Added map view, fixed audio output

src/GAudioOutput.cc

@@ -197,6 +197,7 @@ bool GAudioOutput::startEmergency()
         // Beep immediately and then start timer
         beep();
         emergencyTimer->start(1500);
+        QTimer::singleShot(5000, this, SLOT(stopEmergency()));
     }
     return true;
 }

src/uas/PxQuadMAV.cc

@@ -55,8 +55,8 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
             emit valueChanged(uasId, str+".x", vect.x, MG::TIME::getGroundTimeNow());
             emit valueChanged(uasId, str+".y", vect.y, MG::TIME::getGroundTimeNow());
             emit valueChanged(uasId, str+".z", vect.z, MG::TIME::getGroundTimeNow());
-            break;
         }
+        break;
     default:
         // Do nothing
         break;

src/uas/UASInterface.h

@@ -289,7 +289,7 @@ signals:
     void attitudeChanged(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
     void attitudeThrustSetPointChanged(UASInterface*, double rollDesired, double pitchDesired, double yawDesired, double thrustDesired, quint64 usec);
     void localPositionChanged(UASInterface*, double x, double y, double z, quint64 usec);
-    void globalPositionChanged(UASInterface*, double lon, double lat, double alt, quint64 usec);
+    void globalPositionChanged(UASInterface*, double lat, double lon, double alt, quint64 usec);
     void speedChanged(UASInterface*, double x, double y, double z, quint64 usec);
     void imageStarted(int imgid, int width, int height, int depth, int channels);
     void imageDataReceived(int imgid, const unsigned char* imageData, int length, int startIndex);

src/ui/MapWidget.cc

@@ -31,6 +31,8 @@ This file is part of the PIXHAWK project
 
 #include "MapWidget.h"
 #include "ui_MapWidget.h"
+#include "UASInterface.h"
+#include "UASManager.h"
 
 MapWidget::MapWidget(QWidget *parent) :
         QWidget(parent),
@@ -54,7 +56,7 @@ MapWidget::MapWidget(QWidget *parent) :
     //GoogleSatMapAdapter* gSatAdapter = new GoogleSatMapAdapter();
 
     // create a layer with the mapadapter and type MapLayer
-    Layer* osmLayer = new Layer("Custom Layer", osmAdapter, Layer::MapLayer);
+    osmLayer = new Layer("Custom Layer", osmAdapter, Layer::MapLayer);
     //Layer* gSatLayer = new Layer("Custom Layer", gSatAdapter, Layer::MapLayer);
 
     // add Layer to the MapControl
@@ -97,20 +99,67 @@ MapWidget::MapWidget(QWidget *parent) :
     //gm->start();
 
     mc->setZoom(3);
+
+    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
 }
 
 MapWidget::~MapWidget()
 {
     delete m_ui;
 }
+/**
+ *
+ * @param uas the UAS/MAV to monitor/display with the HUD
+ */
+void MapWidget::addUAS(UASInterface* uas)
+{
+    mav = uas;
+}
+
+void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec)
+{
+    Q_UNUSED(usec);
+    // create a LineString
+    QList<Point*> points;
+    // Points with a circle
+    // A QPen can be used to customize the
+    QPen* pointpen = new QPen(QColor(0,255,0));
+    pointpen->setWidth(3);
+    points.append(new CirclePoint(lat, lon, alt, uas->getUASName(), Point::Middle, pointpen));
+//    points.append(new CirclePoint(8.275145, 50.016992, 15, "Wiesbaden-Mainz-Kastel, Johannes-Goßner-Straße", Point::Middle, pointpen));
+//    points.append(new CirclePoint(8.270476, 50.021426, 15, "Wiesbaden-Mainz-Kastel, Ruthof", Point::Middle, pointpen));
+//    // "Blind" Points
+//    points.append(new Point(8.266445, 50.025913, "Wiesbaden-Mainz-Kastel, Mudra Kaserne"));
+//    points.append(new Point(8.260378, 50.030345, "Wiesbaden-Mainz-Amoneburg, Dyckerhoffstraße"));
+
+    // A QPen also can use transparency
+    QPen* linepen = new QPen(QColor(0, 0, 255, 100));
+    linepen->setWidth(5);
+    // Add the Points and the QPen to a LineString
+    LineString* ls = new LineString(points, "Path", linepen);
+
+    // Add the LineString to the layer
+    osmLayer->addGeometry(ls);
+
+    // Connect click events of the layer to this object
+    //connect(osmLayer, SIGNAL(geometryClicked(Geometry*, QPoint)),
+    //                  this, SLOT(geometryClicked(Geometry*, QPoint)));
+
+    // Sets the view to the interesting area
+    //QList<QPointF> view;
+    //view.append(QPointF(8.24764, 50.0319));
+    //view.append(QPointF(8.28412, 49.9998));
+   // mc->setView(view);
+    updatePosition(0, lat, lon);
+}
 
 
-void MapWidget::updatePosition(float time, QPointF coordinate)
+void MapWidget::updatePosition(float time, double lat, double lon)
 {
-    gpsposition->setText(QString::number(time) + " / " + QString::number(coordinate.x()) + " / " + QString::number(coordinate.y()));
+    gpsposition->setText(QString::number(time) + " / " + QString::number(lat) + " / " + QString::number(lon));
     if (followgps->isChecked())
     {
-        mc->setView(coordinate);
+        mc->setView(QPointF(lat, lon));
     }
 }
 

src/ui/MapWidget.h

@@ -34,6 +34,7 @@ This file is part of the PIXHAWK project
 
 #include <QtGui/QWidget>
 #include "qmapcontrol.h"
+#include "UASInterface.h"
 
 namespace Ui {
     class MapWidget;
@@ -48,7 +49,9 @@ public:
     ~MapWidget();
 
 public slots:
-    void updatePosition(float time, QPointF coordinate);
+    void addUAS(UASInterface* uas);
+    void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
+    void updatePosition(float time, double lat, double lon);
 
 protected:
     void changeEvent(QEvent* e);
@@ -68,6 +71,8 @@ protected:
     Layer* osmLayer;
     Layer* gSatLayer;
 
+    UASInterface* mav;
+
 private:
     Ui::MapWidget *m_ui;
 };