes(channel - 1);
+    }
+    /** Set the RC channel */
+    void setAux3Chan(int channel) {
+        rcMapping[7] = channel - 1;
+        updateInvertedCheckboxes(channel - 1);
+    }
+
+    /** Set channel inversion status */
+    void setRollInverted(bool inverted) {
+        rcRev[rcMapping[0]] = inverted;
+    }
+    /** Set channel inversion status */
+    void setPitchInverted(bool inverted) {
+        rcRev[rcMapping[1]] = inverted;
+    }
+    /** Set channel inversion status */
+    void setYawInverted(bool inverted) {
+        rcRev[rcMapping[2]] = inverted;
+    }
+    /** Set channel inversion status */
+    void setThrottleInverted(bool inverted) {
+        rcRev[rcMapping[3]] = inverted;
+    }
+    /** Set channel inversion status */
+    void setModeInverted(bool inverted) {
+        rcRev[rcMapping[4]] = inverted;
+    }
+    /** Set channel inversion status */
+    void setAux1Inverted(bool inverted) {
+        rcRev[rcMapping[5]] = inverted;
+    }
+    /** Set channel inversion status */
+    void setAux2Inverted(bool inverted) {
+        rcRev[rcMapping[6]] = inverted;
+    }
+    /** Set channel inversion status */
+    void setAux3Inverted(bool inverted) {
+        rcRev[rcMapping[7]] = inverted;
+    }
+
 protected slots:
     /** Reset the RC calibration */
     void resetCalibrationRC();
@@ -60,16 +138,19 @@ protected slots:
     void setRCType(int type);
     /** Check timeouts */
     void checktimeOuts();
+    /** Update checkbox status */
+    void updateInvertedCheckboxes(int index);
 
 protected:
     UASInterface* mav;                  ///< The current MAV
     static const unsigned int chanMax = 8;    ///< Maximum number of channels
+    unsigned int chanCount;               ///< Actual channels
     int rcType;                         ///< Type of the remote control
     quint64 rcTypeUpdateRequested;      ///< Zero if not requested, non-zero if requested
     static const unsigned int rcTypeTimeout = 5000; ///< 5 seconds timeout, in milliseconds
-    int rcMin[chanMax];                 ///< Minimum values
-    int rcMax[chanMax];                 ///< Maximum values
-    int rcTrim[chanMax];                ///< Zero-position (center for roll/pitch/yaw, 0 throttle for throttle)
+    float rcMin[chanMax];                 ///< Minimum values
+    float rcMax[chanMax];                 ///< Maximum values
+    float rcTrim[chanMax];                ///< Zero-position (center for roll/pitch/yaw, 0 throttle for throttle)
     int rcMapping[chanMax];             ///< PWM to function mappings
     float rcScaling[chanMax];           ///< Scaling of channel input to control commands
     bool rcRev[chanMax];                ///< Channel reverse
@@ -87,6 +168,7 @@ protected:
     QTimer updateTimer;                 ///< Controls update intervals
     enum RC_MODE rc_mode;               ///< Mode of the remote control, according to usual convention
     QList<QGCToolWidget*> toolWidgets;  ///< Configurable widgets
+    bool calibrationEnabled;            ///< calibration mode on / off
     
 private:
     Ui::QGCVehicleConfig *ui;

src/ui/QGCVehicleConfig.ui

@@ -40,7 +40,7 @@
    <item row="0" column="0" colspan="2">
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
-      <number>1</number>
+      <number>0</number>
      </property>
      <widget class="QWidget" name="rcTab">
       <attribute name="title">
@@ -53,10 +53,10 @@
        <item row="8" column="1" rowspan="3">
         <widget class="QSlider" name="throttleSlider">
          <property name="minimum">
-          <number>-1</number>
+          <number>0</number>
          </property>
          <property name="maximum">
-          <number>1</number>
+          <number>100</number>
          </property>
          <property name="value">
           <number>0</number>
@@ -69,10 +69,10 @@
        <item row="8" column="4" rowspan="3" colspan="2">
         <widget class="QSlider" name="pitchSlider">
          <property name="minimum">
-          <number>-1</number>
+          <number>0</number>
          </property>
          <property name="maximum">
-          <number>1</number>
+          <number>100</number>
          </property>
          <property name="value">
           <number>0</number>
@@ -595,10 +595,10 @@
        <item row="11" column="0">
         <widget class="QSlider" name="yawSlider">
          <property name="minimum">
-          <number>-1</number>
+          <number>0</number>
          </property>
          <property name="maximum">
-          <number>1</number>
+          <number>100</number>
          </property>
          <property name="value">
           <number>0</number>
@@ -611,10 +611,10 @@
        <item row="11" column="3">
         <widget class="QSlider" name="rollSlider">
          <property name="minimum">
-          <number>-1</number>
+          <number>0</number>
          </property>
          <property name="maximum">
-          <number>1</number>
+          <number>100</number>
          </property>
          <property name="value">
           <number>0</number>
@@ -650,10 +650,10 @@
        <item row="8" column="10" rowspan="3">
         <widget class="QSlider" name="aux1Slider">
          <property name="minimum">
-          <number>-1</number>
+          <number>0</number>
          </property>
          <property name="maximum">
-          <number>1</number>
+          <number>100</number>
          </property>
          <property name="orientation">
           <enum>Qt::Vertical</enum>
@@ -663,10 +663,10 @@
        <item row="8" column="11" rowspan="3">
         <widget class="QSlider" name="aux2Slider">
          <property name="minimum">
-          <number>-1</number>
+          <number>0</number>
          </property>
          <property name="maximum">
-          <number>1</number>
+          <number>100</number>
          </property>
          <property name="orientation">
           <enum>Qt::Vertical</enum>
@@ -676,10 +676,10 @@
        <item row="8" column="12" rowspan="3" colspan="2">
         <widget class="QSlider" name="aux3Slider">
          <property name="minimum">
-          <number>-1</number>
+          <number>0</number>
          </property>
          <property name="maximum">
-          <number>1</number>
+          <number>100</number>
          </property>
          <property name="orientation">
           <enum>Qt::Vertical</enum>
@@ -689,10 +689,10 @@
        <item row="8" column="9" rowspan="3">
         <widget class="QSlider" name="modeSwitchSlider">
          <property name="minimum">
-          <number>-1</number>
+          <number>0</number>
          </property>
          <property name="maximum">
-          <number>1</number>
+          <number>100</number>
          </property>
          <property name="orientation">
           <enum>Qt::Vertical</enum>
@@ -712,6 +712,13 @@
          </property>
         </spacer>
        </item>
+       <item row="11" column="14">
+        <widget class="QPushButton" name="setTrimButton">
+         <property name="text">
+          <string>Set Trim</string>
+         </property>
+        </widget>
+       </item>
       </layout>
      </widget>
      <widget class="QWidget" name="sensorTab">
@@ -815,8 +822,8 @@ p, li { white-space: pre-wrap; }
               <rect>
                <x>0</x>
                <y>0</y>
-               <width>651</width>
-               <height>203</height>
+               <width>98</width>
+               <height>28</height>
               </rect>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_4">
@@ -852,8 +859,8 @@ p, li { white-space: pre-wrap; }
               <rect>
                <x>0</x>
                <y>0</y>
-               <width>651</width>
-               <height>204</height>
+               <width>98</width>
+               <height>28</height>
               </rect>
              </property>
              <layout class="QHBoxLayout" name="horizontalLayout_4">
@@ -899,8 +906,8 @@ p, li { white-space: pre-wrap; }
               <rect>
                <x>0</x>
                <y>0</y>
-               <width>651</width>
-               <height>203</height>
+               <width>98</width>
+               <height>28</height>
               </rect>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_6">
@@ -959,8 +966,8 @@ p, li { white-space: pre-wrap; }
               <rect>
                <x>0</x>
                <y>0</y>
-               <width>651</width>
-               <height>204</height>
+               <width>98</width>
+               <height>28</height>
               </rect>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_7">