Minor cleanups, major: MAVLink logging 100% implemented

images/style-mission.css

@@ -49,15 +49,15 @@ border: 1px solid #777777;
     }
 
  QCheckBox::indicator:checked {
-     background-color: #555555;
+     background-color: #379AC3;
  }
 
  QCheckBox::indicator:checked:hover {
-     background-color: #555555;
+     background-color: #379AC3;
  }
 
  QCheckBox::indicator:checked:pressed {
-     background-color: #555555;
+     background-color: #379AC3;
  }
 
  QCheckBox::indicator:indeterminate:hover {
@@ -189,10 +189,12 @@ QPushButton {
 
 QPushButton:checked {
 	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #404040, stop: 1 #808080);
+    border: 2px solid #379AC3;
 }
 
 QPushButton:pressed {
 	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0);
+    border: 2px solid #379AC3;
 }
 
 QToolButton {
@@ -207,10 +209,12 @@ QToolButton {
 
 QToolButton:checked {
 	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #090909, stop: 1 #353535);
+    border: 2px solid #379AC3;
 }
 
 QToolButton:pressed {
 	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0);
+    border: 2px solid #379AC3;
 }
 
 QToolTip {

src/comm/AS4Protocol.cc

@@ -43,6 +43,8 @@ This file is part of the QGROUNDCONTROL project
 #include <inttypes.h>
 #include <iostream>
 
+#include "QGC.h"
+
 
 AS4Protocol::AS4Protocol()
 {
@@ -84,6 +86,10 @@ AS4Protocol::~AS4Protocol()
 
 void AS4Protocol::run()
 {
+    forever
+    {
+        QGC::SLEEP::msleep(5000);
+    }
 }
 
 

src/comm/MAVLinkProtocol.cc

-/*=====================================================================
-
-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/>.
-
+/*===================================================================
 ======================================================================*/
 
 /**
@@ -59,7 +39,7 @@ MAVLinkProtocol::MAVLinkProtocol() :
         heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE),
         m_heartbeatsEnabled(false),
         m_loggingEnabled(false),
-        m_logfile(new QFile(QCoreApplication::applicationDirPath()+"/mavlink.log")),
+        m_logfile(new QFile(QCoreApplication::applicationDirPath()+"/mavlink_packetlog.mavlink")),
         m_enable_version_check(true),
         versionMismatchIgnore(false)
 {
@@ -86,6 +66,7 @@ MAVLinkProtocol::~MAVLinkProtocol()
 {
     if (m_logfile)
     {
+        m_logfile->flush();
         m_logfile->close();
         delete m_logfile;
     }
@@ -95,6 +76,10 @@ MAVLinkProtocol::~MAVLinkProtocol()
 
 void MAVLinkProtocol::run()
 {
+    forever
+    {
+        QGC::SLEEP::msleep(5000);
+    }
 }
 
 QString MAVLinkProtocol::getLogfileName()
@@ -124,12 +109,18 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
             // Log data
             if (m_loggingEnabled)
             {
-                uint8_t buf[MAVLINK_MAX_PACKET_LEN];
-                quint64 time = MG::TIME::getGroundTimeNowUsecs();
+                int len = MAVLINK_MAX_PACKET_LEN+sizeof(quint64);
+                uint8_t buf[len];
+                quint64 time = QGC::groundTimeUsecs();
                 memcpy(buf, (void*)&time, sizeof(quint64));
+                //                int packetlen =
+//                quint64 checktime = *((quint64*)buf);
+//                qDebug() << "TIME" << time << "CHECKTIME:" << checktime;
                 mavlink_msg_to_send_buffer(buf+sizeof(quint64), &message);
-                m_logfile->write((const char*) buf);
-                qDebug() << "WROTE LOGFILE";
+                QByteArray b((const char*)buf, len);
+                //int packetlen =
+                if(m_logfile->write(b) < MAVLINK_MAX_PACKET_LEN+sizeof(quint64)) qDebug() << "WRITING TO LOG FAILED!";
+                //qDebug() << "WROTE LOGFILE";
             }
 
             // ORDER MATTERS HERE!
@@ -170,7 +161,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                     if (!versionMismatchIgnore)
                     {
                         emit protocolStatusMessage(tr("The MAVLink protocol version on the MAV and QGroundControl mismatch!"),
-                                                                 tr("It is unsafe to use different MAVLink versions. QGroundControl therefore refuses to connect to system %1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(message.sysid).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
+                                                   tr("It is unsafe to use different MAVLink versions. QGroundControl therefore refuses to connect to system %1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(message.sysid).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
                         versionMismatchIgnore = true;
                     }
 
@@ -189,37 +180,37 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                     break;
                 case MAV_AUTOPILOT_PIXHAWK:
                     {
-                    // Fixme differentiate between quadrotor and coaxial here
-                    PxQuadMAV* mav = new PxQuadMAV(this, message.sysid);
-                    // Connect this robot to the UAS object
-                    // it is IMPORTANT here to use the right object type,
-                    // else the slot of the parent object is called (and thus the special
-                    // packets never reach their goal)
-                    connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
-                    uas = mav;
-                }
+                        // Fixme differentiate between quadrotor and coaxial here
+                        PxQuadMAV* mav = new PxQuadMAV(this, message.sysid);
+                        // Connect this robot to the UAS object
+                        // it is IMPORTANT here to use the right object type,
+                        // else the slot of the parent object is called (and thus the special
+                        // packets never reach their goal)
+                        connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
+                        uas = mav;
+                    }
                     break;
                 case MAV_AUTOPILOT_SLUGS:
                     {
-                    SlugsMAV* mav = new SlugsMAV(this, message.sysid);
-                    // Connect this robot to the UAS object
-                    // it is IMPORTANT here to use the right object type,
-                    // else the slot of the parent object is called (and thus the special
-                    // packets never reach their goal)
-                    connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
-                    uas = mav;
-                }
+                        SlugsMAV* mav = new SlugsMAV(this, message.sysid);
+                        // Connect this robot to the UAS object
+                        // it is IMPORTANT here to use the right object type,
+                        // else the slot of the parent object is called (and thus the special
+                        // packets never reach their goal)
+                        connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
+                        uas = mav;
+                    }
                     break;
                 case MAV_AUTOPILOT_ARDUPILOTMEGA:
                     {
-                    ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(this, message.sysid);
-                    // Connect this robot to the UAS object
-                    // it is IMPORTANT here to use the right object type,
-                    // else the slot of the parent object is called (and thus the special
-                    // packets never reach their goal)
-                    connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
-                    uas = mav;
-                }
+                        ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(this, message.sysid);
+                        // Connect this robot to the UAS object
+                        // it is IMPORTANT here to use the right object type,
+                        // else the slot of the parent object is called (and thus the special
+                        // packets never reach their goal)
+                        connect(this, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), mav, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
+                        uas = mav;
+                    }
                     break;
                 default:
                     uas = new UAS(this, message.sysid);
@@ -389,23 +380,37 @@ void MAVLinkProtocol::enableHeartbeats(bool enabled)
 
 void MAVLinkProtocol::enableLogging(bool enabled)
 {
-    if (enabled && !m_loggingEnabled)
+    bool changed = false;
+    if (enabled != m_loggingEnabled) changed = true;
+
+    if (enabled)
     {
-       if (m_logfile->isOpen()) m_logfile->close();
-       m_logfile->open(QIODevice::WriteOnly | QIODevice::Append);
+        if (m_logfile->isOpen())
+        {
+            m_logfile->flush();
+            m_logfile->close();
+        }
+        if (!m_logfile->open(QIODevice::WriteOnly | QIODevice::Append))
+        {
+            emit protocolStatusMessage(tr("Opening MAVLink logfile for writing failed"), tr("MAVLink cannot log to the file %1, please choose a different file.").arg(m_logfile->fileName()));
+            qDebug() << "OPENING LOGFILE FAILED!";
+        }
     }
     else if (!enabled)
     {
-       m_logfile->close();
+        m_logfile->flush();
+        m_logfile->close();
     }
     m_loggingEnabled = enabled;
-    emit loggingChanged(enabled);
+    if (changed) emit loggingChanged(enabled);
 }
 
 void MAVLinkProtocol::setLogfileName(const QString& filename)
 {
+    m_logfile->flush();
     m_logfile->close();
     m_logfile->setFileName(filename);
+    enableLogging(m_loggingEnabled);
 }
 
 void MAVLinkProtocol::enableVersionCheck(bool enabled)

src/comm/MAVLinkSimulationLink.cc

@@ -141,7 +141,7 @@ void MAVLinkSimulationLink::run()
             }
             last = MG::TIME::getGroundTimeNow();
         }
-        MG::SLEEP::msleep(3);
+        QGC::SLEEP::msleep(3);
 
     }
 }
@@ -381,14 +381,16 @@ void MAVLinkSimulationLink::mainloop()
         float hackDt = 0.1f; // 100 ms
 
         // Move X Position
-        x = 12.0*sin(((double)circleCounter)/100.0);
-        y = 5.0*cos(((double)circleCounter)/100.0);
-        z = 1.8 + 1.2*sin(((double)circleCounter)/60.0);
+        x = 12.0*sin(((double)circleCounter)/200.0);
+        y = 5.0*cos(((double)circleCounter)/200.0);
+        z = 1.8 + 1.2*sin(((double)circleCounter)/200.0);
 
         float xSpeed = (x - lastX)/hackDt;
         float ySpeed = (y - lastY)/hackDt;
         float zSpeed = (z - lastZ)/hackDt;
 
+
+
         circleCounter++;
 
 
@@ -423,14 +425,14 @@ void MAVLinkSimulationLink::mainloop()
 //        streampointer += bufferlength;
 
         // GLOBAL POSITION
-        mavlink_msg_global_position_int_pack(systemId, componentId, &ret, (473780.28137103+(x))*1E3, (85489.9892510421+(y))*1E3, (z+550.0)*1000.0, xSpeed*15.0*100.0, ySpeed*15.0*100.0, zSpeed*15*100.0);
+        mavlink_msg_global_position_int_pack(systemId, componentId, &ret, (473780.28137103+(x))*1E3, (85489.9892510421+(y))*1E3, (z+550.0)*1000.0, xSpeed, ySpeed, zSpeed);
         bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);
         streampointer += bufferlength;
 
         // GLOBAL POSITION VEHICLE 2
-        mavlink_msg_global_position_int_pack(54, componentId, &ret, (473780.28137103+(x+0.002))*1E3, (85489.9892510421+((y/2)+0.3))*1E3, (z+570.0)*1000.0, xSpeed*15.0*100.0, ySpeed*15.0*100.0, zSpeed*15.0*100.0);
+        mavlink_msg_global_position_int_pack(54, componentId, &ret, (473780.28137103+(x+0.002))*1E3, (85489.9892510421+((y/2)+0.3))*1E3, (z+570.0)*1000.0, xSpeed, ySpeed, zSpeed);
         bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);

src/comm/SerialSimulationLink.cc

@@ -36,6 +36,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QFile>
 #include <QDebug>
 #include <MG.h>
+#include "QGC.h"
 
 /**
  * Create a simulated link. This link is connected to an input and output file.
@@ -92,6 +93,10 @@ void SerialSimulationLink::run()
 
                 msleep(rate);
         }*/
+    forever
+    {
+        QGC::SLEEP::msleep(5000);
+    }
 }
 
 void SerialSimulationLink::enableLoopBackMode(SerialLink* loop)

src/comm/UDPLink.cc

@@ -35,7 +35,7 @@ This file is part of the QGROUNDCONTROL project
 #include <iostream>
 #include "UDPLink.h"
 #include "LinkManager.h"
-#include "MG.h"
+#include "QGC.h"
 //#include <netinet/in.h>
 
 UDPLink::UDPLink(QHostAddress host, quint16 port)
@@ -64,6 +64,10 @@ UDPLink::~UDPLink()
  **/
 void UDPLink::run()
 {
+    forever
+    {
+        QGC::SLEEP::msleep(5000);
+    }
 }
 
 void UDPLink::setAddress(QString address)
@@ -242,7 +246,7 @@ bool UDPLink::connect()
     if (connectState)
     {
         emit connected();
-        connectionStartTime = MG::TIME::getGroundTimeNow();
+        connectionStartTime = QGC::groundTimeUsecs()/1000;
     }
 
     start(HighPriority);
@@ -281,7 +285,7 @@ qint64 UDPLink::getNominalDataRate() {
 
 qint64 UDPLink::getTotalUpstream() {
     statisticsMutex.lock();
-    qint64 totalUpstream = bitsSentTotal / ((MG::TIME::getGroundTimeNow() - connectionStartTime) / 1000);
+    qint64 totalUpstream = bitsSentTotal / ((QGC::groundTimeUsecs()/1000 - connectionStartTime) / 1000);
     statisticsMutex.unlock();
     return totalUpstream;
 }
@@ -304,7 +308,7 @@ qint64 UDPLink::getBitsReceived() {
 
 qint64 UDPLink::getTotalDownstream() {
     statisticsMutex.lock();
-    qint64 totalDownstream = bitsReceivedTotal / ((MG::TIME::getGroundTimeNow() - connectionStartTime) / 1000);
+    qint64 totalDownstream = bitsReceivedTotal / ((QGC::groundTimeUsecs()/1000 - connectionStartTime) / 1000);
     statisticsMutex.unlock();
     return totalDownstream;
 }

src/input/JoystickInput.cc

@@ -36,6 +36,7 @@ This file is part of the PIXHAWK project
 #include <limits.h>
 #include "UAS.h"
 #include "UASManager.h"
+#include "QGC.h"
 
 /**
  * The coordinate frame of the joystick axis is the aeronautical frame like shown on this image:
@@ -276,7 +277,7 @@ void JoystickInput::run()
         }
 
         // Sleep, update rate of joystick is approx. 50 Hz (1000 ms / 50 = 20 ms)
-        MG::SLEEP::msleep(20);
+        QGC::SLEEP::msleep(20);
 
     }
 

src/uas/UAS.cc

@@ -434,7 +434,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     {
                         emit valueChanged(uasId, "speed", "m/s", pos.v, time);
                         //qDebug() << "GOT GPS RAW";
-                        emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
+                       // emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
                     }
                     else
                     {

src/uas/UASManager.cc

@@ -33,10 +33,12 @@ This file is part of the QGROUNDCONTROL project
 #include <QMessageBox>
 #include <QTimer>
 #include "UAS.h"
-#include <UASInterface.h>
-#include <UASManager.h>
+#include "UASInterface.h"
+#include "UASManager.h"
+#include "QGC.h"
 
-UASManager* UASManager::instance() {
+UASManager* UASManager::instance()
+{
     static UASManager* _instance = 0;
     if(_instance == 0) {
         _instance = new UASManager();
@@ -67,6 +69,10 @@ UASManager::~UASManager()
 
 void UASManager::run()
 {
+    forever
+    {
+        QGC::SLEEP::msleep(5000);
+    }
 }
 
 void UASManager::addUAS(UASInterface* uas)
@@ -104,12 +110,6 @@ QList<UASInterface*> UASManager::getUASList()
 
 UASInterface* UASManager::getActiveUAS()
 {
-//    if(!activeUAS)
-//    {
-//        QMessageBox msgBox;
-//        msgBox.setText(tr("No Micro Air Vehicle connected. Please connect one first."));
-//        msgBox.exec();
-//    }
     return activeUAS; ///< Return zero pointer if no UAS has been loaded
 }
 
@@ -193,8 +193,6 @@ void UASManager::setActiveUAS(UASInterface* uas)
         activeUAS = uas;
         activeUASMutex.unlock();
 
-        qDebug() << __FILE__ << ":" << __LINE__ << " ACTIVE UAS SET TO: " << uas->getUASName();
-
         emit activeUASSet(uas);
         emit activeUASSet(uas->getUASID());
         emit activeUASStatusChanged(uas, true);

src/ui/HDDisplay.cc

@@ -66,6 +66,8 @@ HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) :
     setWindowTitle(title);
     //m_ui->setupUi(this);
 
+    setAutoFillBackground(true);
+
     // Add all items in accept list to gauge
     if (plotList)
     {
@@ -150,7 +152,7 @@ HDDisplay::~HDDisplay()
 
 QSize HDDisplay::sizeHint() const
 {
-    return QSize(400, 400*(vwidth/vheight));
+    return QSize(400, 400.0f*(vwidth/vheight)*1.1f);
 }
 
 void HDDisplay::enableGLRendering(bool enable)
@@ -164,6 +166,35 @@ void HDDisplay::triggerUpdate()
     update(this->geometry());
 }
 
+//void HDDisplay::updateValue(UASInterface* uas, const QString& name, const QString& unit, double value, quint64 msec)
+//{
+//    // UAS is not needed
+//    Q_UNUSED(uas);
+
+//    if (!isnan(value) && !isinf(value))
+//    {
+//        // Update mean
+//        const float oldMean = valuesMean.value(name, 0.0f);
+//        const int meanCount = valuesCount.value(name, 0);
+//        double mean = (oldMean * meanCount +  value) / (meanCount + 1);
+//        if (isnan(mean) || isinf(mean)) mean = 0.0;
+//        valuesMean.insert(name, mean);
+//        valuesCount.insert(name, meanCount + 1);
+//        // Two-value sliding average
+//        double dot = (valuesDot.value(name) + (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f))/2.0f;
+//        if (isnan(dot) || isinf(dot))
+//        {
+//            dot = 0.0;
+//        }
+//        valuesDot.insert(name, dot);
+//        values.insert(name, value);
+//        lastUpdate.insert(name, msec);
+//        //}
+
+//        //qDebug() << __FILE__ << __LINE__ << "VALUE:" << value << "MEAN:" << mean << "DOT:" << dot << "COUNT:" << meanCount;
+//    }
+//}
+
 void HDDisplay::paintEvent(QPaintEvent * event)
 {
     Q_UNUSED(event);
@@ -180,7 +211,12 @@ void HDDisplay::contextMenuEvent (QContextMenuEvent* event)
     menu.addActions(getItemRemoveActions());
     menu.addSeparator();
     menu.addAction(setColumnsAction);
-    menu.addAction(setTitleAction);
+    // Title change would ruin settings
+    // this can only be allowed once
+    // HDDisplays are instantiated
+    // by a factory method based on
+    // QSettings
+    //menu.addAction(setTitleAction);
     menu.exec(event->globalPos());
 }
 
@@ -249,11 +285,20 @@ void HDDisplay::addGauge()
     QStringList items;
     for (int i = 0; i < values.count(); ++i)
     {
-        items.append(QString("%1,%2,%3,%4").arg("-180").arg(values.keys().at(i)).arg(units.keys().at(i)).arg("+180"));
+        QString key = values.keys().at(i);
+        QString unit = units.value(key);
+        if (unit.contains("deg") || unit.contains("rad"))
+        {
+            items.append(QString("%1,%2,%3,%4,s").arg("-180").arg(key).arg(unit).arg("+180"));
+        }
+        else
+        {
+            items.append(QString("%1,%2,%3,%4").arg("-180").arg(key).arg(unit).arg("+180"));
+        }
     }
     bool ok;
     QString item = QInputDialog::getItem(this, tr("Add Gauge Instrument"),
-                                         tr("Format: min, curve name, max"), items, 0, true, &ok);
+                                         tr("Format: min, curve name, max[,s]"), items, 0, true, &ok);
     if (ok && !item.isEmpty())
     {
         addGauge(item);
@@ -573,6 +618,11 @@ void HDDisplay::drawGauge(float xRef, float yRef, float radius, float min, float
     }
     circlePen.setWidth(refLineWidthToPen(radius/12.0f));
     circlePen.setColor(color);
+
+    if (symmetric)
+    {
+        circlePen.setStyle(Qt::DashLine);
+    }
     painter->setBrush(Qt::NoBrush);
     painter->setPen(circlePen);
     drawCircle(xRef, yRef+nameHeight, radius, 0.0f, color, painter);
@@ -634,8 +684,8 @@ void HDDisplay::drawGauge(float xRef, float yRef, float radius, float min, float
     QPolygonF p(6);
 
     p.replace(0, QPointF(xRef-maxWidth/2.0f, yRef+nameHeight+radius * 0.05f));
-    p.replace(1, QPointF(xRef-minWidth/2.0f, yRef+nameHeight+radius * 0.9f));
-    p.replace(2, QPointF(xRef+minWidth/2.0f, yRef+nameHeight+radius * 0.9f));
+    p.replace(1, QPointF(xRef-minWidth/2.0f, yRef+nameHeight+radius * 0.89f));
+    p.replace(2, QPointF(xRef+minWidth/2.0f, yRef+nameHeight+radius * 0.89f));
     p.replace(3, QPointF(xRef+maxWidth/2.0f, yRef+nameHeight+radius * 0.05f));
     p.replace(4, QPointF(xRef,               yRef+nameHeight+radius * 0.0f));
     p.replace(5, QPointF(xRef-maxWidth/2.0f, yRef+nameHeight+radius * 0.05f));
@@ -818,6 +868,7 @@ void HDDisplay::updateValue(const int uasId, const QString& name, const QString&
     valuesCount.insert(name, meanCount + 1);
     valuesDot.insert(name, (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f));
     values.insert(name, value);
+    units.insert(name, unit);
     lastUpdate.insert(name, msec);
 }
 

src/ui/HDDisplay.h

@@ -137,7 +137,7 @@ protected:
 
     UASInterface* uas;                 ///< The uas currently monitored
     QMap<QString, float> values;       ///< The variables this HUD displays
-    QMap<QString, float> units;       ///< The units
+    QMap<QString, QString> units;       ///< The units
     QMap<QString, float> valuesDot;    ///< First derivative of the variable
     QMap<QString, float> valuesMean;   ///< Mean since system startup for this variable
     QMap<QString, int> valuesCount;    ///< Number of values received so far

src/ui/HUD.h

@@ -63,11 +63,8 @@ public slots:
     /** @brief Set the currently monitored UAS */
     void setActiveUAS(UASInterface* uas);
 
-    /** @brief Update a HUD value */
-    void updateValue(UASInterface* uas, QString name, double value, quint64 msec);
-
     void updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 timestamp);
-    void updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
+//    void updateAttitudeThrustSetPoint(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
     void updateBattery(UASInterface*, double, double, int);
     void receiveHeartbeat(UASInterface*);
     void updateThrust(UASInterface*, double);
@@ -103,8 +100,6 @@ protected slots:
 
     void drawChangeRateStrip(float xRef, float yRef, float height, float minRate, float maxRate, float value, QPainter* painter);
     void drawChangeIndicatorGauge(float xRef, float yRef, float radius, float expectedMaxChange, float value, const QColor& color, QPainter* painter, bool solid=true);
-    void drawSystemIndicator(float xRef, float yRef, int maxNum, float maxWidth, float maxHeight, QPainter* painter);
-
 
     void drawPolygon(QPolygonF refPolygon, QPainter* painter);
 
@@ -130,11 +125,6 @@ protected:
     QImage* image; ///< Double buffer image
     QImage glImage; ///< The background / camera image
     UASInterface* uas; ///< The uas currently monitored
-    QMap<QString, float> values; ///< The variables this HUD displays
-    QMap<QString, float> valuesDot; ///< First derivative of the variable
-    QMap<QString, float> valuesMean; ///< Mean since system startup for this variable
-    QMap<QString, int> valuesCount; ///< Number of values received so far
-    QMap<QString, quint64> lastUpdate; ///< The last update time for this variable
     float yawInt; ///< The yaw integral. Used to damp the yaw indication.
     QString mode; ///< The current vehicle mode
     QString state; ///< The current vehicle state
@@ -188,7 +178,20 @@ protected:
     float roll;
     float pitch;
     float yaw;
-    float yawDiff;
+    float rollLP;
+    float pitchLP;
+    float yawLP;
+    double yawDiff;
+    double xPos;
+    double yPos;
+    double zPos;
+    double xSpeed;
+    double ySpeed;
+    double zSpeed;
+    double lat;
+    double lon;
+    double alt;
+    float load;
     void paintEvent(QPaintEvent *event);
 
 };

src/ui/MainWindow.cc

@@ -86,7 +86,10 @@ MainWindow::MainWindow(QWidget *parent):
     }
     else
     {
-        currentView = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt();
+        if (settings.value("CURRENT_VIEW", VIEW_PILOT) != VIEW_PILOT)
+        {
+            currentView = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt();
+        }
     }
 
     // Check if the settings exist, instantiate defaults if necessary
@@ -316,8 +319,8 @@ void MainWindow::buildPxWidgets()
     //FIXME: memory of acceptList2 will never be freed again
     QStringList* acceptList2 = new QStringList();
     acceptList2->append("0,abs pressure,hPa,65500");
-    acceptList2->append("-2000,accel. X,raw,2000,s");
-    acceptList2->append("-2000,accel. Y,raw,2000,s");
+    acceptList2->append("-999,accel. X,raw,999,s");
+    acceptList2->append("-999,accel. Y,raw,999,s");
 
     if (!linechartWidget)
     {

src/ui/QGCMAVLinkLogPlayer.cc

@@ -2,7 +2,9 @@
 #include <QMessageBox>
 #include <QDesktopServices>
 
+#include "MainWindow.h"
 #include "QGCMAVLinkLogPlayer.h"
+#include "QGC.h"
 #include "ui_QGCMAVLinkLogPlayer.h"
 
 QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *parent) :
@@ -11,18 +13,27 @@ QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *pare
     totalLines(0),
     startTime(0),
     endTime(0),
-    currentTime(0),
+    currentStartTime(0),
+    accelerationFactor(1.0f),
     mavlink(mavlink),
+    logLink(NULL),
+    loopCounter(0),
     ui(new Ui::QGCMAVLinkLogPlayer)
 {
     ui->setupUi(this);
     ui->gridLayout->setAlignment(Qt::AlignTop);
 
+    // Setup timer
+    connect(&loopTimer, SIGNAL(timeout()), this, SLOT(logLoop()));
+
     // Setup buttons
     connect(ui->selectFileButton, SIGNAL(clicked()), this, SLOT(selectLogFile()));
     connect(ui->pauseButton, SIGNAL(clicked()), this, SLOT(pause()));
     connect(ui->playButton, SIGNAL(clicked()), this, SLOT(play()));
+    connect(ui->speedSlider, SIGNAL(valueChanged(int)), this, SLOT(setAccelerationFactorInt(int)));
 
+    setAccelerationFactorInt(49);
+    ui->speedSlider->setValue(49);
 }
 
 QGCMAVLinkLogPlayer::~QGCMAVLinkLogPlayer()
@@ -35,6 +46,15 @@ void QGCMAVLinkLogPlayer::play()
     if (logFile.isOpen())
     {
         ui->pauseButton->setChecked(false);
+        ui->selectFileButton->setEnabled(false);
+        if (logLink != NULL)
+        {
+            delete logLink;
+        }
+        logLink = new MAVLinkSimulationLink("");
+
+        // Start timer
+        loopTimer.start(1);
     }
     else
     {
@@ -51,7 +71,21 @@ void QGCMAVLinkLogPlayer::play()
 
 void QGCMAVLinkLogPlayer::pause()
 {
+    loopTimer.stop();
     ui->playButton->setChecked(false);
+    ui->selectFileButton->setEnabled(true);
+    delete logLink;
+    logLink = NULL;
+}
+
+void QGCMAVLinkLogPlayer::reset()
+{
+    pause();
+    loopCounter = 0;
+    logFile.reset();
+    ui->pauseButton->setChecked(true);
+    ui->progressBar->setValue(0);
+    startTime = 0;
 }
 
 void QGCMAVLinkLogPlayer::selectLogFile()
@@ -61,27 +95,60 @@ void QGCMAVLinkLogPlayer::selectLogFile()
     loadLogFile(fileName);
 }
 
+/**
+ * @param factor 0: 0.01X, 50: 1.0X, 100: 100.0X
+ */
+void QGCMAVLinkLogPlayer::setAccelerationFactorInt(int factor)
+{
+    float f = factor+1.0f;
+    f -= 50.0f;
+
+    if (f < 0.0f)
+    {
+        accelerationFactor = 1.0f / (-f/2.0f);
+    }
+    else
+    {
+        accelerationFactor = 1+(f/2.0f);
+    }
+
+    //qDebug() << "FACTOR:" << accelerationFactor;
+
+    ui->speedLabel->setText(tr("Speed: %1X").arg(accelerationFactor, 0, 'f', 2));
+}
+
 void QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
 {
+    // Ensure that the playback process is stopped
+    if (logFile.isOpen())
+    {
+        loopTimer.stop();
+        logFile.reset();
+        logFile.close();
+    }
     logFile.setFileName(file);
 
     if (!logFile.open(QFile::ReadOnly))
     {
-        QMessageBox msgBox;
-        msgBox.setIcon(QMessageBox::Critical);
-        msgBox.setText(tr("The selected logfile is unreadable"));
-        msgBox.setInformativeText(tr("Please make sure that the file %1 is readable or select a different file").arg(file));
-        msgBox.setStandardButtons(QMessageBox::Ok);
-        msgBox.setDefaultButton(QMessageBox::Ok);
-        msgBox.exec();
+        MainWindow::instance()->showCriticalMessage(tr("The selected logfile is unreadable"), tr("Please make sure that the file %1 is readable or select a different file").arg(file));
         logFile.setFileName("");
     }
     else
     {
-        ui->logFileNameLabel->setText(tr("%1").arg(file));
+        QFileInfo logFileInfo(file);
+        logFile.reset();
+        startTime = 0;
+        ui->logFileNameLabel->setText(tr("%1").arg(logFileInfo.baseName()));
+        ui->logStatsLabel->setText(tr("Log: %2 MB, %3 packets").arg(logFileInfo.size()/1000000.0f, 0, 'f', 2).arg(logFileInfo.size()/(MAVLINK_MAX_PACKET_LEN+sizeof(quint64))));
     }
 }
 
+union log64
+{
+    quint64 q;
+    const char* b;
+};
+
 /**
  * This function is the "mainloop" of the log player, reading one line
  * and adjusting the mainloop timer to read the next line in time.
@@ -90,14 +157,118 @@ void QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
  * For scientific logging, the use of onboard timestamps and the log
  * functionality of the line chart plot is recommended.
  */
-void QGCMAVLinkLogPlayer::readLine()
+void QGCMAVLinkLogPlayer::logLoop()
 {
+    const int packetLen = MAVLINK_MAX_PACKET_LEN;
+    const int timeLen = sizeof(quint64);
+    bool ok;
 
-    // Ui update: Only every 20 messages
-    // to prevent flickering and high CPU load
+    // First check initialization
+    if (startTime == 0)
+    {
+        QByteArray startBytes = logFile.read(timeLen);
+
+        // Check if the correct number of bytes could be read
+        if (startBytes.length() != timeLen)
+        {
+            ui->logStatsLabel->setText(tr("Error reading first %1 bytes").arg(timeLen));
+            MainWindow::instance()->showCriticalMessage(tr("Failed loading MAVLink Logfile"), tr("Error reading first %1 bytes from logfile. Got %2 instead of %1 bytes. Is the logfile readable?").arg(timeLen).arg(startBytes.length()));
+            reset();
+            return;
+        }
+
+        // Convert data to timestamp
+        startTime = *((quint64*)(startBytes.constData()));
+        currentStartTime = QGC::groundTimeUsecs();
+        ok = true;
+
+        //qDebug() << "START TIME: " << startTime;
+
+        // Check if these bytes could be correctly decoded
+        if (!ok)
+        {
+            ui->logStatsLabel->setText(tr("Error decoding first timestamp, aborting."));
+            MainWindow::instance()->showCriticalMessage(tr("Failed loading MAVLink Logfile"), tr("Could not load initial timestamp from file %1. Is the file corrupted?").arg(logFile.fileName()));
+            reset();
+            return;
+        }
+    }
+
+
+    // Initialization seems fine, load next chunk
+    QByteArray chunk = logFile.read(timeLen+packetLen);
+    QByteArray packet = chunk.mid(0, packetLen);
+
+    // Emit this packet
+    mavlink->receiveBytes(logLink, packet);
+
+    // Check if reached end of file before reading next timestamp
+    if (chunk.length() < timeLen+packetLen || logFile.atEnd())
+    {
+        // Reached end of file
+        reset();
+
+        QString status = tr("Reached end of MAVLink log file.");
+        ui->logStatsLabel->setText(status);
+        ui->progressBar->setValue(100);
+        MainWindow::instance()->showStatusMessage(status);
+        return;
+    }
+
+    // End of file not reached, read next timestamp
+    QByteArray rawTime = chunk.mid(packetLen);
 
-    // Update status label
-    // Update progress bar
+    // This is the timestamp of the next packet
+    quint64 time = *((quint64*)(rawTime.constData()));
+    ok = true;
+    if (!ok)
+    {
+        // Convert it to 64bit number
+        QString status = tr("Time conversion error during log replay. Continuing..");
+        ui->logStatsLabel->setText(status);
+        MainWindow::instance()->showStatusMessage(status);
+    }
+    else
+    {
+        // Normal processing, passed all checks
+        // start timer to match time offset between
+        // this and next packet
+
+
+        // Offset in ms
+        qint64 timediff = (time - startTime)/accelerationFactor;
+
+        // Immediately load any data within
+        // a 3 ms interval
+
+        int nextExecutionTime = (((qint64)currentStartTime + (qint64)timediff) - (qint64)QGC::groundTimeUsecs())/1000;
+
+        //qDebug() << "nextExecutionTime:" << nextExecutionTime << "QGC START TIME:" << currentStartTime << "LOG START TIME:" << startTime;
+
+        if (nextExecutionTime < 5)
+        {
+            logLoop();
+        }
+        else
+        {
+            loopTimer.start(nextExecutionTime);
+        }
+//        loopTimer.start(20);
+
+        if (loopCounter % 40 == 0)
+        {
+            QFileInfo logFileInfo(logFile);
+            int progress = 100.0f*(loopCounter/(float)(logFileInfo.size()/(MAVLINK_MAX_PACKET_LEN+sizeof(quint64))));
+            //qDebug() << "Progress:" << progress;
+            ui->progressBar->setValue(progress);
+        }
+        loopCounter++;
+        // Ui update: Only every 20 messages
+        // to prevent flickering and high CPU load
+
+        // Update status label
+        // Update progress bar
+    }
 }
 
 void QGCMAVLinkLogPlayer::changeEvent(QEvent *e)

src/ui/QGCMAVLinkLogPlayer.h

@@ -5,6 +5,7 @@
 #include <QFile>
 
 #include "MAVLinkProtocol.h"
+#include "MAVLinkSimulationLink.h"
 
 namespace Ui {
     class QGCMAVLinkLogPlayer;
@@ -30,22 +31,30 @@ public slots:
     void play();
     /** @brief Pause the logfile */
     void pause();
+    /** @brief Reset the logfile */
+    void reset();
     /** @brief Select logfile */
     void selectLogFile();
     /** @brief Load log file */
     void loadLogFile(const QString& file);
+    /** @brief The logging mainloop */
+    void logLoop();
+    /** @brief Set acceleration factor in percent */
+    void setAccelerationFactorInt(int factor);
 
 protected:
     int lineCounter;
     int totalLines;
     quint64 startTime;
     quint64 endTime;
-    quint64 currentTime;
+    quint64 currentStartTime;
+    float accelerationFactor;
     MAVLinkProtocol* mavlink;
+    MAVLinkSimulationLink* logLink;
     QFile logFile;
     QTimer loopTimer;
+    int loopCounter;
     void changeEvent(QEvent *e);
-    void readLine();
 
 private:
     Ui::QGCMAVLinkLogPlayer *ui;

src/ui/linechart/LinechartWidget.cc

@@ -142,15 +142,41 @@ updateTimer(new QTimer())
 
     updateTimer->setInterval(300);
     connect(updateTimer, SIGNAL(timeout()), this, SLOT(refresh()));
-    updateTimer->start();
+    readSettings();
 }
 
-LinechartWidget::~LinechartWidget() {
+LinechartWidget::~LinechartWidget()
+{
+    writeSettings();
     stopLogging();
     delete listedCurves;
     listedCurves = NULL;
 }
 
+void LinechartWidget::writeSettings()
+{
+    QSettings settings;
+    settings.beginGroup("LINECHART");
+    if (timeButton) settings.setValue("ENFORCE_GROUNDTIME", timeButton->isChecked());
+    if (unitsCheckBox) settings.setValue("SHOW_UNITS", unitsCheckBox->isChecked());
+    settings.endGroup();
+    settings.sync();
+}
+
+void LinechartWidget::readSettings()
+{
+    QSettings settings;
+    settings.sync();
+    settings.beginGroup("LINECHART");
+    if (activePlot)
+    {
+        timeButton->setChecked(settings.value("ENFORCE_GROUNDTIME", timeButton->isChecked()).toBool());
+        activePlot->enforceGroundTime(settings.value("ENFORCE_GROUNDTIME", timeButton->isChecked()).toBool());
+    }
+    if (unitsCheckBox) unitsCheckBox->setChecked(settings.value("SHOW_UNITS").toBool());
+    settings.endGroup();
+}
+
 void LinechartWidget::createLayout()
 {
     // Create actions
@@ -215,7 +241,7 @@ void LinechartWidget::createLayout()
     connect(logButton, SIGNAL(clicked()), this, SLOT(startLogging()));
 
     // Ground time button
-    QCheckBox* timeButton = new QCheckBox(this);
+    timeButton = new QCheckBox(this);
     timeButton->setText(tr("Ground Time"));
     timeButton->setToolTip(tr("Overwrite timestamp of data from vehicle with ground receive time. Helps if the plots are not visible because of missing or invalid onboard time."));
     timeButton->setWhatsThis(tr("Overwrite timestamp of data from vehicle with ground receive time. Helps if the plots are not visible because of missing or invalid onboard time."));
@@ -225,6 +251,7 @@ void LinechartWidget::createLayout()
     layout->addWidget(timeButton, 1, 4);
     layout->setColumnStretch(4, 0);
     connect(timeButton, SIGNAL(clicked(bool)), activePlot, SLOT(enforceGroundTime(bool)));
+    connect(timeButton, SIGNAL(clicked()), this, SLOT(writeSettings()));
 
     unitsCheckBox = new QCheckBox(this);
     unitsCheckBox->setText(tr("Show units"));
@@ -232,21 +259,7 @@ void LinechartWidget::createLayout()
     unitsCheckBox->setToolTip(tr("Enable unit display in curve list"));
     unitsCheckBox->setWhatsThis(tr("Enable unit display in curve list"));
     layout->addWidget(unitsCheckBox, 1, 5);
-
-    // Create the scroll bar
-    //scrollbar = new QScrollBar(Qt::Horizontal, ui.diagramGroupBox);
-    //scrollbar->setMinimum(MIN_TIME_SCROLLBAR_VALUE);
-    //scrollbar->setMaximum(MAX_TIME_SCROLLBAR_VALUE);
-    //scrollbar->setPageStep(PAGESTEP_TIME_SCROLLBAR_VALUE);
-    // Set scrollbar to maximum and disable it
-    //scrollbar->setValue(MIN_TIME_SCROLLBAR_VALUE);
-    //scrollbar->setDisabled(true);
-    //    scrollbar->setFixedHeight(20);
-
-
-    // Add scroll bar to layout and make sure it gets all available space
-    //layout->addWidget(scrollbar, 1, 5);
-    //layout->setColumnStretch(5, 10);
+    connect(unitsCheckBox, SIGNAL(clicked()), this, SLOT(writeSettings()));
 
     ui.diagramGroupBox->setLayout(layout);
 
@@ -255,14 +268,6 @@ void LinechartWidget::createLayout()
 
     // Connect notifications from the user interface to the plot
     connect(this, SIGNAL(curveRemoved(QString)), activePlot, SLOT(hideCurve(QString)));
-    //connect(this, SIGNAL(curveSet(QString, int)), activePlot, SLOT(showshowCurveCurve(QString, int)));
-    // FIXME
-
-    // Connect notifications from the plot to the user interface
-    //connect(activePlot, SIGNAL(curveAdded(QString)), this, SLOT(addCurve(QString)));
-    //connect(activePlot, SIGNAL(curveRemoved(QString)), this, SLOT(removeCurve(QString)));
-
-    // Scrollbar
 
     // Update scrollbar when plot window changes (via translator method setPlotWindowPosition()
     connect(activePlot, SIGNAL(windowPositionChanged(quint64)), this, SLOT(setPlotWindowPosition(quint64)));
@@ -612,6 +617,7 @@ void LinechartWidget::addCurve(const QString& curve, const QString& unit)
     unitLabel->setToolTip(tr("Unit of ") + curve);
     unitLabel->setWhatsThis(tr("Unit of ") + curve);
     curvesWidgetLayout->addWidget(unitLabel, labelRow, 4);
+    unitLabel->setVisible(unitsCheckBox->isChecked());
     connect(unitsCheckBox, SIGNAL(clicked(bool)), unitLabel, SLOT(setVisible(bool)));
 
     // Mean
@@ -649,6 +655,10 @@ void LinechartWidget::addCurve(const QString& curve, const QString& unit)
 
     // Set stretch factors so that the label gets the whole space
 
+
+    // Load visibility settings
+    // TODO
+
     // Connect actions
     QObject::connect(checkBox, SIGNAL(clicked(bool)), this, SLOT(takeButtonClick(bool)));
     QObject::connect(this, SIGNAL(curveVisible(QString, bool)), plot, SLOT(setVisible(QString, bool)));
@@ -691,7 +701,7 @@ void LinechartWidget::setActive(bool active)
     }
     if (active)
     {
-        updateTimer->start();
+        updateTimer->start(updateInterval);
     }
     else
     {

src/ui/linechart/LinechartWidget.h

@@ -95,6 +95,10 @@ public slots:
     void stopLogging();
     /** @brief Refresh the view */
     void refresh();
+    /** @brief Write the current configuration to disk */
+    void writeSettings();
+    /** @brief Read the current configuration from disk */
+    void readSettings();
 
 protected:
     void addCurveToList(QString curve);
@@ -133,6 +137,7 @@ protected:
     QToolButton* scalingLogButton;
     QToolButton* logButton;
     QPointer<QCheckBox> unitsCheckBox;
+    QPointer<QCheckBox> timeButton;
 
     QFile* logFile;
     unsigned int logindex;
@@ -140,6 +145,7 @@ protected:
     quint64 logStartTime;
     QTimer* updateTimer;
     LogCompressor* compressor;
+    static const int updateInterval = 400; ///< Time between number updates, in milliseconds
 
     static const int MAX_CURVE_MENUITEM_NUMBER = 8;
     static const int PAGESTEP_TIME_SCROLLBAR_VALUE = (MAX_TIME_SCROLLBAR_VALUE - MIN_TIME_SCROLLBAR_VALUE) / 10;